diff --git a/.mxproject b/.mxproject index c84296d..9826f77 100644 --- a/.mxproject +++ b/.mxproject @@ -1,5 +1,5 @@ [PreviousLibFiles] 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[PreviousUsedKeilFiles] SourceFiles=..\Core\Src\main.c;..\Core\Src\gpio.c;..\Core\Src\freertos.c;..\Core\Src\adc.c;..\Core\Src\dma.c;..\Core\Src\fdcan.c;..\Core\Src\octospi.c;..\Core\Src\spi.c;..\Core\Src\tim.c;..\Core\Src\usart.c;..\USB_DEVICE\App\usb_device.c;..\USB_DEVICE\Target\usbd_conf.c;..\USB_DEVICE\App\usbd_desc.c;..\USB_DEVICE\App\usbd_cdc_if.c;..\Core\Src\stm32h7xx_it.c;..\Core\Src\stm32h7xx_hal_msp.c;..\Core\Src\stm32h7xx_hal_timebase_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_ospi.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;..\Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;..\Core\Src\system_stm32h7xx.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pcd_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_ll_usb.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_rcc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_flash_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_gpio.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_hsem.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_dma_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_mdma.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_pwr_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_cortex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_i2c_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_exti.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_adc_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_fdcan.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_ospi.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_spi_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_tim_ex.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart.c;..\Drivers\STM32H7xx_HAL_Driver\Src\stm32h7xx_hal_uart_ex.c;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c;..\Drivers\CMSIS\Device\ST\STM32H7xx\Source\Templates\system_stm32h7xx.c;..\Core\Src\system_stm32h7xx.c;;;..\Middlewares\Third_Party\FreeRTOS\Source\croutine.c;..\Middlewares\Third_Party\FreeRTOS\Source\event_groups.c;..\Middlewares\Third_Party\FreeRTOS\Source\list.c;..\Middlewares\Third_Party\FreeRTOS\Source\queue.c;..\Middlewares\Third_Party\FreeRTOS\Source\stream_buffer.c;..\Middlewares\Third_Party\FreeRTOS\Source\tasks.c;..\Middlewares\Third_Party\FreeRTOS\Source\timers.c;..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS\cmsis_os.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\MemMang\heap_4.c;..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_core.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ctlreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Core\Src\usbd_ioreq.c;..\Middlewares\ST\STM32_USB_Device_Library\Class\CDC\Src\usbd_cdc.c; @@ -12,52 +12,54 @@ HeaderPath=Drivers\STM32H7xx_HAL_Driver\Inc;Drivers\STM32H7xx_HAL_Driver\Inc\Leg CDefines=USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousUsedCMakes] 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-HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/ST/STM32_USB_Device_Library/Core/Inc;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Middlewares/ST/ARM/DSP/Inc;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target; +SourceFiles=Core/Src/main.c;Core/Src/gpio.c;Core/Src/freertos.c;Core/Src/adc.c;Core/Src/dma.c;Core/Src/fdcan.c;Core/Src/i2c.c;Core/Src/octospi.c;Core/Src/spi.c;Core/Src/tim.c;Core/Src/usart.c;USB_DEVICE/App/usb_device.c;USB_DEVICE/Target/usbd_conf.c;USB_DEVICE/App/usbd_desc.c;USB_DEVICE/App/usbd_cdc_if.c;Core/Src/stm32h7xx_it.c;Core/Src/stm32h7xx_hal_msp.c;Core/Src/stm32h7xx_hal_timebase_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_tim_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pcd_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_usb.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_rcc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_flash_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_gpio.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_hsem.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_dma_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_mdma.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_pwr_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_cortex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_i2c_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_exti.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_adc_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_ospi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi_ex.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart.c;Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c;Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c;Drivers/CMSIS/Device/ST/STM32H7xx/Source/Templates/system_stm32h7xx.c;Core/Src/system_stm32h7xx.c;;;Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c;Middlewares/Third_Party/FreeRTOS/Source/croutine.c;Middlewares/Third_Party/FreeRTOS/Source/event_groups.c;Middlewares/Third_Party/FreeRTOS/Source/list.c;Middlewares/Third_Party/FreeRTOS/Source/queue.c;Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c;Middlewares/Third_Party/FreeRTOS/Source/tasks.c;Middlewares/Third_Party/FreeRTOS/Source/timers.c;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c;Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c;Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c; +HeaderPath=Drivers/STM32H7xx_HAL_Driver/Inc;Drivers/STM32H7xx_HAL_Driver/Inc/Legacy;Middlewares/Third_Party/FreeRTOS/Source/include;Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2;Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F;Drivers/CMSIS/RTOS2/Include;Middlewares/ST/STM32_USB_Device_Library/Core/Inc;Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc;Drivers/CMSIS/Device/ST/STM32H7xx/Include;Drivers/CMSIS/Include;Middlewares/ST/ARM/DSP/Inc;Core/Inc;USB_DEVICE/App;USB_DEVICE/Target; CDefines=USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_PWR_LDO_SUPPLY;USE_HAL_DRIVER;STM32H723xx;USE_HAL_DRIVER;USE_HAL_DRIVER; [PreviousGenFiles] AdvancedFolderStructure=true -HeaderFileListSize=16 +HeaderFileListSize=17 HeaderFiles#0=../Core/Inc/gpio.h -HeaderFiles#1=../Core/Inc/adc.h -HeaderFiles#2=../Core/Inc/dma.h -HeaderFiles#3=../Core/Inc/fdcan.h -HeaderFiles#4=../Core/Inc/i2c.h -HeaderFiles#5=../Core/Inc/octospi.h -HeaderFiles#6=../Core/Inc/spi.h -HeaderFiles#7=../Core/Inc/tim.h -HeaderFiles#8=../Core/Inc/usart.h -HeaderFiles#9=../USB_DEVICE/App/usb_device.h -HeaderFiles#10=../USB_DEVICE/Target/usbd_conf.h -HeaderFiles#11=../USB_DEVICE/App/usbd_desc.h -HeaderFiles#12=../USB_DEVICE/App/usbd_cdc_if.h -HeaderFiles#13=../Core/Inc/stm32h7xx_it.h -HeaderFiles#14=../Core/Inc/stm32h7xx_hal_conf.h -HeaderFiles#15=../Core/Inc/main.h +HeaderFiles#1=../Core/Inc/FreeRTOSConfig.h +HeaderFiles#2=../Core/Inc/adc.h +HeaderFiles#3=../Core/Inc/dma.h +HeaderFiles#4=../Core/Inc/fdcan.h +HeaderFiles#5=../Core/Inc/i2c.h +HeaderFiles#6=../Core/Inc/octospi.h +HeaderFiles#7=../Core/Inc/spi.h +HeaderFiles#8=../Core/Inc/tim.h +HeaderFiles#9=../Core/Inc/usart.h +HeaderFiles#10=../USB_DEVICE/App/usb_device.h +HeaderFiles#11=../USB_DEVICE/Target/usbd_conf.h +HeaderFiles#12=../USB_DEVICE/App/usbd_desc.h +HeaderFiles#13=../USB_DEVICE/App/usbd_cdc_if.h +HeaderFiles#14=../Core/Inc/stm32h7xx_it.h +HeaderFiles#15=../Core/Inc/stm32h7xx_hal_conf.h +HeaderFiles#16=../Core/Inc/main.h HeaderFolderListSize=3 HeaderPath#0=../Core/Inc HeaderPath#1=../USB_DEVICE/App HeaderPath#2=../USB_DEVICE/Target HeaderFiles=; -SourceFileListSize=17 +SourceFileListSize=18 SourceFiles#0=../Core/Src/gpio.c -SourceFiles#1=../Core/Src/adc.c -SourceFiles#2=../Core/Src/dma.c -SourceFiles#3=../Core/Src/fdcan.c -SourceFiles#4=../Core/Src/i2c.c -SourceFiles#5=../Core/Src/octospi.c -SourceFiles#6=../Core/Src/spi.c -SourceFiles#7=../Core/Src/tim.c -SourceFiles#8=../Core/Src/usart.c -SourceFiles#9=../USB_DEVICE/App/usb_device.c -SourceFiles#10=../USB_DEVICE/Target/usbd_conf.c -SourceFiles#11=../USB_DEVICE/App/usbd_desc.c -SourceFiles#12=../USB_DEVICE/App/usbd_cdc_if.c -SourceFiles#13=../Core/Src/stm32h7xx_it.c -SourceFiles#14=../Core/Src/stm32h7xx_hal_msp.c -SourceFiles#15=../Core/Src/stm32h7xx_hal_timebase_tim.c -SourceFiles#16=../Core/Src/main.c +SourceFiles#1=../Core/Src/freertos.c +SourceFiles#2=../Core/Src/adc.c +SourceFiles#3=../Core/Src/dma.c +SourceFiles#4=../Core/Src/fdcan.c +SourceFiles#5=../Core/Src/i2c.c +SourceFiles#6=../Core/Src/octospi.c +SourceFiles#7=../Core/Src/spi.c +SourceFiles#8=../Core/Src/tim.c +SourceFiles#9=../Core/Src/usart.c +SourceFiles#10=../USB_DEVICE/App/usb_device.c +SourceFiles#11=../USB_DEVICE/Target/usbd_conf.c +SourceFiles#12=../USB_DEVICE/App/usbd_desc.c +SourceFiles#13=../USB_DEVICE/App/usbd_cdc_if.c +SourceFiles#14=../Core/Src/stm32h7xx_it.c +SourceFiles#15=../Core/Src/stm32h7xx_hal_msp.c +SourceFiles#16=../Core/Src/stm32h7xx_hal_timebase_tim.c +SourceFiles#17=../Core/Src/main.c SourceFolderListSize=3 SourcePath#0=../Core/Src SourcePath#1=../USB_DEVICE/App diff --git a/.settings/bundles-lock.store.json b/.settings/bundles-lock.store.json index 1c4d1d5..4456d03 100644 --- a/.settings/bundles-lock.store.json +++ b/.settings/bundles-lock.store.json @@ -121,6 +121,50 @@ } ] }, + { + "name": "programmer", + "version": "2.22.0+st.1", + "platform": "aarch64-darwin", + "selected_by": [ + { + "name": "programmer", + "version": "2.22.0+st.1" + } + ] + }, + { + "name": "programmer", + "version": "2.22.0+st.1", + "platform": "darwin", + "selected_by": [ + { + "name": "programmer", + "version": "2.22.0+st.1" + } + ] + }, + { + "name": "programmer", + "version": "2.22.0+st.1", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "programmer", + "version": "2.22.0+st.1" + } + ] + }, + { + "name": "programmer", + "version": "2.22.0+st.1", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "programmer", + "version": "2.22.0+st.1" + } + ] + }, { "name": "st-arm-clangd", "version": "21.1.0+st.2", @@ -153,6 +197,50 @@ "version": "21.1.0+st.2" } ] + }, + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3", + "platform": "aarch64-darwin", + "selected_by": [ + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3" + } + ] + }, + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3", + "platform": "darwin", + "selected_by": [ + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3" + } + ] + }, + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3", + "platform": "x86_64-linux", + "selected_by": [ + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3" + } + ] + }, + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3", + "platform": "x86_64-windows", + "selected_by": [ + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3" + } + ] } ] } diff --git a/.settings/bundles.store.json b/.settings/bundles.store.json index 0bc523f..1ce0c3c 100644 --- a/.settings/bundles.store.json +++ b/.settings/bundles.store.json @@ -15,6 +15,14 @@ { "name": "st-arm-clangd", "version": "21.1.0+st.2" + }, + { + "name": "programmer", + "version": "2.22.0+st.1" + }, + { + "name": "stlink-gdbserver", + "version": "7.13.0+st.3" } ] } diff --git a/.vscode/launch.json b/.vscode/launch.json index 8038ef3..f12749f 100644 --- a/.vscode/launch.json +++ b/.vscode/launch.json @@ -2,6 +2,21 @@ // 启动调试的快捷键是F5 "version": "0.2.0", "configurations": [ + + { + "type": "stlinkgdbtarget", + "request": "launch", + "name": "STM32Cube: Launch ST-Link GDB Server", + "origin": "snippet", + "cwd": "${workspaceFolder}", + "preBuild": "${command:st-stm32-ide-debug-launch.build}", + "runEntry": "main", + "imagesAndSymbols": [ + { + "imageFileName": "${command:st-stm32-ide-debug-launch.get-projects-binary-from-context1}" + } + ] + }, // 使用dap-link(如无线调试器时的参考配置) { "name": "DAPlink", diff --git a/ARCHITECTURE.md b/ARCHITECTURE.md index fed8a9b..8419fc6 100644 --- a/ARCHITECTURE.md +++ b/ARCHITECTURE.md @@ -1,329 +1,310 @@ -# 项目架构分析报告：Basic_Framework_MC02 (RoboMaster 云台机器人) +# 项目架构：Basic_Framework_MC02 (DM 云台控制系统) ## 概览 -这是一个基于 **STM32H723** (Cortex-M7) 的 RoboMaster 竞赛机器人控制项目。项目采用 FreeRTOS 实时操作系统，目前配置为**单板控制整车**（`ONE_BOARD` 模式），代码组织呈分层架构。项目由 **湖南大学岳麓电气 (HNU YueLu EC)** 开发。 +基于 **STM32H723** (Cortex-M7, 480MHz) 的达妙电机云台控制系统。采用 FreeRTOS，通过 IMU 反馈实现角度闭环，通过串口接收上位机指令实现视觉追踪。项目源自 HNU YueLu EC RoboMaster 项目，经重构精简为纯云台控制。 --- -## 一、硬件与通信总览 +## 一、硬件与通信 | 资源 | 用途 | |------|------| -| **FDCAN1/2/3** | 电机控制总线（DJI 电机、达妙电机等） | -| **USART1** | 板间通信 (BoardComm) | -| **USART5** | 遥控器 (DBUS/DR16) | +| **FDCAN1** | 电机控制总线 (DM-G6220 yaw, DM-J4310-2EC pitch) | +| **USART10** | 上位机通信 (master_machine 协议) | | **USART7** | VoFA 调试输出 | -| **USART10** | 视觉/上位机 (OpenCV 通信) | -| **SPI1/2** | BMI088 IMU 传感器、OLED | -| **I2C2** | 通用 I2C | -| **OCTOSPI2** | 外部 Flash (W25Qxx) | -| **TIM1/2/3/12** | PWM 输出、编码器输入、DWT 时钟基准 | -| **USB Device** | 虚拟串口 (CDC) | -| **ADC1** | 模拟量采集 | -| **GPIO** | 电源控制、激光器等 | +| **USART1** | 板间通信 (BoardComm) | +| **SPI2** | BMI088 IMU 传感器 | --- ## 二、分层架构 -项目采用 **4 层架构**： - ``` -┌──────────────────────────────────────────────────────────┐ -│ application/ 应用层 │ -│ robot.c → robot_cmd → gimbal / chassis / shoot │ -├──────────────────────────────────────────────────────────┤ -│ modules/ 模块层 │ -│ motor, imu, referee, remote, vision, algorithm, ... │ -├──────────────────────────────────────────────────────────┤ -│ bsp/ 板级支持包 │ -│ can, usart, spi, iic, pwm, dwt, log, gpio │ -├──────────────────────────────────────────────────────────┤ -│ Drivers/ HAL 驱动层 (CubeMX 生成) │ -│ STM32H7xx_HAL, CMSIS, FreeRTOS, USB, SEGGER RTT │ -└──────────────────────────────────────────────────────────┘ +┌──────────────────────────────────────────────┐ +│ application/ 应用层 │ +│ robot.c → robot_cmd → gimbal │ +├──────────────────────────────────────────────┤ +│ modules/ 模块层 │ +│ motor, imu, master_machine, algorithm, ... │ +├──────────────────────────────────────────────┤ +│ bsp/ 板级支持包 │ +│ can, usart, spi, dwt, log, gpio │ +├──────────────────────────────────────────────┤ +│ Drivers/ HAL 驱动层 (CubeMX 生成) │ +│ STM32H7xx_HAL, CMSIS, FreeRTOS │ +└──────────────────────────────────────────────┘ ``` --- -## 三、启动与初始化流程 - -### 3.1 main() 启动序列 +## 三、启动流程 ``` -HAL_Init() → SystemClock_Config() → MX_GPIO_Init() → MX_DMA_Init() -→ MX_ADC1_Init() → MX_USB_DEVICE_Init() → MX_TIM/SPI/USART/UART/FDCAN/..._Init() -→ RobotInit() ← 唯一的用户初始化入口 -→ while(1) {} ← 空循环，所有逻辑在 RTOS 任务中 +main() + ├── HAL_Init() → SystemClock_Config() → MX_*_Init() // CubeMX 外设初始化 + └── RobotInit() + ├── BSPInit() // DWT + Log + ├── RobotCMDInit() // pub-sub, 视觉PID, 串口初始化 + ├── GimbalInit() // IMU + DM 电机初始化 + └── OSTaskInit() // 创建 4 个 RTOS 任务 ``` -### 3.2 RobotInit() 初始化链 - -``` -RobotInit() - ├── __disable_irq() // 关中断，保证初始化原子性 - ├── BSPInit() - │ ├── DWT_Init(480) // 时钟周期计数器 (CPU=480MHz) - │ └── BSPLogInit() // 日志系统（SEGGER RTT + 串口） - ├── RobotCMDInit() // 核心命令任务初始化 - │ ├── RemoteControlInit(&huart5) // 遥控器 (DBUS) - │ ├── PubRegister() x6 // 注册 6 个消息话题： - │ │ gimbal_cmd / gimbal_feed // 云台控制/反馈 - │ │ shoot_cmd / shoot_feed // 发射控制/反馈 - │ │ chassis_cmd / chassis_feed // 底盘控制/反馈 - │ ├── PIDInit() x2 (yaw + pitch 跟踪PID) // 视觉跟踪 PID 初始化 - │ ├── VisionKalmanFilterInit() // 视觉误差卡尔曼滤波器 - │ ├── Vision_Uart_Init(&huart10) // 视觉串口通信 - │ └── BoardCommInit(&huart1) // 板间通信 - ├── GimbalInit() // 云台电机初始化 - │ ├── INS_Init() → BMI088 SPI 初始化 // IMU 惯导 - │ ├── PubRegister("gimbal_feed") / SubRegister("gimbal_cmd") - │ ├── DJIMotorInit(GM6020) → yaw 电机 // Yaw: GM6020 直驱 - │ └── DMMotorInit() → pitch 电机 // Pitch: 达妙电机 - ├── OSTaskInit() // 创建 RTOS 任务 - │ ├── INS Task (1kHz, AboveNormal) // 姿态解算最高优先级 - │ ├── Motor Task (1kHz, Normal) // 电机控制 - │ ├── Daemon Task (100Hz, Normal) // 看门狗/蜂鸣器 - │ ├── Robot Task (500Hz, Normal) // 机器人核心控制 - │ └── DMMotorControlInit() // 达妙大电机初始化 - └── __enable_irq() // 开中断 -``` - ---- - -## 四、FreeRTOS 任务架构 +### FreeRTOS 任务 | 任务 | 频率 | 优先级 | 功能 | |------|------|--------|------| -| **INS Task** | 1kHz | AboveNormal | 阻塞读取 BMI088，进行四元数 EKF 姿态解算 | -| **Motor Task** | 1kHz | Normal | DJI/LK/HT 电机 PID 闭环计算与 CAN 发送 | -| **Robot Task** | 500Hz | Normal | 调用 `RobotTask()` 串联各应用层任务 | -| **Daemon Task** | 100Hz | Normal | 模块看门狗喂狗检查 + 蜂鸣器控制 | +| **INS Task** | 1kHz | AboveNormal | BMI088 读取 → 四元数 EKF 姿态解算 | +| **Motor Task** | 1kHz | Normal | DM 电机角度 PID → CAN 速度指令发送 | +| **Robot Task** | 500Hz | Normal | 上位机命令处理 + 模式切换 + 控制执行 | +| **Daemon Task** | 100Hz | Normal | 模块看门狗 + 蜂鸣器 | --- -## 五、消息中心 (Pub-Sub) - -位于 `modules/message_center/`，这是应用层内部的核心通信机制： - -- **发布者 (Publisher)**：以**话题名 (topic name)** 标识，通过**链表**管理订阅者 -- **订阅者 (Subscriber)**：每个订阅者维护一个长度为 1 的 **FIFO 队列** -- 支持最多 **12 个话题**，话题名最长 **32 字符** - -### 当前消息流： +## 四、PID 双环架构 ``` -robot_cmd (CMD) ──→ gimbal_cmd ──→ gimbal 应用 - ├── chassis_cmd → chassis 应用 - └── shoot_cmd ──→ shoot 应用 - -gimbal ──→ gimbal_feed ──→ robot_cmd (CMD) -chassis ──→ chassis_feed ──→ robot_cmd (CMD) -shoot ──→ shoot_feed ──→ robot_cmd (CMD) +┌──────────────────────────────────────────────────────┐ +│ application/cmd/robot_cmd.c (外环, 500Hz) │ +│ │ +│ 上位机 0xA5 帧 → error_x/y → KF → vision PID │ +│ → 角度增量 → 累计 angle ref │ +│ 上位机 0xA6 帧 → yaw_ref/pitch_ref 直接设定 │ +│ │ +│ ProcessCommand() 处理模式切换 / 激光控制 │ +└──────────────────────┬───────────────────────────────┘ + │ gimbal_cmd (pub-sub) + ▼ +┌──────────────────────────────────────────────────────┐ +│ application/gimbal/gimbal.c (传递, 500Hz) │ +│ │ +│ DMMotorSetRef(yaw, cmd.yaw) │ +│ DMMotorSetRef(pitch, cmd.pitch) │ +│ 反馈: gimbal_feed → gimbal_IMU_data 指针 │ +└──────────────────────┬───────────────────────────────┘ + │ + ▼ +┌──────────────────────────────────────────────────────┐ +│ modules/motor/DMmotor/ (内环, 1kHz) │ +│ │ +│ IMU 角度反馈 → angle PID → velocity output │ +│ → DMMotorSendVelocity() → CAN 速度模式 │ +│ output_reverse 控制输出方向 │ +└──────────────────────────────────────────────────────┘ ``` --- -## 六、应用层模块 +## 五、上位机串口协议 -### 6.1 RobotCMD (`application/cmd/`) — 机器人大脑 +位于 `modules/master_machine/`。三种帧类型，通过帧头区分。 -核心决策模块，集成以下功能： +### 自动/视觉追踪数据帧 `0xA5` (10 字节) -| 功能 | 说明 | +| 字节 | 0 | 1-4 | 5-8 | 9 | +|------|---|-----|-----|---| +| 内容 | 0xA5 | error_x (float) | error_y (float) | checksum | + +### 手动控制数据帧 `0xA6` (11 字节) + +| 字节 | 0 | 1 | 2-5 | 6-9 | 10 | +|------|---|-----|-----|-----|----| +| 内容 | 0xA6 | zero_force | yaw_ref (float) | pitch_ref (float) | checksum | + +### 命令帧 `0xA7` (3 字节) + +| 字节 | 0 | 1 | 2 | +|------|---|-----|----| +| 内容 | 0xA7 | cmd | checksum | + +命令码：`0x01` 切换到自动模式, `0x02` 切换到手动模式, `0x03` 激光开, `0x04` 激光关 + +### 数据流 + +``` +上位机 USART10 → DecodeVision() → vision_data (全局结构体) + ├── 0xA5 → auto_updated=1, error_x/y + ├── 0xA6 → manual_updated=1, zero_force, yaw_ref/pitch_ref + └── 0xA7 → cmd_pending=1, cmd + +robot_cmd 每轮: + ProcessCommand() → 模式切换 / 激光 + AUTO: vision_data.error_x/y → KF → vision PID → 角度增量 + MANUAL: vision_data.yaw_ref/pitch_ref → 直接设定 + PubPushMessage(gimbal_cmd) → gimbal 执行 +``` + +--- + +## 六、DM 电机驱动 + +位于 `modules/motor/DMmotor/`。基于 DM_6220 参考协议。 + +### 速度模式 (当前默认) + +CAN ID = motor_id + 0x200，发送 float velocity (4 bytes)。 + +``` +DMMotorControl() @ 1kHz: + PIDCalculate(angle_PID, IMU_angle, pid_ref) → velocity + output_reverse? → DMMotorSendVelocity() → CAN +``` + +### 电机配置 + +| 电机 | CAN ID | 反馈 ID | 模式 | MIT KP/KD | +|------|--------|---------|------|-----------| +| DM-G6220 (Yaw) | 0x01 | 0xF1 | Velocity | — | +| DM-J4310-2EC (Pitch) | 0x02 | 0xF2 | Velocity | — | + +### API + +| 函数 | 说明 | |------|------| -| **遥控器解析** | DBUS 协议，摇杆/开关/键鼠 | -| **视觉跟踪** | OpenCV 视觉数据 → 卡尔曼滤波 → PID 跟踪 → 云台角度控制 | -| **画圆模式** | 遥控器拨轮控制画圆轨迹跟踪 | -| **题号状态机** | 竞赛自动任务状态机，支持 6 种题号，含转向/搜索/跟踪子状态 | -| **急停处理** | 遥控器右侧开关拨下 → 所有电机零力输出 | -| **激光控制** | GPIO 控制激光笔开关 | - -`RobotCMDTask()` 执行流程（500Hz）： - -``` -读取底盘/发射/云台反馈消息 → 判断控制模式(手动/自动/视觉) -→ EmergencyHandler(急停检测) → 推送控制消息给各应用 -``` - -**题号状态机** (YunTaiState)： - -``` -YUNT_IDLE - → NO1: 零力模式 - → NO2: 视觉跟踪 + 激光 (等待1.5s后开启激光) - → NO3: 转向0度 → 视觉跟踪/搜索 → 激光 (3.5s后) - → NO4_1: 转向-45度 → 视觉跟踪 + 前馈 - → NO4_3: 转向-45度 → 视觉跟踪 (error=60) + 画圆前馈 -``` - -### 6.2 Gimbal (`application/gimbal/`) — 云台控制 - -- **Yaw 轴**：GM6020 (DJI 直驱电机)，CAN1 ID=0x01，IMU 反馈替代电机编码器 -- **Pitch 轴**：达妙电机 (DM Motor)，CAN1 ID=0x06/0x16，IMU 反馈 -- **控制模式**： - - `GIMBAL_ZERO_FORCE`：零力 - - `GIMBAL_GYRO_MODE`：陀螺仪姿态闭环 (使用 IMU Pitch + YawTotalAngle) -- **特点**：角度/角速度反馈均来自 IMU（替代电机编码器），带有速度和电流前馈 - -### 6.3 Chassis (`application/chassis/`) — 底盘控制 - -- 麦克纳姆轮底盘 (Mecanum)，4x GM6020 电机 -- 运动学解算：正逆运动学，云台→底盘坐标系变换 -- 支持裁判系统功率限制和超级电容管理 - -### 6.4 Shoot (`application/shoot/`) — 发射控制 - -- **摩擦轮**：2x M3508 (CAN2 ID=1,2)，速度串联电流闭环 -- **拨盘电机**：M2006 (CAN2 ID=3)，多模式： - - `LOAD_STOP`：停止 - - `LOAD_1_BULLET`：单发（角度闭环，加减角度 = ONE_BULLET_DELTA_ANGLE） - - `LOAD_3_BULLET`：三连发 - - `LOAD_BURSTFIRE`：连发（速度闭环，可调射频） - - `LOAD_REVERSE`：反转 -- **弹速模式**：15m/s / 18m/s / 30m/s -- 弹舱盖开关控制 +| `DMMotorInit()` | 初始化电机实例 (CAN 注册, PID 初始化, daemon) | +| `DMMotorSetRef()` | 设定角度参考值 (degrees) | +| `DMMotorControl()` | 1kHz 控制循环 (所有电机) | +| `DMMotorSetMode()` | 发送命令 (使能/停止/清零/清除错误) | +| `DMMotorSendVelocity()` | 速度模式 CAN 发送 | +| `DMMotorSendMIT()` | MIT 模式 CAN 发送 | +| `DMMotorSendPosVel()` | 位置-速度模式 CAN 发送 | --- -## 七、模块层 (modules/) +## 七、模块层 | 分类 | 模块 | 功能 | |------|------|------| -| **电机** | `dji_motor` | DJI GM6020/M3508/M2006 标准电机驱动，串级 PID (角度→速度→电流) | -| | `DMMotor` | 达妙电机 (DM Motor) 驱动 | -| | `LKmotor` (LK9025) | LK 电机驱动 | -| | `HTmotor` (HT04) | HT04 电机驱动 | -| | `step_motor` | 步进电机 (含 X_V2 变体) | -| | `servo_motor` | 舵机控制 | -| | `motor_task` | 电机控制统一调度 (`MotorControlTask`) | -| **姿态** | `imu/ins_task` | 惯导解算：四元数 EKF，BMI088 传感器 | -| | `imu/BMI088driver` | BMI088 SPI 底层读取 | +| **电机** | `motor/DMmotor` | 达妙电机驱动 (MIT/PosVel/Velocity 三模式) | +| | `motor/motor_task` | 电机控制统一调度 (`DMMotorControl`) | +| **姿态** | `imu/ins_task` | 惯导解算 (四元数 EKF, 返回 INS_t 指针) | +| | `imu/BMI088driver` | BMI088 SPI 读取 | | | `imu/BMI088Middleware` | BMI088 数据换算 | -| **算法** | `controller` | 通用 PID 控制器（支持变积分、梯形积分、微分先行、输出滤波等改进） | -| | `kalman_filter` | 标准卡尔曼滤波器 + 自适应 (`UseAutoAdjustment`) | -| | `QuaternionEKF` | 四元数扩展卡尔曼滤波 | -| | `crc8/crc16` | CRC 校验 | -| | `user_lib` | 通用数学/工具函数 | -| **通信** | `remote/remote_control` | DJI DBUS 遥控器解析 (位域优化) | -| | `master_machine` | 视觉上位机通信 (SeaSky 协议) | -| | `referee` | 裁判系统 (RM Referee Protocol, UI 绘制) | -| | `can_comm` | CAN 通信抽象层（双板情况下的数据转发） | -| | `board_comm` | 板间通信（固定帧格式: 帧头 + 2x int32 + 2x float + 校验） | -| | `bluetooth/HC05` | HC05 蓝牙模块 | -| | `opencv` | OpenCV 视觉数据处理 | -| **辅助** | `message_center` | Pub-Sub 消息中间件（伪发布订阅，仅做应用间隔离） | -| | `daemon` | 看门狗守护进程（在线检测 + 异常回调） | -| | `alarm/buzzer` | 蜂鸣器告警 | -| | `vofa` | 调试数据可视化 (VoFA+ FireWater) | -| | `oled` | OLED 显示屏 | -| | `super_cap` | 超级电容管理 | +| **算法** | `algorithm/controller` | PID 控制器 (梯形积分/变速积分/微分先行/输出滤波) | +| | `algorithm/kalman_filter` | 卡尔曼滤波器 (自适应) | +| | `algorithm/QuaternionEKF` | 四元数 EKF (陀螺零偏估计/卡方检验) | +| | `algorithm/crc8/crc16` | CRC 校验 | +| | `algorithm/user_lib` | 数学/工具函数 | +| **通信** | `master_machine` | 上位机通信 (0xA5/0xA6/0xA7 协议, 接收+解析) | +| | `timachine/board_comm` | 板间通信 | +| | `message_center` | Pub-Sub 消息中间件 (链表, FIFO) | +| **系统** | `daemon` | 看门狗 (重载计数+离线回调) | +| | `alarm/buzzer` | 蜂鸣器 | +| | `vofa` | VoFA+ 调试输出 | --- ## 八、BSP 驱动层 -所有 BSP 驱动采用**实例化注册**模式（不注册不初始化）： +实例化注册模式 (不注册不初始化)： | 模块 | 功能 | |------|------| -| `bsp_dwt` | DWT 时钟周期计数器（精确延时 μs/ms，时间戳获取） | -| `bsp_can` | CAN 总线收发封装（FIFO+中断，实例化注册） | -| `bsp_usart` | 串口收发封装（DMA+环形缓冲区，实例化注册） | -| `bsp_spi` | SPI 通信封装 | -| `bsp_iic` | I2C 通信封装 | -| `bsp_pwm` | PWM 输出（支持 DMA 传输） | -| `bsp_gpio` | GPIO 管理 | -| `bsp_log` | SEGGER RTT + 串口日志输出（LOGINFO/LOGERROR/LOGWARNING） | -| `bsp_tools` | RTOS 任务创建工具 (`CreateCallbackTask`) | +| `bsp_dwt` | DWT 周期计数器 (μs/ms 延时, 时间戳) | +| `bsp_can` | FDCAN 收发 (FIFO+中断) | +| `bsp_usart` | 串口收发 (DMA+环形缓冲区) | +| `bsp_spi` | SPI 通信 | +| `bsp_log` | SEGGER RTT + 串口日志 | +| `bsp_pwm` | PWM 输出 | --- -## 九、数据流与控制流总结 +## 九、数据流 ``` - ┌─────────────┐ - │ 遥控器DBUS │ - │ (USART5) │ - └──────┬──────┘ - ↓ + ┌──────────────┐ + │ 上位机 │ + │ (USART10) │ + └──────┬───────┘ + │ 0xA5 / 0xA6 / 0xA7 + ▼ ┌────────────────────────┐ │ RobotCMD │ - │ ┌─────────────────┐ │ - │ │ RemoteControlSet│ │ ← 手动模式 (遥控器调试) - │ │ AutoSet (题号) │ │ ← 自动模式 (竞赛任务) - │ └───────┬─────────┘ │ - │ ↓ │ - │ 发布: gimbal_cmd │──→ Gimbal (云台 PID → IMU 反馈) - │ chassis_cmd │──→ Chassis (运动学 → 麦轮) - │ shoot_cmd │──→ Shoot (摩擦轮/拨盘) + │ ProcessCommand() │ ← 模式切换/激光 + │ VisionTrackingSet() │ ← KF → vision PID → 角度增量 + │ ManualModeSet() │ ← 直接角度参考 + │ PubPushMessage() │ + └───────────┬────────────┘ + │ gimbal_cmd + ▼ + ┌────────────────────────┐ + │ Gimbal │ + │ DMMotorSetRef() │ + │ 反馈: gimbal_feed │ ← INS_t* 指针 + └───────────┬────────────┘ + │ angle ref + ▼ + ┌────────────────────────┐ + │ DMMotor │ (1kHz Motor Task) + │ IMU angle → PID │ + │ → Velocity mode CAN │ └────────────────────────┘ - ↑ - ┌────────────┴───────────┐ - │ 反馈: gimbal_feed │ ← 云台姿态 + 电机角度 - │ chassis_feed │ ← 底盘速度 + 热量 - │ shoot_feed │ ← 发射状态 + │ + ┌───────────┴────────────┐ + │ DM-G6220 DM-J4310 │ + │ (Yaw) (Pitch) │ └────────────────────────┘ - - 视觉/OpenCV (USART10) ──→ 卡尔曼滤波 ──→ PID ──→ 云台角度控制 - 板间通信 (USART1) ──→ BoardComm ──→ 题号/坐标数据 - 裁判系统 ──→ 热量/弹速/UI 绘制 ``` --- -## 十、关键设计特点 +## 十、关键设计 -1. **IMU 替代电机反馈**：云台 Yaw/Pitch 使用陀螺仪角度/角速度替代编码器，实现更高精度姿态闭环 -2. **伪 Pub-Sub 模式**：应用间通过 `message_center` 解耦，支持单板/双板条件编译切换（`ONE_BOARD` / `GIMBAL_BOARD` / `CHASSIS_BOARD`） -3. **Daemon 看门狗**：每个外设模块注册独立的 `DaemonInstance`（重载计数 + 离线回调），模块离线时自动触发异常处理 -4. **BSP 实例化注册**：CAN/串口等外设不注册不初始化，避免资源浪费 -5. **竞赛状态机**：完整的题号自动任务流程（转向→搜索→跟踪→激光打击） -6. **卡尔曼滤波 + PID 级联**：视觉误差经过 KF 平滑后由 PID 计算输出，带前馈补偿 -7. **位域优化**：遥控器键盘状态使用位域 (`Key_t`)，空间减少 8 倍 -8. **条件编译**：单板/双板/电机类型/视觉通信方式均通过宏定义切换 +1. **IMU 反馈替代编码器** — 云台 Yaw/Pitch 使用 INS_t 中的 YawTotalAngle/Pitch 和 Gyro[] +2. **速度模式控制** — MCU 跑角度 PID，电机内部处理速度闭环 +3. **伪 Pub-Sub** — 应用间通过 message_center 解耦 +4. **Daemon 看门狗** — 每个外设模块独立 DaemonInstance，离线自动回调 +5. **BSP 实例化注册** — CAN/串口不注册不初始化 +6. **KF + PID 级联** — 视觉误差经 KF 平滑 → vision PID → 角度增量 → 内环角度 PID +7. **模式切换重置** — 切换到自动模式时重置 KF 状态 (x=0, P=diag(5,5)) 和 PID 积分项 +8. **串口命令控制** — 模式切换、激光控制均通过 0xA7 命令帧触发 +9. **output_reverse** — PID 输出方向统一通过单标志位控制 --- -## 十一、项目规模统计 +## 十一、项目规模 | 类别 | 数量 | |------|------| -| C 源文件 | 115 个 | -| ASM 源文件 | 2 个 | -| 应用层模块 | 4 (robot_cmd, gimbal, chassis, shoot) | -| 模块层子模块 | 20+ (电机×6, 姿态×3, 算法×5, 通信×7, 辅助×5) | -| BSP 驱动模块 | 10 | -| FreeRTOS 任务 | 4 (默认) | +| C 源文件 | 96 | +| ASM 源文件 | 2 | +| 应用层模块 | 3 (robot, robot_cmd, gimbal) | +| 模块层子模块 | 10 (motor, imu, algorithm, master_machine, message_center, daemon, buzzer, vofa, board_comm) | +| BSP 驱动模块 | 8 | +| FreeRTOS 任务 | 4 | | 最高控制频率 | 1kHz | -| CPU 频率 | 480MHz (PLL = HSE 8MHz / 2 × 40 / 2) | -| FLASH 使用 | 161,556 B / 1 MB (15.41%) | -| DTCMRAM 使用 | 60,920 B / 128 KB (46.48%) | +| CPU 频率 | 480MHz | +| FLASH 使用 | ~133 KB / 1 MB (13%) | +| DTCMRAM 使用 | ~59 KB / 128 KB (46%) | --- -## 十二、电机配置速查 - -| 电机 | 类型 | CAN 总线 | TX ID | 控制闭环 | PID 级联 | -|------|------|----------|-------|----------|----------| -| Yaw (云台) | GM6020 | CAN1 | 0x01 | 角度+速度 | Angle → Speed (IMU 反馈) | -| Pitch (云台) | DM Motor | CAN1 | 0x06/0x16 | 角度+速度 | Angle → Speed (IMU 反馈) | -| 摩擦轮 左 | M3508 | CAN2 | 0x01 | 速度+电流 | Speed → Current | -| 摩擦轮 右 | M3508 | CAN2 | 0x02 | 速度+电流 | Speed → Current (反转) | -| 拨盘 | M2006 | CAN2 | 0x03 | 角度/速度+电流 | Angle/Speed → Current | - ---- - -## 十三、关键配置宏 (`robot_def.h`) +## 十二、核心数据类型 ```c -#define ONE_BOARD // 单板控制整车 -#define VISION_USE_UART // 使用串口发送视觉数据 -#define YAW_CHASSIS_ALIGN_ECD 2711 // 云台底盘对齐编码器值 -#define PITCH_HORIZON_ECD 3412 // 云台水平位置编码器值 -#define ONE_BULLET_DELTA_ANGLE 36 // 单发弹丸拨盘转动角度 -#define WHEEL_BASE 350 // 纵向轴距 (mm) -#define TRACK_WIDTH 300 // 横向轮距 (mm) -#define RADIUS_WHEEL 60 // 轮子半径 (mm) +// INS 惯导实例 (ins_task.h) +typedef struct { + float q[4]; // 四元数 + float Gyro[3]; // 角速度 (rad/s) + float Accel[3]; // 加速度 (m/s²) + float Roll, Pitch, Yaw; + float YawTotalAngle; // 多圈 yaw (degrees) +} INS_t; + +// 云台控制指令 (robot_def.h) +typedef struct { + float yaw; // yaw 目标角度 (degrees) + float pitch; // pitch 目标角度 (degrees) +} Gimbal_Ctrl_Cmd_s; + +// 上位机数据 (master_machine.h) +typedef struct { + float error_x, error_y; // 自动模式: 归一化误差 + uint8_t auto_updated; + uint8_t zero_force; // 手动模式: 零力标志 + float yaw_ref, pitch_ref; // 手动模式: 角度参考 + uint8_t manual_updated; + uint8_t cmd, cmd_pending; // 命令 + float frequency; +} VisionData_t; ``` diff --git a/Basic_Framework_MC02.ioc b/Basic_Framework_MC02.ioc index e7cc531..60bbeae 100644 --- a/Basic_Framework_MC02.ioc +++ b/Basic_Framework_MC02.ioc @@ -383,42 +383,50 @@ FDCAN3.RxFifo0ElmtsNbr=4 FDCAN3.RxFifo1ElmtsNbr=4 FDCAN3.StdFiltersNbr=14 FDCAN3.TxFifoQueueElmtsNbr=4 +FREERTOS.IPParameters=Tasks01,configENABLE_FPU +FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL +FREERTOS.configENABLE_FPU=1 File.Version=6 GPIO.groupedBy=Group By Peripherals I2C2.IPParameters=Timing I2C2.Timing=0x307075B1 KeepUserPlacement=false +MMTAppRegionsCount=0 +MMTConfigApplied=false +MMTSectionSuffix= Mcu.CPN=STM32H723VGT6 Mcu.Family=STM32H7 Mcu.IP0=ADC1 Mcu.IP1=CORTEX_M7 -Mcu.IP10=RCC -Mcu.IP11=SPI1 -Mcu.IP12=SPI2 -Mcu.IP13=SYS -Mcu.IP14=TIM1 -Mcu.IP15=TIM2 -Mcu.IP16=TIM3 -Mcu.IP17=TIM12 -Mcu.IP18=UART5 -Mcu.IP19=UART7 +Mcu.IP10=NVIC +Mcu.IP11=OCTOSPI2 +Mcu.IP12=RCC +Mcu.IP13=SPI1 +Mcu.IP14=SPI2 +Mcu.IP15=SYS +Mcu.IP16=TIM1 +Mcu.IP17=TIM2 +Mcu.IP18=TIM3 +Mcu.IP19=TIM12 Mcu.IP2=DEBUG -Mcu.IP20=UART8 -Mcu.IP21=UART9 -Mcu.IP22=USART1 -Mcu.IP23=USART2 -Mcu.IP24=USART3 -Mcu.IP25=USART10 -Mcu.IP26=USB_DEVICE -Mcu.IP27=USB_OTG_HS +Mcu.IP20=UART5 +Mcu.IP21=UART7 +Mcu.IP22=UART8 +Mcu.IP23=UART9 +Mcu.IP24=USART1 +Mcu.IP25=USART2 +Mcu.IP26=USART3 +Mcu.IP27=USART10 +Mcu.IP28=USB_DEVICE +Mcu.IP29=USB_OTG_HS Mcu.IP3=DMA Mcu.IP4=FDCAN1 Mcu.IP5=FDCAN2 Mcu.IP6=FDCAN3 -Mcu.IP7=I2C2 -Mcu.IP8=NVIC -Mcu.IP9=OCTOSPI2 -Mcu.IPNb=28 +Mcu.IP7=FREERTOS +Mcu.IP8=I2C2 +Mcu.IP9=MEMORYMAP +Mcu.IPNb=30 Mcu.Name=STM32H723VGTx Mcu.Package=LQFP100 Mcu.Pin0=PE2 @@ -482,64 +490,69 @@ Mcu.Pin60=PB5 Mcu.Pin61=PB6 Mcu.Pin62=PE0 Mcu.Pin63=PE1 -Mcu.Pin64=VP_OCTOSPI2_VS_quad -Mcu.Pin65=VP_SYS_VS_tim23 -Mcu.Pin66=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS -Mcu.Pin67=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0 +Mcu.Pin64=VP_FREERTOS_VS_CMSIS_V2 +Mcu.Pin65=VP_OCTOSPI2_VS_quad +Mcu.Pin66=VP_SYS_VS_tim23 +Mcu.Pin67=VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS +Mcu.Pin68=VP_MEMORYMAP_VS_MEMORYMAP +Mcu.Pin69=VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0 Mcu.Pin7=PC0 Mcu.Pin8=PC1 Mcu.Pin9=PC2_C -Mcu.PinsNb=68 +Mcu.PinsNb=70 Mcu.ThirdParty0=STMicroelectronics.X-CUBE-ALGOBUILD.1.4.0 Mcu.ThirdPartyNb=1 Mcu.UserConstants= Mcu.UserName=STM32H723VGTx MxCube.Version=6.17.0 MxDb.Version=DB.6.0.170 -NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true -NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true +NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true +NVIC.DMA1_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true NVIC.ForceEnableDMAVector=true -NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.I2C2_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false -NVIC.OTG_HS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true -NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false +NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.I2C2_EV_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false +NVIC.OTG_HS_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:true\:false\:false NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4 -NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false -NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false -NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true +NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false +NVIC.SavedPendsvIrqHandlerGenerated=false +NVIC.SavedSvcallIrqHandlerGenerated=false +NVIC.SavedSystickIrqHandlerGenerated=false +NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:true\:true\:false +NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true NVIC.TimeBase=TIM23_IRQn NVIC.TimeBaseIP=TIM23 -NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true -NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true -NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true -NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true -NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true -NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:false\:true\:true -NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false +NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true +NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true +NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false OCTOSPI2.ClockMode=HAL_OSPI_CLOCK_MODE_3 OCTOSPI2.ClockPrescaler=3 OCTOSPI2.DeviceSize=23 @@ -957,6 +970,10 @@ USB_DEVICE.VirtualMode=Cdc USB_DEVICE.VirtualModeHS=Cdc_HS USB_OTG_HS.IPParameters=VirtualMode-Device_Only_FS USB_OTG_HS.VirtualMode-Device_Only_FS=Device_Only_FS +VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2 +VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2 +VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg +VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP VP_OCTOSPI2_VS_quad.Mode=quad_mode VP_OCTOSPI2_VS_quad.Signal=OCTOSPI2_VS_quad VP_STMicroelectronics.X-CUBE-ALGOBUILD_VS_DSPOoLibraryJjLibrary_1.4.0_1.4.0.Mode=DSPOoLibraryJjLibrary @@ -966,3 +983,4 @@ VP_SYS_VS_tim23.Signal=SYS_VS_tim23 VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS.Mode=CDC_HS VP_USB_DEVICE_VS_USB_DEVICE_CDC_HS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_HS board=custom +rtos.0.ip=FREERTOS diff --git a/CMakeLists.txt b/CMakeLists.txt index f9262e4..9473753 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -18,6 +18,10 @@ if(NOT CMAKE_BUILD_TYPE) set(CMAKE_BUILD_TYPE "Debug") endif() +if(CMAKE_BUILD_TYPE STREQUAL "Release") + add_compile_definitions(DISABLE_LOG_SYSTEM) +endif() + # Set the project name set(CMAKE_PROJECT_NAME Basic_Framework_MC02) @@ -44,18 +48,6 @@ target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE # Add sources to executable target_sources(${CMAKE_PROJECT_NAME} PRIVATE - # FreeRTOS - Middlewares/Third_Party/FreeRTOS/Source/croutine.c - Middlewares/Third_Party/FreeRTOS/Source/event_groups.c - Middlewares/Third_Party/FreeRTOS/Source/list.c - Middlewares/Third_Party/FreeRTOS/Source/queue.c - Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c - Middlewares/Third_Party/FreeRTOS/Source/tasks.c - Middlewares/Third_Party/FreeRTOS/Source/timers.c - Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c - Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c - Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c - # SEGGER RTT Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c diff --git a/Core/Inc/FreeRTOSConfig.h b/Core/Inc/FreeRTOSConfig.h index 0cc97d2..0806782 100644 --- a/Core/Inc/FreeRTOSConfig.h +++ b/Core/Inc/FreeRTOSConfig.h @@ -1,159 +1,171 @@ -/* USER CODE BEGIN Header */ -/* - * FreeRTOS Kernel V10.3.1 - * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. - * Portion Copyright (C) 2019 StMicroelectronics, Inc. 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ -/* USER CODE END Header */ - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * These parameters and more are described within the 'configuration' section of the - * FreeRTOS API documentation available on the FreeRTOS.org web site. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* USER CODE BEGIN Includes */ -/* Section where include file can be added */ -/* USER CODE END Includes */ - -/* Ensure definitions are only used by the compiler, and not by the assembler. */ -#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) - #include - extern uint32_t SystemCoreClock; -/* USER CODE BEGIN 0 */ - extern void configureTimerForRunTimeStats(void); - extern unsigned long getRunTimeCounterValue(void); -/* USER CODE END 0 */ -#endif -#define configENABLE_FPU 1 -#define configENABLE_MPU 0 - -#define configUSE_PREEMPTION 1 -#define configSUPPORT_STATIC_ALLOCATION 1 -#define configSUPPORT_DYNAMIC_ALLOCATION 1 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configCPU_CLOCK_HZ ( SystemCoreClock ) -#define configTICK_RATE_HZ ((TickType_t)1000) -#define configMAX_PRIORITIES ( 7 ) -#define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)25600) -#define configMAX_TASK_NAME_LEN ( 16 ) -#define configGENERATE_RUN_TIME_STATS 1 -#define configUSE_TRACE_FACILITY 1 -#define configUSE_16_BIT_TICKS 0 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1 -/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */ -/* Defaults to size_t for backward compatibility, but can be changed - if lengths will always be less than the number of bytes in a size_t. */ -#define configMESSAGE_BUFFER_LENGTH_TYPE size_t -/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */ - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) - -/* Software timer definitions. */ -#define configUSE_TIMERS 1 -#define configTIMER_TASK_PRIORITY ( 2 ) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH 256 - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 0 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 -#define INCLUDE_xQueueGetMutexHolder 1 - -/* Cortex-M specific definitions. */ -#ifdef __NVIC_PRIO_BITS - /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ - #define configPRIO_BITS __NVIC_PRIO_BITS -#else - #define configPRIO_BITS 4 -#endif - -/* The lowest interrupt priority that can be used in a call to a "set priority" -function. */ -#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 - -/* The highest interrupt priority that can be used by any interrupt service -routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL -INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER -PRIORITY THAN THIS! (higher priorities are lower numeric values. */ -#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 - -/* Interrupt priorities used by the kernel port layer itself. These are generic -to all Cortex-M ports, and do not rely on any particular library functions. */ -#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) -/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! -See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ -#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) - -/* Normal assert() semantics without relying on the provision of an assert.h -header file. */ -/* USER CODE BEGIN 1 */ -#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );} -/* USER CODE END 1 */ - -/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS -standard names. */ -#define vPortSVCHandler SVC_Handler -#define xPortPendSVHandler PendSV_Handler - -/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick, - to prevent overwriting SysTick_Handler defined within STM32Cube HAL */ - -#define xPortSysTickHandler SysTick_Handler - -/* USER CODE BEGIN 2 */ -/* Definitions needed when configGENERATE_RUN_TIME_STATS is on */ -#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS configureTimerForRunTimeStats -#define portGET_RUN_TIME_COUNTER_VALUE getRunTimeCounterValue -/* USER CODE END 2 */ - -/* USER CODE BEGIN Defines */ -/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ -/* USER CODE END Defines */ - -#endif /* FREERTOS_CONFIG_H */ +/* USER CODE BEGIN Header */ +/* + * FreeRTOS Kernel V10.3.1 + * Portion Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Portion Copyright (C) 2019 StMicroelectronics, Inc. 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://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ +/* USER CODE END Header */ +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * These parameters and more are described within the 'configuration' section of the + * FreeRTOS API documentation available on the FreeRTOS.org web site. + * + * See http://www.freertos.org/a00110.html + *----------------------------------------------------------*/ + +/* USER CODE BEGIN Includes */ +/* Section where include file can be added */ +/* USER CODE END Includes */ + +/* Ensure definitions are only used by the compiler, and not by the assembler. */ +#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) +#include +extern uint32_t SystemCoreClock; +#endif +#ifndef CMSIS_device_header +#define CMSIS_device_header "stm32h7xx.h" +#endif /* CMSIS_device_header */ + +#define configENABLE_FPU 1 +#define configENABLE_MPU 0 + +#define configUSE_PREEMPTION 1 +#define configSUPPORT_STATIC_ALLOCATION 1 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configCPU_CLOCK_HZ ( SystemCoreClock ) +#define configTICK_RATE_HZ ((TickType_t)1000) +#define configMAX_PRIORITIES ( 56 ) +#define configUSE_SB_COMPLETED_CALLBACK ( 0 ) +#define configUSE_MINI_LIST_ITEM ( 1 ) +#define configMINIMAL_STACK_SIZE ((uint16_t)128) +#define configTOTAL_HEAP_SIZE ((size_t)15360) +#define configMAX_TASK_NAME_LEN ( 16 ) +#define configHEAP_CLEAR_MEMORY_ON_FREE 0 +#define configUSE_TRACE_FACILITY 1 +#define configUSE_16_BIT_TICKS 0 +#define configUSE_MUTEXES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +/* USER CODE BEGIN MESSAGE_BUFFER_LENGTH_TYPE */ +/* Defaults to size_t for backward compatibility, but can be changed + if lengths will always be less than the number of bytes in a size_t. */ +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t +/* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */ + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) + +/* Software timer definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( 2 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 256 + +/* CMSIS-RTOS V2 flags */ +#define configUSE_OS2_THREAD_SUSPEND_RESUME 1 +#define configUSE_OS2_THREAD_ENUMERATE 1 +#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1 +#define configUSE_OS2_THREAD_FLAGS 1 +#define configUSE_OS2_TIMER 1 +#define configUSE_OS2_MUTEX 1 +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 0 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_xTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xQueueGetMutexHolder 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_eTaskGetState 1 + +/* + * The CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used + * by the application thus the correct define need to be enabled below + */ +#define USE_FreeRTOS_HEAP_4 + +/* Cortex-M specific definitions. */ +#ifdef __NVIC_PRIO_BITS + /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ + #define configPRIO_BITS __NVIC_PRIO_BITS +#else + #define configPRIO_BITS 4 +#endif + +/* The lowest interrupt priority that can be used in a call to a "set priority" +function. */ + +#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15 + +/* The highest interrupt priority that can be used by any interrupt service +routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL +INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER +PRIORITY THAN THIS! (higher priorities are lower numeric values. */ +#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 + +/* Interrupt priorities used by the kernel port layer itself. These are generic +to all Cortex-M ports, and do not rely on any particular library functions. */ +#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) +/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! +See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ +#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) + +/* Normal assert() semantics without relying on the provision of an assert.h +header file. */ +/* USER CODE BEGIN 1 */ +#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );} +/* USER CODE END 1 */ + +/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS +standard names. */ +#define vPortSVCHandler SVC_Handler +#define xPortPendSVHandler PendSV_Handler +/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */ + +#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0 + +/* USER CODE BEGIN Defines */ +/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */ +/* USER CODE END Defines */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/Core/Src/freertos.c b/Core/Src/freertos.c index 93f8671..8dd9702 100644 --- a/Core/Src/freertos.c +++ b/Core/Src/freertos.c @@ -1,171 +1,133 @@ -/* USER CODE BEGIN Header */ -/** - ****************************************************************************** - * File Name : freertos.c - * Description : Code for freertos applications - ****************************************************************************** - * @attention - * - * Copyright (c) 2024 STMicroelectronics. - * All rights reserved. - * - * This software is licensed under terms that can be found in the LICENSE file - * in the root directory of this software component. - * If no LICENSE file comes with this software, it is provided AS-IS. - * - ****************************************************************************** - */ -/* USER CODE END Header */ - -/* Includes ------------------------------------------------------------------*/ -#include "FreeRTOS.h" -#include "task.h" -#include "main.h" -#include "cmsis_os.h" - -/* Private includes ----------------------------------------------------------*/ -/* USER CODE BEGIN Includes */ - -/* USER CODE END Includes */ - -/* Private typedef -----------------------------------------------------------*/ -/* USER CODE BEGIN PTD */ - -/* USER CODE END PTD */ - -/* Private define ------------------------------------------------------------*/ -/* USER CODE BEGIN PD */ - -/* USER CODE END PD */ - -/* Private macro -------------------------------------------------------------*/ -/* USER CODE BEGIN PM */ - -/* USER CODE END PM */ - -/* Private variables ---------------------------------------------------------*/ -/* USER CODE BEGIN Variables */ - -/* USER CODE END Variables */ -osThreadId defaultTaskHandle; - -/* Private function prototypes -----------------------------------------------*/ -/* USER CODE BEGIN FunctionPrototypes */ - -/* USER CODE END FunctionPrototypes */ - -void StartDefaultTask(void const * argument); - -extern void MX_USB_DEVICE_Init(void); -void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ - -/* GetIdleTaskMemory prototype (linked to static allocation support) */ -void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); - -/* GetTimerTaskMemory prototype (linked to static allocation support) */ -void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ); - -/* Hook prototypes */ -void configureTimerForRunTimeStats(void); -unsigned long getRunTimeCounterValue(void); - -/* USER CODE BEGIN 1 */ -/* Functions needed when configGENERATE_RUN_TIME_STATS is on */ -__weak void configureTimerForRunTimeStats(void) -{ - -} - -__weak unsigned long getRunTimeCounterValue(void) -{ -return 0; -} -/* USER CODE END 1 */ - -/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */ -static StaticTask_t xIdleTaskTCBBuffer; -static StackType_t xIdleStack[configMINIMAL_STACK_SIZE]; - -void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ) -{ - *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer; - *ppxIdleTaskStackBuffer = &xIdleStack[0]; - *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; - /* place for user code */ -} -/* USER CODE END GET_IDLE_TASK_MEMORY */ - -/* USER CODE BEGIN GET_TIMER_TASK_MEMORY */ -static StaticTask_t xTimerTaskTCBBuffer; -static StackType_t xTimerStack[configTIMER_TASK_STACK_DEPTH]; - -void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize ) -{ - *ppxTimerTaskTCBBuffer = &xTimerTaskTCBBuffer; - *ppxTimerTaskStackBuffer = &xTimerStack[0]; - *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; - /* place for user code */ -} -/* USER CODE END GET_TIMER_TASK_MEMORY */ - -/** - * @brief FreeRTOS initialization - * @param None - * @retval None - */ -void MX_FREERTOS_Init(void) { - /* USER CODE BEGIN Init */ - - /* USER CODE END Init */ - - /* USER CODE BEGIN RTOS_MUTEX */ - /* add mutexes, ... */ - /* USER CODE END RTOS_MUTEX */ - - /* USER CODE BEGIN RTOS_SEMAPHORES */ - /* add semaphores, ... */ - /* USER CODE END RTOS_SEMAPHORES */ - - /* USER CODE BEGIN RTOS_TIMERS */ - /* start timers, add new ones, ... */ - /* USER CODE END RTOS_TIMERS */ - - /* USER CODE BEGIN RTOS_QUEUES */ - /* add queues, ... */ - /* USER CODE END RTOS_QUEUES */ - - /* Create the thread(s) */ - /* definition and creation of defaultTask */ - osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128); - defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL); - - /* USER CODE BEGIN RTOS_THREADS */ - /* add threads, ... */ - /* USER CODE END RTOS_THREADS */ - -} - -/* USER CODE BEGIN Header_StartDefaultTask */ -/** - * @brief Function implementing the defaultTask thread. - * @param argument: Not used - * @retval None - */ -/* USER CODE END Header_StartDefaultTask */ -void StartDefaultTask(void const * argument) -{ - /* init code for USB_DEVICE */ - MX_USB_DEVICE_Init(); - /* USER CODE BEGIN StartDefaultTask */ - /* Infinite loop */ - for(;;) - { - osDelay(1); - } - /* USER CODE END StartDefaultTask */ -} - -/* Private application code --------------------------------------------------*/ -/* USER CODE BEGIN Application */ - -/* USER CODE END Application */ +/* USER CODE BEGIN Header */ +/** + ****************************************************************************** + * File Name : freertos.c + * Description : Code for freertos applications + ****************************************************************************** + * @attention + * + * Copyright (c) 2024 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ +/* USER CODE END Header */ + +/* Includes ------------------------------------------------------------------*/ +#include "FreeRTOS.h" +#include "task.h" +#include "main.h" +#include "FreeRTOS.h" +#include "cmsis_os2.h" + +/* Private includes ----------------------------------------------------------*/ +/* USER CODE BEGIN Includes */ + +/* USER CODE END Includes */ + +/* Private typedef -----------------------------------------------------------*/ +/* USER CODE BEGIN PTD */ + +/* USER CODE END PTD */ + +/* Private define ------------------------------------------------------------*/ +/* USER CODE BEGIN PD */ + +/* USER CODE END PD */ + +/* Private macro -------------------------------------------------------------*/ +/* USER CODE BEGIN PM */ + +/* USER CODE END PM */ + +/* Private variables ---------------------------------------------------------*/ +/* USER CODE BEGIN Variables */ + +/* USER CODE END Variables */ +/* Definitions for defaultTask */ +osThreadId_t defaultTaskHandle; +const osThreadAttr_t defaultTask_attributes = { + .name = "defaultTask", + .stack_size = 128 * 4, + .priority = (osPriority_t) osPriorityNormal, +}; + +/* Private function prototypes -----------------------------------------------*/ +/* USER CODE BEGIN FunctionPrototypes */ + +/* USER CODE END FunctionPrototypes */ + +void StartDefaultTask(void *argument); + +extern void MX_USB_DEVICE_Init(void); +void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */ + +/** + * @brief FreeRTOS initialization + * @param None + * @retval None + */ +void MX_FREERTOS_Init(void) { + /* USER CODE BEGIN Init */ + + /* USER CODE END Init */ + + /* USER CODE BEGIN RTOS_MUTEX */ + /* add mutexes, ... */ + /* USER CODE END RTOS_MUTEX */ + + /* USER CODE BEGIN RTOS_SEMAPHORES */ + /* add semaphores, ... */ + /* USER CODE END RTOS_SEMAPHORES */ + + /* USER CODE BEGIN RTOS_TIMERS */ + /* start timers, add new ones, ... */ + /* USER CODE END RTOS_TIMERS */ + + /* USER CODE BEGIN RTOS_QUEUES */ + /* add queues, ... */ + /* USER CODE END RTOS_QUEUES */ + + /* Create the thread(s) */ + /* creation of defaultTask */ + defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); + + /* USER CODE BEGIN RTOS_THREADS */ + /* add threads, ... */ + /* USER CODE END RTOS_THREADS */ + + /* USER CODE BEGIN RTOS_EVENTS */ + /* add events, ... */ + /* USER CODE END RTOS_EVENTS */ + +} + +/* USER CODE BEGIN Header_StartDefaultTask */ +/** + * @brief Function implementing the defaultTask thread. + * @param argument: Not used + * @retval None + */ +/* USER CODE END Header_StartDefaultTask */ +void StartDefaultTask(void *argument) +{ + /* init code for USB_DEVICE */ + MX_USB_DEVICE_Init(); + /* USER CODE BEGIN StartDefaultTask */ + /* Infinite loop */ + for(;;) + { + osDelay(1); + } + /* USER CODE END StartDefaultTask */ +} + +/* Private application code --------------------------------------------------*/ +/* USER CODE BEGIN Application */ + +/* USER CODE END Application */ + diff --git a/Core/Src/main.c b/Core/Src/main.c index 2dddd9e..86b73e9 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -18,6 +18,8 @@ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" +#include "FreeRTOS.h" +#include "cmsis_os2.h" #include "adc.h" #include "dma.h" #include "fdcan.h" @@ -63,6 +65,7 @@ uint8_t W25Qxx_ReadBuffer[W25Qxx_NumByteToTest]; // �������� /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); +void MX_FREERTOS_Init(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ @@ -103,7 +106,6 @@ int main(void) MX_GPIO_Init(); MX_DMA_Init(); MX_ADC1_Init(); - MX_USB_DEVICE_Init(); MX_TIM12_Init(); MX_SPI1_Init(); MX_SPI2_Init(); @@ -128,6 +130,15 @@ int main(void) LOGINFO("[main] SystemInit() and RobotInit() done"); /* USER CODE END 2 */ + /* Init scheduler */ + osKernelInitialize(); /* Call init function for freertos objects (in cmsis_os2.c) */ + MX_FREERTOS_Init(); + + /* Start scheduler */ + osKernelStart(); + + /* We should never get here as control is now taken by the scheduler */ + /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) diff --git a/Core/Src/stm32h7xx_it.c b/Core/Src/stm32h7xx_it.c index 00ab601..fa6ec1f 100644 --- a/Core/Src/stm32h7xx_it.c +++ b/Core/Src/stm32h7xx_it.c @@ -6,7 +6,7 @@ ****************************************************************************** * @attention * - * Copyright (c) 2024 STMicroelectronics. + * Copyright (c) 2026 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file @@ -194,6 +194,7 @@ void DMA1_Stream0_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream0_IRQn 0 */ /* USER CODE END DMA1_Stream0_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_adc1); /* USER CODE BEGIN DMA1_Stream0_IRQn 1 */ /* USER CODE END DMA1_Stream0_IRQn 1 */ @@ -207,6 +208,7 @@ void DMA1_Stream1_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream1_IRQn 0 */ /* USER CODE END DMA1_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_tx); /* USER CODE BEGIN DMA1_Stream1_IRQn 1 */ /* USER CODE END DMA1_Stream1_IRQn 1 */ @@ -220,6 +222,7 @@ void DMA1_Stream2_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream2_IRQn 0 */ /* USER CODE END DMA1_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_rx); /* USER CODE BEGIN DMA1_Stream2_IRQn 1 */ /* USER CODE END DMA1_Stream2_IRQn 1 */ @@ -233,6 +236,7 @@ void DMA1_Stream3_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream3_IRQn 0 */ /* USER CODE END DMA1_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_i2c2_tx); /* USER CODE BEGIN DMA1_Stream3_IRQn 1 */ /* USER CODE END DMA1_Stream3_IRQn 1 */ @@ -246,6 +250,7 @@ void DMA1_Stream4_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream4_IRQn 0 */ /* USER CODE END DMA1_Stream4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart9_rx); /* USER CODE BEGIN DMA1_Stream4_IRQn 1 */ /* USER CODE END DMA1_Stream4_IRQn 1 */ @@ -259,6 +264,7 @@ void DMA1_Stream5_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream5_IRQn 0 */ /* USER CODE END DMA1_Stream5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart9_tx); /* USER CODE BEGIN DMA1_Stream5_IRQn 1 */ /* USER CODE END DMA1_Stream5_IRQn 1 */ @@ -272,6 +278,7 @@ void DMA1_Stream6_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream6_IRQn 0 */ /* USER CODE END DMA1_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart3_rx); /* USER CODE BEGIN DMA1_Stream6_IRQn 1 */ /* USER CODE END DMA1_Stream6_IRQn 1 */ @@ -397,6 +404,7 @@ void DMA1_Stream7_IRQHandler(void) /* USER CODE BEGIN DMA1_Stream7_IRQn 0 */ /* USER CODE END DMA1_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart5_rx); /* USER CODE BEGIN DMA1_Stream7_IRQn 1 */ /* USER CODE END DMA1_Stream7_IRQn 1 */ @@ -424,6 +432,7 @@ void DMA2_Stream0_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream0_IRQn 0 */ /* USER CODE END DMA2_Stream0_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart2_rx); /* USER CODE BEGIN DMA2_Stream0_IRQn 1 */ /* USER CODE END DMA2_Stream0_IRQn 1 */ @@ -437,6 +446,7 @@ void DMA2_Stream1_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream1_IRQn 0 */ /* USER CODE END DMA2_Stream1_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart2_tx); /* USER CODE BEGIN DMA2_Stream1_IRQn 1 */ /* USER CODE END DMA2_Stream1_IRQn 1 */ @@ -450,6 +460,7 @@ void DMA2_Stream2_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream2_IRQn 0 */ /* USER CODE END DMA2_Stream2_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_tx); /* USER CODE BEGIN DMA2_Stream2_IRQn 1 */ /* USER CODE END DMA2_Stream2_IRQn 1 */ @@ -463,6 +474,7 @@ void DMA2_Stream3_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream3_IRQn 0 */ /* USER CODE END DMA2_Stream3_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart1_rx); /* USER CODE BEGIN DMA2_Stream3_IRQn 1 */ /* USER CODE END DMA2_Stream3_IRQn 1 */ @@ -476,6 +488,7 @@ void DMA2_Stream4_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream4_IRQn 0 */ /* USER CODE END DMA2_Stream4_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_rx); /* USER CODE BEGIN DMA2_Stream4_IRQn 1 */ /* USER CODE END DMA2_Stream4_IRQn 1 */ @@ -489,6 +502,7 @@ void DMA2_Stream5_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream5_IRQn 0 */ /* USER CODE END DMA2_Stream5_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_usart10_tx); /* USER CODE BEGIN DMA2_Stream5_IRQn 1 */ /* USER CODE END DMA2_Stream5_IRQn 1 */ @@ -502,6 +516,7 @@ void DMA2_Stream6_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream6_IRQn 0 */ /* USER CODE END DMA2_Stream6_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart8_tx); /* USER CODE BEGIN DMA2_Stream6_IRQn 1 */ /* USER CODE END DMA2_Stream6_IRQn 1 */ @@ -515,6 +530,7 @@ void DMA2_Stream7_IRQHandler(void) /* USER CODE BEGIN DMA2_Stream7_IRQn 0 */ /* USER CODE END DMA2_Stream7_IRQn 0 */ + HAL_DMA_IRQHandler(&hdma_uart8_rx); /* USER CODE BEGIN DMA2_Stream7_IRQn 1 */ /* USER CODE END DMA2_Stream7_IRQn 1 */ @@ -528,6 +544,7 @@ void OTG_HS_IRQHandler(void) /* USER CODE BEGIN OTG_HS_IRQn 0 */ /* USER CODE END OTG_HS_IRQn 0 */ + HAL_PCD_IRQHandler(&hpcd_USB_OTG_HS); /* USER CODE BEGIN OTG_HS_IRQn 1 */ /* USER CODE END OTG_HS_IRQn 1 */ @@ -597,6 +614,7 @@ void TIM23_IRQHandler(void) /* USER CODE BEGIN TIM23_IRQn 0 */ /* USER CODE END TIM23_IRQn 0 */ + HAL_TIM_IRQHandler(&htim23); /* USER CODE BEGIN TIM23_IRQn 1 */ /* USER CODE END TIM23_IRQn 1 */ diff --git a/Drivers/CMSIS/RTOS2/Include/cmsis_os2.h b/Drivers/CMSIS/RTOS2/Include/cmsis_os2.h index e0b602c..76612e2 100644 --- a/Drivers/CMSIS/RTOS2/Include/cmsis_os2.h +++ b/Drivers/CMSIS/RTOS2/Include/cmsis_os2.h @@ -1,5 +1,5 @@ /* - * Copyright (c) 2013-2018 Arm Limited. All rights reserved. + * Copyright (c) 2013-2020 Arm Limited. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * @@ -17,7 +17,7 @@ * * ---------------------------------------------------------------------- * - * $Date: 18. June 2018 + * $Date: 12. June 2020 * $Revision: V2.1.3 * * Project: CMSIS-RTOS2 API @@ -86,7 +86,7 @@ typedef enum { osKernelLocked = 3, ///< Locked. osKernelSuspended = 4, ///< Suspended. osKernelError = -1, ///< Error. - osKernelReserved = 0x7FFFFFFFU ///< Prevents enum down-size compiler optimization. + osKernelReserved = 0x7FFFFFFF ///< Prevents enum down-size compiler optimization. } osKernelState_t; /// Thread state. @@ -723,7 +723,7 @@ osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t * /// \return maximum number of messages. uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id); -/// Get maximum message size in a Memory Pool. +/// Get maximum message size in a Message Queue. /// \param[in] mq_id message queue ID obtained by \ref osMessageQueueNew. /// \return maximum message size in bytes. uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id); diff --git a/Drivers/CMSIS/RTOS2/Include/os_tick.h b/Drivers/CMSIS/RTOS2/Include/os_tick.h index 8f7cdf6..3cfd895 100644 --- a/Drivers/CMSIS/RTOS2/Include/os_tick.h +++ b/Drivers/CMSIS/RTOS2/Include/os_tick.h @@ -1,11 +1,11 @@ /**************************************************************************//** * @file os_tick.h * @brief CMSIS OS Tick header file - * @version V1.0.1 - * @date 24. November 2017 + * @version V1.0.2 + * @date 19. March 2021 ******************************************************************************/ /* - * Copyright (c) 2017-2017 ARM Limited. All rights reserved. + * Copyright (c) 2017-2021 ARM Limited. All rights reserved. * * SPDX-License-Identifier: Apache-2.0 * @@ -27,6 +27,11 @@ #include +#ifdef __cplusplus +extern "C" +{ +#endif + /// IRQ Handler. #ifndef IRQHANDLER_T #define IRQHANDLER_T @@ -68,4 +73,8 @@ uint32_t OS_Tick_GetCount (void); /// \return OS Tick overflow status (1 - overflow, 0 - no overflow). uint32_t OS_Tick_GetOverflow (void); +#ifdef __cplusplus +} +#endif + #endif /* OS_TICK_H */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c deleted file mode 100644 index 89c3633..0000000 --- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c +++ /dev/null @@ -1,1727 +0,0 @@ -/* ---------------------------------------------------------------------- - * $Date: 5. February 2013 - * $Revision: V1.02 - * - * Project: CMSIS-RTOS API - * Title: cmsis_os.c - * - * Version 0.02 - * Initial Proposal Phase - * Version 0.03 - * osKernelStart added, optional feature: main started as thread - * osSemaphores have standard behavior - * osTimerCreate does not start the timer, added osTimerStart - * osThreadPass is renamed to osThreadYield - * Version 1.01 - * Support for C++ interface - * - const attribute removed from the osXxxxDef_t typedef's - * - const attribute added to the osXxxxDef macros - * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete - * Added: osKernelInitialize - * Version 1.02 - * Control functions for short timeouts in microsecond resolution: - * Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec - * Removed: osSignalGet - * - * - *---------------------------------------------------------------------------- - * - * Portions Copyright 2016 STMicroelectronics International N.V. All rights reserved. - * Portions Copyright (c) 2013 ARM LIMITED - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -#include -#include "cmsis_os.h" - -/* - * ARM Compiler 4/5 - */ -#if defined ( __CC_ARM ) - - #define __ASM __asm - #define __INLINE __inline - #define __STATIC_INLINE static __inline - - #include "cmsis_armcc.h" - -/* - * GNU Compiler - */ -#elif defined ( __GNUC__ ) - - #define __ASM __asm /*!< asm keyword for GNU Compiler */ - #define __INLINE inline /*!< inline keyword for GNU Compiler */ - #define __STATIC_INLINE static inline - - #include "cmsis_gcc.h" - - -/* - * IAR Compiler - */ -#elif defined ( __ICCARM__ ) - - #ifndef __ASM - #define __ASM __asm - #endif - #ifndef __INLINE - #define __INLINE inline - #endif - #ifndef __STATIC_INLINE - #define __STATIC_INLINE static inline - #endif - - #include -#endif - -extern void xPortSysTickHandler(void); - -/* Convert from CMSIS type osPriority to FreeRTOS priority number */ -static unsigned portBASE_TYPE makeFreeRtosPriority (osPriority priority) -{ - unsigned portBASE_TYPE fpriority = tskIDLE_PRIORITY; - - if (priority != osPriorityError) { - fpriority += (priority - osPriorityIdle); - } - - return fpriority; -} - -#if (INCLUDE_uxTaskPriorityGet == 1) -/* Convert from FreeRTOS priority number to CMSIS type osPriority */ -static osPriority makeCmsisPriority (unsigned portBASE_TYPE fpriority) -{ - osPriority priority = osPriorityError; - - if ((fpriority - tskIDLE_PRIORITY) <= (osPriorityRealtime - osPriorityIdle)) { - priority = (osPriority)((int)osPriorityIdle + (int)(fpriority - tskIDLE_PRIORITY)); - } - - return priority; -} -#endif - - -/* Determine whether we are in thread mode or handler mode. */ -static int inHandlerMode (void) -{ - return __get_IPSR() != 0; -} - -/*********************** Kernel Control Functions *****************************/ -/** -* @brief Initialize the RTOS Kernel for creating objects. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS. -*/ -osStatus osKernelInitialize (void); - -/** -* @brief Start the RTOS Kernel with executing the specified thread. -* @param thread_def thread definition referenced with \ref osThread. -* @param argument pointer that is passed to the thread function as start argument. -* @retval status code that indicates the execution status of the function -* @note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS. -*/ -osStatus osKernelStart (void) -{ - vTaskStartScheduler(); - - return osOK; -} - -/** -* @brief Check if the RTOS kernel is already started -* @param None -* @retval (0) RTOS is not started -* (1) RTOS is started -* (-1) if this feature is disabled in FreeRTOSConfig.h -* @note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. -*/ -int32_t osKernelRunning(void) -{ -#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - if (xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED) - return 0; - else - return 1; -#else - return (-1); -#endif -} - -#if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available -/** -* @brief Get the value of the Kernel SysTick timer -* @param None -* @retval None -* @note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS. -*/ -uint32_t osKernelSysTick(void) -{ - if (inHandlerMode()) { - return xTaskGetTickCountFromISR(); - } - else { - return xTaskGetTickCount(); - } -} -#endif // System Timer available -/*********************** Thread Management *****************************/ -/** -* @brief Create a thread and add it to Active Threads and set it to state READY. -* @param thread_def thread definition referenced with \ref osThread. -* @param argument pointer that is passed to the thread function as start argument. -* @retval thread ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS. -*/ -osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) -{ - TaskHandle_t handle; - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - if((thread_def->buffer != NULL) && (thread_def->controlblock != NULL)) { - handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, - thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), - thread_def->buffer, thread_def->controlblock); - } - else { - if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, - thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), - &handle) != pdPASS) { - return NULL; - } - } -#elif( configSUPPORT_STATIC_ALLOCATION == 1 ) - - handle = xTaskCreateStatic((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, - thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), - thread_def->buffer, thread_def->controlblock); -#else - if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name, - thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority), - &handle) != pdPASS) { - return NULL; - } -#endif - - return handle; -} - -/** -* @brief Return the thread ID of the current running thread. -* @retval thread ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS. -*/ -osThreadId osThreadGetId (void) -{ -#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) - return xTaskGetCurrentTaskHandle(); -#else - return NULL; -#endif -} - -/** -* @brief Terminate execution of a thread and remove it from Active Threads. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS. -*/ -osStatus osThreadTerminate (osThreadId thread_id) -{ -#if (INCLUDE_vTaskDelete == 1) - vTaskDelete(thread_id); - return osOK; -#else - return osErrorOS; -#endif -} - -/** -* @brief Pass control to next thread that is in state \b READY. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS. -*/ -osStatus osThreadYield (void) -{ - taskYIELD(); - - return osOK; -} - -/** -* @brief Change priority of an active thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @param priority new priority value for the thread function. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS. -*/ -osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority) -{ -#if (INCLUDE_vTaskPrioritySet == 1) - vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority)); - return osOK; -#else - return osErrorOS; -#endif -} - -/** -* @brief Get current priority of an active thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval current priority value of the thread function. -* @note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS. -*/ -osPriority osThreadGetPriority (osThreadId thread_id) -{ -#if (INCLUDE_uxTaskPriorityGet == 1) - if (inHandlerMode()) - { - return makeCmsisPriority(uxTaskPriorityGetFromISR(thread_id)); - } - else - { - return makeCmsisPriority(uxTaskPriorityGet(thread_id)); - } -#else - return osPriorityError; -#endif -} - -/*********************** Generic Wait Functions *******************************/ -/** -* @brief Wait for Timeout (Time Delay) -* @param millisec time delay value -* @retval status code that indicates the execution status of the function. -*/ -osStatus osDelay (uint32_t millisec) -{ -#if INCLUDE_vTaskDelay - TickType_t ticks = millisec / portTICK_PERIOD_MS; - - vTaskDelay(ticks ? ticks : 1); /* Minimum delay = 1 tick */ - - return osOK; -#else - (void) millisec; - - return osErrorResource; -#endif -} - -#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) /* Generic Wait available */ -/** -* @brief Wait for Signal, Message, Mail, or Timeout -* @param millisec timeout value or 0 in case of no time-out -* @retval event that contains signal, message, or mail information or error code. -* @note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS. -*/ -osEvent osWait (uint32_t millisec); - -#endif /* Generic Wait available */ - -/*********************** Timer Management Functions ***************************/ -/** -* @brief Create a timer. -* @param timer_def timer object referenced with \ref osTimer. -* @param type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior. -* @param argument argument to the timer call back function. -* @retval timer ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS. -*/ -osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument) -{ -#if (configUSE_TIMERS == 1) - -#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - if(timer_def->controlblock != NULL) { - return xTimerCreateStatic((const char *)"", - 1, // period should be filled when starting the Timer using osTimerStart - (type == osTimerPeriodic) ? pdTRUE : pdFALSE, - (void *) argument, - (TimerCallbackFunction_t)timer_def->ptimer, - (StaticTimer_t *)timer_def->controlblock); - } - else { - return xTimerCreate((const char *)"", - 1, // period should be filled when starting the Timer using osTimerStart - (type == osTimerPeriodic) ? pdTRUE : pdFALSE, - (void *) argument, - (TimerCallbackFunction_t)timer_def->ptimer); - } -#elif( configSUPPORT_STATIC_ALLOCATION == 1 ) - return xTimerCreateStatic((const char *)"", - 1, // period should be filled when starting the Timer using osTimerStart - (type == osTimerPeriodic) ? pdTRUE : pdFALSE, - (void *) argument, - (TimerCallbackFunction_t)timer_def->ptimer, - (StaticTimer_t *)timer_def->controlblock); -#else - return xTimerCreate((const char *)"", - 1, // period should be filled when starting the Timer using osTimerStart - (type == osTimerPeriodic) ? pdTRUE : pdFALSE, - (void *) argument, - (TimerCallbackFunction_t)timer_def->ptimer); -#endif - -#else - return NULL; -#endif -} - -/** -* @brief Start or restart a timer. -* @param timer_id timer ID obtained by \ref osTimerCreate. -* @param millisec time delay value of the timer. -* @retval status code that indicates the execution status of the function -* @note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS. -*/ -osStatus osTimerStart (osTimerId timer_id, uint32_t millisec) -{ - osStatus result = osOK; -#if (configUSE_TIMERS == 1) - portBASE_TYPE taskWoken = pdFALSE; - TickType_t ticks = millisec / portTICK_PERIOD_MS; - - if (ticks == 0) - ticks = 1; - - if (inHandlerMode()) - { - if (xTimerChangePeriodFromISR(timer_id, ticks, &taskWoken) != pdPASS) - { - result = osErrorOS; - } - else - { - portEND_SWITCHING_ISR(taskWoken); - } - } - else - { - if (xTimerChangePeriod(timer_id, ticks, 0) != pdPASS) - result = osErrorOS; - } - -#else - result = osErrorOS; -#endif - return result; -} - -/** -* @brief Stop a timer. -* @param timer_id timer ID obtained by \ref osTimerCreate -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS. -*/ -osStatus osTimerStop (osTimerId timer_id) -{ - osStatus result = osOK; -#if (configUSE_TIMERS == 1) - portBASE_TYPE taskWoken = pdFALSE; - - if (inHandlerMode()) { - if (xTimerStopFromISR(timer_id, &taskWoken) != pdPASS) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xTimerStop(timer_id, 0) != pdPASS) { - result = osErrorOS; - } - } -#else - result = osErrorOS; -#endif - return result; -} - -/** -* @brief Delete a timer. -* @param timer_id timer ID obtained by \ref osTimerCreate -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS. -*/ -osStatus osTimerDelete (osTimerId timer_id) -{ -osStatus result = osOK; - -#if (configUSE_TIMERS == 1) - - if (inHandlerMode()) { - return osErrorISR; - } - else { - if ((xTimerDelete(timer_id, osWaitForever )) != pdPASS) { - result = osErrorOS; - } - } - -#else - result = osErrorOS; -#endif - - return result; -} - -/*************************** Signal Management ********************************/ -/** -* @brief Set the specified Signal Flags of an active thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @param signals specifies the signal flags of the thread that should be set. -* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. -* @note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS. -*/ -int32_t osSignalSet (osThreadId thread_id, int32_t signal) -{ -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - BaseType_t xHigherPriorityTaskWoken = pdFALSE; - uint32_t ulPreviousNotificationValue = 0; - - if (inHandlerMode()) - { - if(xTaskGenericNotifyFromISR( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue, &xHigherPriorityTaskWoken ) != pdPASS ) - return 0x80000000; - - portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); - } - else if(xTaskGenericNotify( thread_id , (uint32_t)signal, eSetBits, &ulPreviousNotificationValue) != pdPASS ) - return 0x80000000; - - return ulPreviousNotificationValue; -#else - (void) thread_id; - (void) signal; - - return 0x80000000; /* Task Notification not supported */ -#endif -} - -/** -* @brief Clear the specified Signal Flags of an active thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @param signals specifies the signal flags of the thread that shall be cleared. -* @retval previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. -* @note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS. -*/ -int32_t osSignalClear (osThreadId thread_id, int32_t signal); - -/** -* @brief Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread. -* @param signals wait until all specified signal flags set or 0 for any single signal flag. -* @param millisec timeout value or 0 in case of no time-out. -* @retval event flag information or error code. -* @note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS. -*/ -osEvent osSignalWait (int32_t signals, uint32_t millisec) -{ - osEvent ret; - -#if( configUSE_TASK_NOTIFICATIONS == 1 ) - - TickType_t ticks; - - ret.value.signals = 0; - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (inHandlerMode()) - { - ret.status = osErrorISR; /*Not allowed in ISR*/ - } - else - { - if(xTaskNotifyWait( 0,(uint32_t) signals, (uint32_t *)&ret.value.signals, ticks) != pdTRUE) - { - if(ticks == 0) ret.status = osOK; - else ret.status = osEventTimeout; - } - else if(ret.value.signals < 0) - { - ret.status = osErrorValue; - } - else ret.status = osEventSignal; - } -#else - (void) signals; - (void) millisec; - - ret.status = osErrorOS; /* Task Notification not supported */ -#endif - - return ret; -} - -/**************************** Mutex Management ********************************/ -/** -* @brief Create and Initialize a Mutex object -* @param mutex_def mutex definition referenced with \ref osMutex. -* @retval mutex ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS. -*/ -osMutexId osMutexCreate (const osMutexDef_t *mutex_def) -{ -#if ( configUSE_MUTEXES == 1) - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - if (mutex_def->controlblock != NULL) { - return xSemaphoreCreateMutexStatic( mutex_def->controlblock ); - } - else { - return xSemaphoreCreateMutex(); - } -#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) - return xSemaphoreCreateMutexStatic( mutex_def->controlblock ); -#else - return xSemaphoreCreateMutex(); -#endif -#else - return NULL; -#endif -} - -/** -* @brief Wait until a Mutex becomes available -* @param mutex_id mutex ID obtained by \ref osMutexCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec) -{ - TickType_t ticks; - portBASE_TYPE taskWoken = pdFALSE; - - - if (mutex_id == NULL) { - return osErrorParameter; - } - - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (inHandlerMode()) { - if (xSemaphoreTakeFromISR(mutex_id, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else if (xSemaphoreTake(mutex_id, ticks) != pdTRUE) { - return osErrorOS; - } - - return osOK; -} - -/** -* @brief Release a Mutex that was obtained by \ref osMutexWait -* @param mutex_id mutex ID obtained by \ref osMutexCreate. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMutexRelease (osMutexId mutex_id) -{ - osStatus result = osOK; - portBASE_TYPE taskWoken = pdFALSE; - - if (inHandlerMode()) { - if (xSemaphoreGiveFromISR(mutex_id, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else if (xSemaphoreGive(mutex_id) != pdTRUE) - { - result = osErrorOS; - } - return result; -} - -/** -* @brief Delete a Mutex -* @param mutex_id mutex ID obtained by \ref osMutexCreate. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMutexDelete (osMutexId mutex_id) -{ - if (inHandlerMode()) { - return osErrorISR; - } - - vQueueDelete(mutex_id); - - return osOK; -} - -/******************** Semaphore Management Functions **************************/ - -#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) - -/** -* @brief Create and Initialize a Semaphore object used for managing resources -* @param semaphore_def semaphore definition referenced with \ref osSemaphore. -* @param count number of available resources. -* @retval semaphore ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS. -*/ -osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count) -{ -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - osSemaphoreId sema; - - if (semaphore_def->controlblock != NULL){ - if (count == 1) { - return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock ); - } - else { -#if (configUSE_COUNTING_SEMAPHORES == 1 ) - return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock ); -#else - return NULL; -#endif - } - } - else { - if (count == 1) { - vSemaphoreCreateBinary(sema); - return sema; - } - else { -#if (configUSE_COUNTING_SEMAPHORES == 1 ) - return xSemaphoreCreateCounting(count, count); -#else - return NULL; -#endif - } - } -#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) // configSUPPORT_DYNAMIC_ALLOCATION == 0 - if(count == 1) { - return xSemaphoreCreateBinaryStatic( semaphore_def->controlblock ); - } - else - { -#if (configUSE_COUNTING_SEMAPHORES == 1 ) - return xSemaphoreCreateCountingStatic( count, count, semaphore_def->controlblock ); -#else - return NULL; -#endif - } -#else // configSUPPORT_STATIC_ALLOCATION == 0 && configSUPPORT_DYNAMIC_ALLOCATION == 1 - osSemaphoreId sema; - - if (count == 1) { - vSemaphoreCreateBinary(sema); - return sema; - } - else { -#if (configUSE_COUNTING_SEMAPHORES == 1 ) - return xSemaphoreCreateCounting(count, count); -#else - return NULL; -#endif - } -#endif -} - -/** -* @brief Wait until a Semaphore token becomes available -* @param semaphore_id semaphore object referenced with \ref osSemaphore. -* @param millisec timeout value or 0 in case of no time-out. -* @retval number of available tokens, or -1 in case of incorrect parameters. -* @note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS. -*/ -int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec) -{ - TickType_t ticks; - portBASE_TYPE taskWoken = pdFALSE; - - - if (semaphore_id == NULL) { - return osErrorParameter; - } - - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (inHandlerMode()) { - if (xSemaphoreTakeFromISR(semaphore_id, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else if (xSemaphoreTake(semaphore_id, ticks) != pdTRUE) { - return osErrorOS; - } - - return osOK; -} - -/** -* @brief Release a Semaphore token -* @param semaphore_id semaphore object referenced with \ref osSemaphore. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS. -*/ -osStatus osSemaphoreRelease (osSemaphoreId semaphore_id) -{ - osStatus result = osOK; - portBASE_TYPE taskWoken = pdFALSE; - - - if (inHandlerMode()) { - if (xSemaphoreGiveFromISR(semaphore_id, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xSemaphoreGive(semaphore_id) != pdTRUE) { - result = osErrorOS; - } - } - - return result; -} - -/** -* @brief Delete a Semaphore -* @param semaphore_id semaphore object referenced with \ref osSemaphore. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS. -*/ -osStatus osSemaphoreDelete (osSemaphoreId semaphore_id) -{ - if (inHandlerMode()) { - return osErrorISR; - } - - vSemaphoreDelete(semaphore_id); - - return osOK; -} - -#endif /* Use Semaphores */ - -/******************* Memory Pool Management Functions ***********************/ - -#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) - -//TODO -//This is a primitive and inefficient wrapper around the existing FreeRTOS memory management. -//A better implementation will have to modify heap_x.c! - - -typedef struct os_pool_cb { - void *pool; - uint8_t *markers; - uint32_t pool_sz; - uint32_t item_sz; - uint32_t currentIndex; -} os_pool_cb_t; - - -/** -* @brief Create and Initialize a memory pool -* @param pool_def memory pool definition referenced with \ref osPool. -* @retval memory pool ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS. -*/ -osPoolId osPoolCreate (const osPoolDef_t *pool_def) -{ -#if (configSUPPORT_DYNAMIC_ALLOCATION == 1) - osPoolId thePool; - int itemSize = 4 * ((pool_def->item_sz + 3) / 4); - uint32_t i; - - /* First have to allocate memory for the pool control block. */ - thePool = pvPortMalloc(sizeof(os_pool_cb_t)); - - - if (thePool) { - thePool->pool_sz = pool_def->pool_sz; - thePool->item_sz = itemSize; - thePool->currentIndex = 0; - - /* Memory for markers */ - thePool->markers = pvPortMalloc(pool_def->pool_sz); - - if (thePool->markers) { - /* Now allocate the pool itself. */ - thePool->pool = pvPortMalloc(pool_def->pool_sz * itemSize); - - if (thePool->pool) { - for (i = 0; i < pool_def->pool_sz; i++) { - thePool->markers[i] = 0; - } - } - else { - vPortFree(thePool->markers); - vPortFree(thePool); - thePool = NULL; - } - } - else { - vPortFree(thePool); - thePool = NULL; - } - } - - return thePool; - -#else - return NULL; -#endif -} - -/** -* @brief Allocate a memory block from a memory pool -* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. -* @retval address of the allocated memory block or NULL in case of no memory available. -* @note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS. -*/ -void *osPoolAlloc (osPoolId pool_id) -{ - int dummy = 0; - void *p = NULL; - uint32_t i; - uint32_t index; - - if (inHandlerMode()) { - dummy = portSET_INTERRUPT_MASK_FROM_ISR(); - } - else { - vPortEnterCritical(); - } - - for (i = 0; i < pool_id->pool_sz; i++) { - index = (pool_id->currentIndex + i) % pool_id->pool_sz; - - if (pool_id->markers[index] == 0) { - pool_id->markers[index] = 1; - p = (void *)((uint32_t)(pool_id->pool) + (index * pool_id->item_sz)); - pool_id->currentIndex = index; - break; - } - } - - if (inHandlerMode()) { - portCLEAR_INTERRUPT_MASK_FROM_ISR(dummy); - } - else { - vPortExitCritical(); - } - - return p; -} - -/** -* @brief Allocate a memory block from a memory pool and set memory block to zero -* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. -* @retval address of the allocated memory block or NULL in case of no memory available. -* @note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS. -*/ -void *osPoolCAlloc (osPoolId pool_id) -{ - void *p = osPoolAlloc(pool_id); - - if (p != NULL) - { - memset(p, 0, sizeof(pool_id->pool_sz)); - } - - return p; -} - -/** -* @brief Return an allocated memory block back to a specific memory pool -* @param pool_id memory pool ID obtain referenced with \ref osPoolCreate. -* @param block address of the allocated memory block that is returned to the memory pool. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS. -*/ -osStatus osPoolFree (osPoolId pool_id, void *block) -{ - uint32_t index; - - if (pool_id == NULL) { - return osErrorParameter; - } - - if (block == NULL) { - return osErrorParameter; - } - - if (block < pool_id->pool) { - return osErrorParameter; - } - - index = (uint32_t)block - (uint32_t)(pool_id->pool); - if (index % pool_id->item_sz) { - return osErrorParameter; - } - index = index / pool_id->item_sz; - if (index >= pool_id->pool_sz) { - return osErrorParameter; - } - - pool_id->markers[index] = 0; - - return osOK; -} - - -#endif /* Use Memory Pool Management */ - -/******************* Message Queue Management Functions *********************/ - -#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) /* Use Message Queues */ - -/** -* @brief Create and Initialize a Message Queue -* @param queue_def queue definition referenced with \ref osMessageQ. -* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. -* @retval message queue ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS. -*/ -osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id) -{ - (void) thread_id; - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - if ((queue_def->buffer != NULL) && (queue_def->controlblock != NULL)) { - return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock); - } - else { - return xQueueCreate(queue_def->queue_sz, queue_def->item_sz); - } -#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) - return xQueueCreateStatic(queue_def->queue_sz, queue_def->item_sz, queue_def->buffer, queue_def->controlblock); -#else - return xQueueCreate(queue_def->queue_sz, queue_def->item_sz); -#endif -} - -/** -* @brief Put a Message to a Queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @param info message information. -* @param millisec timeout value or 0 in case of no time-out. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec) -{ - portBASE_TYPE taskWoken = pdFALSE; - TickType_t ticks; - - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - - if (inHandlerMode()) { - if (xQueueSendFromISR(queue_id, &info, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xQueueSend(queue_id, &info, ticks) != pdTRUE) { - return osErrorOS; - } - } - - return osOK; -} - -/** -* @brief Get a Message or Wait for a Message from a Queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval event information that includes status code. -* @note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS. -*/ -osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec) -{ - portBASE_TYPE taskWoken; - TickType_t ticks; - osEvent event; - - event.def.message_id = queue_id; - event.value.v = 0; - - if (queue_id == NULL) { - event.status = osErrorParameter; - return event; - } - - taskWoken = pdFALSE; - - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (inHandlerMode()) { - if (xQueueReceiveFromISR(queue_id, &event.value.v, &taskWoken) == pdTRUE) { - /* We have mail */ - event.status = osEventMessage; - } - else { - event.status = osOK; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xQueueReceive(queue_id, &event.value.v, ticks) == pdTRUE) { - /* We have mail */ - event.status = osEventMessage; - } - else { - event.status = (ticks == 0) ? osOK : osEventTimeout; - } - } - - return event; -} - -#endif /* Use Message Queues */ - -/******************** Mail Queue Management Functions ***********************/ -#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) /* Use Mail Queues */ - - -typedef struct os_mailQ_cb { - const osMailQDef_t *queue_def; - QueueHandle_t handle; - osPoolId pool; -} os_mailQ_cb_t; - -/** -* @brief Create and Initialize mail queue -* @param queue_def reference to the mail queue definition obtain with \ref osMailQ -* @param thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. -* @retval mail queue ID for reference by other functions or NULL in case of error. -* @note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS. -*/ -osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id) -{ -#if (configSUPPORT_DYNAMIC_ALLOCATION == 1) - (void) thread_id; - - osPoolDef_t pool_def = {queue_def->queue_sz, queue_def->item_sz, NULL}; - - /* Create a mail queue control block */ - - *(queue_def->cb) = pvPortMalloc(sizeof(struct os_mailQ_cb)); - - if (*(queue_def->cb) == NULL) { - return NULL; - } - (*(queue_def->cb))->queue_def = queue_def; - - /* Create a queue in FreeRTOS */ - (*(queue_def->cb))->handle = xQueueCreate(queue_def->queue_sz, sizeof(void *)); - - - if ((*(queue_def->cb))->handle == NULL) { - vPortFree(*(queue_def->cb)); - return NULL; - } - - /* Create a mail pool */ - (*(queue_def->cb))->pool = osPoolCreate(&pool_def); - if ((*(queue_def->cb))->pool == NULL) { - //TODO: Delete queue. How to do it in FreeRTOS? - vPortFree(*(queue_def->cb)); - return NULL; - } - - return *(queue_def->cb); -#else - return NULL; -#endif -} - -/** -* @brief Allocate a memory block from a mail -* @param queue_id mail queue ID obtained with \ref osMailCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval pointer to memory block that can be filled with mail or NULL in case error. -* @note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS. -*/ -void *osMailAlloc (osMailQId queue_id, uint32_t millisec) -{ - (void) millisec; - void *p; - - - if (queue_id == NULL) { - return NULL; - } - - p = osPoolAlloc(queue_id->pool); - - return p; -} - -/** -* @brief Allocate a memory block from a mail and set memory block to zero -* @param queue_id mail queue ID obtained with \ref osMailCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval pointer to memory block that can be filled with mail or NULL in case error. -* @note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS. -*/ -void *osMailCAlloc (osMailQId queue_id, uint32_t millisec) -{ - uint32_t i; - void *p = osMailAlloc(queue_id, millisec); - - if (p) { - for (i = 0; i < queue_id->queue_def->item_sz; i++) { - ((uint8_t *)p)[i] = 0; - } - } - - return p; -} - -/** -* @brief Put a mail to a queue -* @param queue_id mail queue ID obtained with \ref osMailCreate. -* @param mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMailPut (osMailQId queue_id, void *mail) -{ - portBASE_TYPE taskWoken; - - - if (queue_id == NULL) { - return osErrorParameter; - } - - taskWoken = pdFALSE; - - if (inHandlerMode()) { - if (xQueueSendFromISR(queue_id->handle, &mail, &taskWoken) != pdTRUE) { - return osErrorOS; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xQueueSend(queue_id->handle, &mail, 0) != pdTRUE) { - return osErrorOS; - } - } - - return osOK; -} - -/** -* @brief Get a mail from a queue -* @param queue_id mail queue ID obtained with \ref osMailCreate. -* @param millisec timeout value or 0 in case of no time-out -* @retval event that contains mail information or error code. -* @note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS. -*/ -osEvent osMailGet (osMailQId queue_id, uint32_t millisec) -{ - portBASE_TYPE taskWoken; - TickType_t ticks; - osEvent event; - - event.def.mail_id = queue_id; - - if (queue_id == NULL) { - event.status = osErrorParameter; - return event; - } - - taskWoken = pdFALSE; - - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (inHandlerMode()) { - if (xQueueReceiveFromISR(queue_id->handle, &event.value.p, &taskWoken) == pdTRUE) { - /* We have mail */ - event.status = osEventMail; - } - else { - event.status = osOK; - } - portEND_SWITCHING_ISR(taskWoken); - } - else { - if (xQueueReceive(queue_id->handle, &event.value.p, ticks) == pdTRUE) { - /* We have mail */ - event.status = osEventMail; - } - else { - event.status = (ticks == 0) ? osOK : osEventTimeout; - } - } - - return event; -} - -/** -* @brief Free a memory block from a mail -* @param queue_id mail queue ID obtained with \ref osMailCreate. -* @param mail pointer to the memory block that was obtained with \ref osMailGet. -* @retval status code that indicates the execution status of the function. -* @note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS. -*/ -osStatus osMailFree (osMailQId queue_id, void *mail) -{ - if (queue_id == NULL) { - return osErrorParameter; - } - - return osPoolFree(queue_id->pool, mail); -} -#endif /* Use Mail Queues */ - -/*************************** Additional specific APIs to Free RTOS ************/ -/** -* @brief Handles the tick increment -* @param none. -* @retval none. -*/ -void osSystickHandler(void) -{ - -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) - { -#endif /* INCLUDE_xTaskGetSchedulerState */ - xPortSysTickHandler(); -#if (INCLUDE_xTaskGetSchedulerState == 1 ) - } -#endif /* INCLUDE_xTaskGetSchedulerState */ -} - -#if ( INCLUDE_eTaskGetState == 1 ) -/** -* @brief Obtain the state of any thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval the stae of the thread, states are encoded by the osThreadState enumerated type. -*/ -osThreadState osThreadGetState(osThreadId thread_id) -{ - eTaskState ThreadState; - osThreadState result; - - ThreadState = eTaskGetState(thread_id); - - switch (ThreadState) - { - case eRunning : - result = osThreadRunning; - break; - case eReady : - result = osThreadReady; - break; - case eBlocked : - result = osThreadBlocked; - break; - case eSuspended : - result = osThreadSuspended; - break; - case eDeleted : - result = osThreadDeleted; - break; - default: - result = osThreadError; - } - - return result; -} -#endif /* INCLUDE_eTaskGetState */ - -#if (INCLUDE_eTaskGetState == 1) -/** -* @brief Check if a thread is already suspended or not. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadIsSuspended(osThreadId thread_id) -{ - if (eTaskGetState(thread_id) == eSuspended) - return osOK; - else - return osErrorOS; -} -#endif /* INCLUDE_eTaskGetState */ -/** -* @brief Suspend execution of a thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadSuspend (osThreadId thread_id) -{ -#if (INCLUDE_vTaskSuspend == 1) - vTaskSuspend(thread_id); - - return osOK; -#else - return osErrorResource; -#endif -} - -/** -* @brief Resume execution of a suspended thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadResume (osThreadId thread_id) -{ -#if (INCLUDE_vTaskSuspend == 1) - if(inHandlerMode()) - { - if (xTaskResumeFromISR(thread_id) == pdTRUE) - { - portYIELD_FROM_ISR(pdTRUE); - } - } - else - { - vTaskResume(thread_id); - } - return osOK; -#else - return osErrorResource; -#endif -} - -/** -* @brief Suspend execution of a all active threads. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadSuspendAll (void) -{ - vTaskSuspendAll(); - - return osOK; -} - -/** -* @brief Resume execution of a all suspended threads. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadResumeAll (void) -{ - if (xTaskResumeAll() == pdTRUE) - return osOK; - else - return osErrorOS; - -} - -/** -* @brief Delay a task until a specified time -* @param PreviousWakeTime Pointer to a variable that holds the time at which the -* task was last unblocked. PreviousWakeTime must be initialised with the current time -* prior to its first use (PreviousWakeTime = osKernelSysTick() ) -* @param millisec time delay value -* @retval status code that indicates the execution status of the function. -*/ -osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec) -{ -#if INCLUDE_vTaskDelayUntil - TickType_t ticks = (millisec / portTICK_PERIOD_MS); - vTaskDelayUntil((TickType_t *) PreviousWakeTime, ticks ? ticks : 1); - - return osOK; -#else - (void) millisec; - (void) PreviousWakeTime; - - return osErrorResource; -#endif -} - -/** -* @brief Abort the delay for a specific thread -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId -* @retval status code that indicates the execution status of the function. -*/ -osStatus osAbortDelay(osThreadId thread_id) -{ -#if INCLUDE_xTaskAbortDelay - - xTaskAbortDelay(thread_id); - - return osOK; -#else - (void) thread_id; - - return osErrorResource; -#endif -} - -/** -* @brief Lists all the current threads, along with their current state -* and stack usage high water mark. -* @param buffer A buffer into which the above mentioned details -* will be written -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadList (uint8_t *buffer) -{ -#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) ) - vTaskList((char *)buffer); -#endif - return osOK; -} - -/** -* @brief Receive an item from a queue without removing the item from the queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval event information that includes status code. -*/ -osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec) -{ - TickType_t ticks; - osEvent event; - - event.def.message_id = queue_id; - - if (queue_id == NULL) { - event.status = osErrorParameter; - return event; - } - - ticks = 0; - if (millisec == osWaitForever) { - ticks = portMAX_DELAY; - } - else if (millisec != 0) { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) { - ticks = 1; - } - } - - if (xQueuePeek(queue_id, &event.value.v, ticks) == pdTRUE) - { - /* We have mail */ - event.status = osEventMessage; - } - else - { - event.status = (ticks == 0) ? osOK : osEventTimeout; - } - - return event; -} - -/** -* @brief Get the number of messaged stored in a queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval number of messages stored in a queue. -*/ -uint32_t osMessageWaiting(osMessageQId queue_id) -{ - if (inHandlerMode()) { - return uxQueueMessagesWaitingFromISR(queue_id); - } - else - { - return uxQueueMessagesWaiting(queue_id); - } -} - -/** -* @brief Get the available space in a message queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval available space in a message queue. -*/ -uint32_t osMessageAvailableSpace(osMessageQId queue_id) -{ - return uxQueueSpacesAvailable(queue_id); -} - -/** -* @brief Delete a Message Queue -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osMessageDelete (osMessageQId queue_id) -{ - if (inHandlerMode()) { - return osErrorISR; - } - - vQueueDelete(queue_id); - - return osOK; -} - -/** -* @brief Create and Initialize a Recursive Mutex -* @param mutex_def mutex definition referenced with \ref osMutex. -* @retval mutex ID for reference by other functions or NULL in case of error.. -*/ -osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def) -{ -#if (configUSE_RECURSIVE_MUTEXES == 1) -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - - if (mutex_def->controlblock != NULL){ - return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock ); - } - else { - return xSemaphoreCreateRecursiveMutex(); - } -#elif ( configSUPPORT_STATIC_ALLOCATION == 1 ) - return xSemaphoreCreateRecursiveMutexStatic( mutex_def->controlblock ); -#else - return xSemaphoreCreateRecursiveMutex(); -#endif -#else - return NULL; -#endif -} - -/** -* @brief Release a Recursive Mutex -* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osRecursiveMutexRelease (osMutexId mutex_id) -{ -#if (configUSE_RECURSIVE_MUTEXES == 1) - osStatus result = osOK; - - if (xSemaphoreGiveRecursive(mutex_id) != pdTRUE) - { - result = osErrorOS; - } - return result; -#else - return osErrorResource; -#endif -} - -/** -* @brief Release a Recursive Mutex -* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec) -{ -#if (configUSE_RECURSIVE_MUTEXES == 1) - TickType_t ticks; - - if (mutex_id == NULL) - { - return osErrorParameter; - } - - ticks = 0; - if (millisec == osWaitForever) - { - ticks = portMAX_DELAY; - } - else if (millisec != 0) - { - ticks = millisec / portTICK_PERIOD_MS; - if (ticks == 0) - { - ticks = 1; - } - } - - if (xSemaphoreTakeRecursive(mutex_id, ticks) != pdTRUE) - { - return osErrorOS; - } - return osOK; -#else - return osErrorResource; -#endif -} - -/** -* @brief Returns the current count value of a counting semaphore -* @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate. -* @retval count value -*/ -uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id) -{ - return uxSemaphoreGetCount(semaphore_id); -} diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h deleted file mode 100644 index f53a132..0000000 --- a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.h +++ /dev/null @@ -1,1026 +0,0 @@ -/* ---------------------------------------------------------------------- - * $Date: 5. February 2013 - * $Revision: V1.02 - * - * Project: CMSIS-RTOS API - * Title: cmsis_os.h header file - * - * Version 0.02 - * Initial Proposal Phase - * Version 0.03 - * osKernelStart added, optional feature: main started as thread - * osSemaphores have standard behavior - * osTimerCreate does not start the timer, added osTimerStart - * osThreadPass is renamed to osThreadYield - * Version 1.01 - * Support for C++ interface - * - const attribute removed from the osXxxxDef_t typedef's - * - const attribute added to the osXxxxDef macros - * Added: osTimerDelete, osMutexDelete, osSemaphoreDelete - * Added: osKernelInitialize - * Version 1.02 - * Control functions for short timeouts in microsecond resolution: - * Added: osKernelSysTick, osKernelSysTickFrequency, osKernelSysTickMicroSec - * Removed: osSignalGet - * - * - *---------------------------------------------------------------------------- - * - * Portions Copyright 2016 STMicroelectronics International N.V. All rights reserved. - * Portions Copyright (c) 2013 ARM LIMITED - * All rights reserved. - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * - Neither the name of ARM nor the names of its contributors may be used - * to endorse or promote products derived from this software without - * specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - *---------------------------------------------------------------------------*/ - -#include "FreeRTOS.h" -#include "task.h" -#include "timers.h" -#include "queue.h" -#include "semphr.h" -#include "event_groups.h" - -/** -\page cmsis_os_h Header File Template: cmsis_os.h - -The file \b cmsis_os.h is a template header file for a CMSIS-RTOS compliant Real-Time Operating System (RTOS). -Each RTOS that is compliant with CMSIS-RTOS shall provide a specific \b cmsis_os.h header file that represents -its implementation. - -The file cmsis_os.h contains: - - CMSIS-RTOS API function definitions - - struct definitions for parameters and return types - - status and priority values used by CMSIS-RTOS API functions - - macros for defining threads and other kernel objects - - -Name conventions and header file modifications - -All definitions are prefixed with \b os to give an unique name space for CMSIS-RTOS functions. -Definitions that are prefixed \b os_ are not used in the application code but local to this header file. -All definitions and functions that belong to a module are grouped and have a common prefix, i.e. \b osThread. - -Definitions that are marked with CAN BE CHANGED can be adapted towards the needs of the actual CMSIS-RTOS implementation. -These definitions can be specific to the underlying RTOS kernel. - -Definitions that are marked with MUST REMAIN UNCHANGED cannot be altered. Otherwise the CMSIS-RTOS implementation is no longer -compliant to the standard. Note that some functions are optional and need not to be provided by every CMSIS-RTOS implementation. - - -Function calls from interrupt service routines - -The following CMSIS-RTOS functions can be called from threads and interrupt service routines (ISR): - - \ref osSignalSet - - \ref osSemaphoreRelease - - \ref osPoolAlloc, \ref osPoolCAlloc, \ref osPoolFree - - \ref osMessagePut, \ref osMessageGet - - \ref osMailAlloc, \ref osMailCAlloc, \ref osMailGet, \ref osMailPut, \ref osMailFree - -Functions that cannot be called from an ISR are verifying the interrupt status and return in case that they are called -from an ISR context the status code \b osErrorISR. In some implementations this condition might be caught using the HARD FAULT vector. - -Some CMSIS-RTOS implementations support CMSIS-RTOS function calls from multiple ISR at the same time. -If this is impossible, the CMSIS-RTOS rejects calls by nested ISR functions with the status code \b osErrorISRRecursive. - - -Define and reference object definitions - -With \#define osObjectsExternal objects are defined as external symbols. This allows to create a consistent header file -that is used throughout a project as shown below: - -Header File -\code -#include // CMSIS RTOS header file - -// Thread definition -extern void thread_sample (void const *argument); // function prototype -osThreadDef (thread_sample, osPriorityBelowNormal, 1, 100); - -// Pool definition -osPoolDef(MyPool, 10, long); -\endcode - - -This header file defines all objects when included in a C/C++ source file. When \#define osObjectsExternal is -present before the header file, the objects are defined as external symbols. A single consistent header file can therefore be -used throughout the whole project. - -Example -\code -#include "osObjects.h" // Definition of the CMSIS-RTOS objects -\endcode - -\code -#define osObjectExternal // Objects will be defined as external symbols -#include "osObjects.h" // Reference to the CMSIS-RTOS objects -\endcode - -*/ - -#ifndef _CMSIS_OS_H -#define _CMSIS_OS_H - -/// \note MUST REMAIN UNCHANGED: \b osCMSIS identifies the CMSIS-RTOS API version. -#define osCMSIS 0x10002 ///< API version (main [31:16] .sub [15:0]) - -/// \note CAN BE CHANGED: \b osCMSIS_KERNEL identifies the underlying RTOS kernel and version number. -#define osCMSIS_KERNEL 0x10000 ///< RTOS identification and version (main [31:16] .sub [15:0]) - -/// \note MUST REMAIN UNCHANGED: \b osKernelSystemId shall be consistent in every CMSIS-RTOS. -#define osKernelSystemId "KERNEL V1.00" ///< RTOS identification string - -/// \note MUST REMAIN UNCHANGED: \b osFeature_xxx shall be consistent in every CMSIS-RTOS. -#define osFeature_MainThread 1 ///< main thread 1=main can be thread, 0=not available -#define osFeature_Pool 1 ///< Memory Pools: 1=available, 0=not available -#define osFeature_MailQ 1 ///< Mail Queues: 1=available, 0=not available -#define osFeature_MessageQ 1 ///< Message Queues: 1=available, 0=not available -#define osFeature_Signals 8 ///< maximum number of Signal Flags available per thread -#define osFeature_Semaphore 1 ///< osFeature_Semaphore function: 1=available, 0=not available -#define osFeature_Wait 0 ///< osWait function: 1=available, 0=not available -#define osFeature_SysTick 1 ///< osKernelSysTick functions: 1=available, 0=not available - -#ifdef __cplusplus -extern "C" -{ -#endif - - -// ==== Enumeration, structures, defines ==== - -/// Priority used for thread control. -/// \note MUST REMAIN UNCHANGED: \b osPriority shall be consistent in every CMSIS-RTOS. -typedef enum { - osPriorityIdle = -3, ///< priority: idle (lowest) - osPriorityLow = -2, ///< priority: low - osPriorityBelowNormal = -1, ///< priority: below normal - osPriorityNormal = 0, ///< priority: normal (default) - osPriorityAboveNormal = +1, ///< priority: above normal - osPriorityHigh = +2, ///< priority: high - osPriorityRealtime = +3, ///< priority: realtime (highest) - osPriorityError = 0x84 ///< system cannot determine priority or thread has illegal priority -} osPriority; - -/// Timeout value. -/// \note MUST REMAIN UNCHANGED: \b osWaitForever shall be consistent in every CMSIS-RTOS. -#define osWaitForever 0xFFFFFFFF ///< wait forever timeout value - -/// Status code values returned by CMSIS-RTOS functions. -/// \note MUST REMAIN UNCHANGED: \b osStatus shall be consistent in every CMSIS-RTOS. -typedef enum { - osOK = 0, ///< function completed; no error or event occurred. - osEventSignal = 0x08, ///< function completed; signal event occurred. - osEventMessage = 0x10, ///< function completed; message event occurred. - osEventMail = 0x20, ///< function completed; mail event occurred. - osEventTimeout = 0x40, ///< function completed; timeout occurred. - osErrorParameter = 0x80, ///< parameter error: a mandatory parameter was missing or specified an incorrect object. - osErrorResource = 0x81, ///< resource not available: a specified resource was not available. - osErrorTimeoutResource = 0xC1, ///< resource not available within given time: a specified resource was not available within the timeout period. - osErrorISR = 0x82, ///< not allowed in ISR context: the function cannot be called from interrupt service routines. - osErrorISRRecursive = 0x83, ///< function called multiple times from ISR with same object. - osErrorPriority = 0x84, ///< system cannot determine priority or thread has illegal priority. - osErrorNoMemory = 0x85, ///< system is out of memory: it was impossible to allocate or reserve memory for the operation. - osErrorValue = 0x86, ///< value of a parameter is out of range. - osErrorOS = 0xFF, ///< unspecified RTOS error: run-time error but no other error message fits. - os_status_reserved = 0x7FFFFFFF ///< prevent from enum down-size compiler optimization. -} osStatus; - -#if ( INCLUDE_eTaskGetState == 1 ) -/* Thread state returned by osThreadGetState */ -typedef enum { - osThreadRunning = 0x0, /* A thread is querying the state of itself, so must be running. */ - osThreadReady = 0x1 , /* The thread being queried is in a read or pending ready list. */ - osThreadBlocked = 0x2, /* The thread being queried is in the Blocked state. */ - osThreadSuspended = 0x3, /* The thread being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */ - osThreadDeleted = 0x4, /* The thread being queried has been deleted, but its TCB has not yet been freed. */ - osThreadError = 0x7FFFFFFF -} osThreadState; -#endif /* INCLUDE_eTaskGetState */ - -/// Timer type value for the timer definition. -/// \note MUST REMAIN UNCHANGED: \b os_timer_type shall be consistent in every CMSIS-RTOS. -typedef enum { - osTimerOnce = 0, ///< one-shot timer - osTimerPeriodic = 1 ///< repeating timer -} os_timer_type; - -/// Entry point of a thread. -/// \note MUST REMAIN UNCHANGED: \b os_pthread shall be consistent in every CMSIS-RTOS. -typedef void (*os_pthread) (void const *argument); - -/// Entry point of a timer call back function. -/// \note MUST REMAIN UNCHANGED: \b os_ptimer shall be consistent in every CMSIS-RTOS. -typedef void (*os_ptimer) (void const *argument); - -// >>> the following data type definitions may shall adapted towards a specific RTOS - -/// Thread ID identifies the thread (pointer to a thread control block). -/// \note CAN BE CHANGED: \b os_thread_cb is implementation specific in every CMSIS-RTOS. -typedef TaskHandle_t osThreadId; - -/// Timer ID identifies the timer (pointer to a timer control block). -/// \note CAN BE CHANGED: \b os_timer_cb is implementation specific in every CMSIS-RTOS. -typedef TimerHandle_t osTimerId; - -/// Mutex ID identifies the mutex (pointer to a mutex control block). -/// \note CAN BE CHANGED: \b os_mutex_cb is implementation specific in every CMSIS-RTOS. -typedef SemaphoreHandle_t osMutexId; - -/// Semaphore ID identifies the semaphore (pointer to a semaphore control block). -/// \note CAN BE CHANGED: \b os_semaphore_cb is implementation specific in every CMSIS-RTOS. -typedef SemaphoreHandle_t osSemaphoreId; - -/// Pool ID identifies the memory pool (pointer to a memory pool control block). -/// \note CAN BE CHANGED: \b os_pool_cb is implementation specific in every CMSIS-RTOS. -typedef struct os_pool_cb *osPoolId; - -/// Message ID identifies the message queue (pointer to a message queue control block). -/// \note CAN BE CHANGED: \b os_messageQ_cb is implementation specific in every CMSIS-RTOS. -typedef QueueHandle_t osMessageQId; - -/// Mail ID identifies the mail queue (pointer to a mail queue control block). -/// \note CAN BE CHANGED: \b os_mailQ_cb is implementation specific in every CMSIS-RTOS. -typedef struct os_mailQ_cb *osMailQId; - - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - -typedef StaticTask_t osStaticThreadDef_t; -typedef StaticTimer_t osStaticTimerDef_t; -typedef StaticSemaphore_t osStaticMutexDef_t; -typedef StaticSemaphore_t osStaticSemaphoreDef_t; -typedef StaticQueue_t osStaticMessageQDef_t; - -#endif - - - - -/// Thread Definition structure contains startup information of a thread. -/// \note CAN BE CHANGED: \b os_thread_def is implementation specific in every CMSIS-RTOS. -typedef struct os_thread_def { - char *name; ///< Thread name - os_pthread pthread; ///< start address of thread function - osPriority tpriority; ///< initial thread priority - uint32_t instances; ///< maximum number of instances of that thread function - uint32_t stacksize; ///< stack size requirements in bytes; 0 is default stack size -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - uint32_t *buffer; ///< stack buffer for static allocation; NULL for dynamic allocation - osStaticThreadDef_t *controlblock; ///< control block to hold thread's data for static allocation; NULL for dynamic allocation -#endif -} osThreadDef_t; - -/// Timer Definition structure contains timer parameters. -/// \note CAN BE CHANGED: \b os_timer_def is implementation specific in every CMSIS-RTOS. -typedef struct os_timer_def { - os_ptimer ptimer; ///< start address of a timer function -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - osStaticTimerDef_t *controlblock; ///< control block to hold timer's data for static allocation; NULL for dynamic allocation -#endif -} osTimerDef_t; - -/// Mutex Definition structure contains setup information for a mutex. -/// \note CAN BE CHANGED: \b os_mutex_def is implementation specific in every CMSIS-RTOS. -typedef struct os_mutex_def { - uint32_t dummy; ///< dummy value. -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - osStaticMutexDef_t *controlblock; ///< control block for static allocation; NULL for dynamic allocation -#endif -} osMutexDef_t; - -/// Semaphore Definition structure contains setup information for a semaphore. -/// \note CAN BE CHANGED: \b os_semaphore_def is implementation specific in every CMSIS-RTOS. -typedef struct os_semaphore_def { - uint32_t dummy; ///< dummy value. -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - osStaticSemaphoreDef_t *controlblock; ///< control block for static allocation; NULL for dynamic allocation -#endif -} osSemaphoreDef_t; - -/// Definition structure for memory block allocation. -/// \note CAN BE CHANGED: \b os_pool_def is implementation specific in every CMSIS-RTOS. -typedef struct os_pool_def { - uint32_t pool_sz; ///< number of items (elements) in the pool - uint32_t item_sz; ///< size of an item - void *pool; ///< pointer to memory for pool -} osPoolDef_t; - -/// Definition structure for message queue. -/// \note CAN BE CHANGED: \b os_messageQ_def is implementation specific in every CMSIS-RTOS. -typedef struct os_messageQ_def { - uint32_t queue_sz; ///< number of elements in the queue - uint32_t item_sz; ///< size of an item -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - uint8_t *buffer; ///< buffer for static allocation; NULL for dynamic allocation - osStaticMessageQDef_t *controlblock; ///< control block to hold queue's data for static allocation; NULL for dynamic allocation -#endif - //void *pool; ///< memory array for messages -} osMessageQDef_t; - -/// Definition structure for mail queue. -/// \note CAN BE CHANGED: \b os_mailQ_def is implementation specific in every CMSIS-RTOS. -typedef struct os_mailQ_def { - uint32_t queue_sz; ///< number of elements in the queue - uint32_t item_sz; ///< size of an item - struct os_mailQ_cb **cb; -} osMailQDef_t; - -/// Event structure contains detailed information about an event. -/// \note MUST REMAIN UNCHANGED: \b os_event shall be consistent in every CMSIS-RTOS. -/// However the struct may be extended at the end. -typedef struct { - osStatus status; ///< status code: event or error information - union { - uint32_t v; ///< message as 32-bit value - void *p; ///< message or mail as void pointer - int32_t signals; ///< signal flags - } value; ///< event value - union { - osMailQId mail_id; ///< mail id obtained by \ref osMailCreate - osMessageQId message_id; ///< message id obtained by \ref osMessageCreate - } def; ///< event definition -} osEvent; - - -// ==== Kernel Control Functions ==== - -/// Initialize the RTOS Kernel for creating objects. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osKernelInitialize shall be consistent in every CMSIS-RTOS. -osStatus osKernelInitialize (void); - -/// Start the RTOS Kernel. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osKernelStart shall be consistent in every CMSIS-RTOS. -osStatus osKernelStart (void); - -/// Check if the RTOS kernel is already started. -/// \note MUST REMAIN UNCHANGED: \b osKernelRunning shall be consistent in every CMSIS-RTOS. -/// \return 0 RTOS is not started, 1 RTOS is started. -int32_t osKernelRunning(void); - -#if (defined (osFeature_SysTick) && (osFeature_SysTick != 0)) // System Timer available - -/// Get the RTOS kernel system timer counter -/// \note MUST REMAIN UNCHANGED: \b osKernelSysTick shall be consistent in every CMSIS-RTOS. -/// \return RTOS kernel system timer as 32-bit value -uint32_t osKernelSysTick (void); - -/// The RTOS kernel system timer frequency in Hz -/// \note Reflects the system timer setting and is typically defined in a configuration file. -#define osKernelSysTickFrequency (configTICK_RATE_HZ) - -/// Convert a microseconds value to a RTOS kernel system timer value. -/// \param microsec time value in microseconds. -/// \return time value normalized to the \ref osKernelSysTickFrequency -#define osKernelSysTickMicroSec(microsec) (((uint64_t)microsec * (osKernelSysTickFrequency)) / 1000000) - -#endif // System Timer available - -// ==== Thread Management ==== - -/// Create a Thread Definition with function, priority, and stack requirements. -/// \param name name of the thread function. -/// \param priority initial priority of the thread function. -/// \param instances number of possible thread instances. -/// \param stacksz stack size (in bytes) requirements for the thread function. -/// \note CAN BE CHANGED: The parameters to \b osThreadDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osThreadDef(name, thread, priority, instances, stacksz) \ -extern const osThreadDef_t os_thread_def_##name -#else // define the object - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -#define osThreadDef(name, thread, priority, instances, stacksz) \ -const osThreadDef_t os_thread_def_##name = \ -{ #name, (thread), (priority), (instances), (stacksz), NULL, NULL } - -#define osThreadStaticDef(name, thread, priority, instances, stacksz, buffer, control) \ -const osThreadDef_t os_thread_def_##name = \ -{ #name, (thread), (priority), (instances), (stacksz), (buffer), (control) } -#else //configSUPPORT_STATIC_ALLOCATION == 0 - -#define osThreadDef(name, thread, priority, instances, stacksz) \ -const osThreadDef_t os_thread_def_##name = \ -{ #name, (thread), (priority), (instances), (stacksz)} -#endif -#endif - -/// Access a Thread definition. -/// \param name name of the thread definition object. -/// \note CAN BE CHANGED: The parameter to \b osThread shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osThread(name) \ -&os_thread_def_##name - -/// Create a thread and add it to Active Threads and set it to state READY. -/// \param[in] thread_def thread definition referenced with \ref osThread. -/// \param[in] argument pointer that is passed to the thread function as start argument. -/// \return thread ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS. -osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument); - -/// Return the thread ID of the current running thread. -/// \return thread ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osThreadGetId shall be consistent in every CMSIS-RTOS. -osThreadId osThreadGetId (void); - -/// Terminate execution of a thread and remove it from Active Threads. -/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osThreadTerminate shall be consistent in every CMSIS-RTOS. -osStatus osThreadTerminate (osThreadId thread_id); - -/// Pass control to next thread that is in state \b READY. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osThreadYield shall be consistent in every CMSIS-RTOS. -osStatus osThreadYield (void); - -/// Change priority of an active thread. -/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -/// \param[in] priority new priority value for the thread function. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS. -osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority); - -/// Get current priority of an active thread. -/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -/// \return current priority value of the thread function. -/// \note MUST REMAIN UNCHANGED: \b osThreadGetPriority shall be consistent in every CMSIS-RTOS. -osPriority osThreadGetPriority (osThreadId thread_id); - - -// ==== Generic Wait Functions ==== - -/// Wait for Timeout (Time Delay). -/// \param[in] millisec time delay value -/// \return status code that indicates the execution status of the function. -osStatus osDelay (uint32_t millisec); - -#if (defined (osFeature_Wait) && (osFeature_Wait != 0)) // Generic Wait available - -/// Wait for Signal, Message, Mail, or Timeout. -/// \param[in] millisec timeout value or 0 in case of no time-out -/// \return event that contains signal, message, or mail information or error code. -/// \note MUST REMAIN UNCHANGED: \b osWait shall be consistent in every CMSIS-RTOS. -osEvent osWait (uint32_t millisec); - -#endif // Generic Wait available - - -// ==== Timer Management Functions ==== -/// Define a Timer object. -/// \param name name of the timer object. -/// \param function name of the timer call back function. -/// \note CAN BE CHANGED: The parameter to \b osTimerDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osTimerDef(name, function) \ -extern const osTimerDef_t os_timer_def_##name -#else // define the object - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -#define osTimerDef(name, function) \ -const osTimerDef_t os_timer_def_##name = \ -{ (function), NULL } - -#define osTimerStaticDef(name, function, control) \ -const osTimerDef_t os_timer_def_##name = \ -{ (function), (control) } -#else //configSUPPORT_STATIC_ALLOCATION == 0 -#define osTimerDef(name, function) \ -const osTimerDef_t os_timer_def_##name = \ -{ (function) } -#endif -#endif - -/// Access a Timer definition. -/// \param name name of the timer object. -/// \note CAN BE CHANGED: The parameter to \b osTimer shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osTimer(name) \ -&os_timer_def_##name - -/// Create a timer. -/// \param[in] timer_def timer object referenced with \ref osTimer. -/// \param[in] type osTimerOnce for one-shot or osTimerPeriodic for periodic behavior. -/// \param[in] argument argument to the timer call back function. -/// \return timer ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osTimerCreate shall be consistent in every CMSIS-RTOS. -osTimerId osTimerCreate (const osTimerDef_t *timer_def, os_timer_type type, void *argument); - -/// Start or restart a timer. -/// \param[in] timer_id timer ID obtained by \ref osTimerCreate. -/// \param[in] millisec time delay value of the timer. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osTimerStart shall be consistent in every CMSIS-RTOS. -osStatus osTimerStart (osTimerId timer_id, uint32_t millisec); - -/// Stop the timer. -/// \param[in] timer_id timer ID obtained by \ref osTimerCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osTimerStop shall be consistent in every CMSIS-RTOS. -osStatus osTimerStop (osTimerId timer_id); - -/// Delete a timer that was created by \ref osTimerCreate. -/// \param[in] timer_id timer ID obtained by \ref osTimerCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osTimerDelete shall be consistent in every CMSIS-RTOS. -osStatus osTimerDelete (osTimerId timer_id); - - -// ==== Signal Management ==== - -/// Set the specified Signal Flags of an active thread. -/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -/// \param[in] signals specifies the signal flags of the thread that should be set. -/// \return osOK if successful, osErrorOS if failed. -/// \note MUST REMAIN UNCHANGED: \b osSignalSet shall be consistent in every CMSIS-RTOS. -int32_t osSignalSet (osThreadId thread_id, int32_t signals); - -/// Clear the specified Signal Flags of an active thread. -/// \param[in] thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -/// \param[in] signals specifies the signal flags of the thread that shall be cleared. -/// \return previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters. -/// \note MUST REMAIN UNCHANGED: \b osSignalClear shall be consistent in every CMSIS-RTOS. -int32_t osSignalClear (osThreadId thread_id, int32_t signals); - -/// Wait for one or more Signal Flags to become signaled for the current \b RUNNING thread. -/// \param[in] signals wait until all specified signal flags set or 0 for any single signal flag. -/// \param[in] millisec timeout value or 0 in case of no time-out. -/// \return event flag information or error code. -/// \note MUST REMAIN UNCHANGED: \b osSignalWait shall be consistent in every CMSIS-RTOS. -osEvent osSignalWait (int32_t signals, uint32_t millisec); - - -// ==== Mutex Management ==== - -/// Define a Mutex. -/// \param name name of the mutex object. -/// \note CAN BE CHANGED: The parameter to \b osMutexDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osMutexDef(name) \ -extern const osMutexDef_t os_mutex_def_##name -#else // define the object - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -#define osMutexDef(name) \ -const osMutexDef_t os_mutex_def_##name = { 0, NULL } - -#define osMutexStaticDef(name, control) \ -const osMutexDef_t os_mutex_def_##name = { 0, (control) } -#else //configSUPPORT_STATIC_ALLOCATION == 0 -#define osMutexDef(name) \ -const osMutexDef_t os_mutex_def_##name = { 0 } - -#endif - -#endif - -/// Access a Mutex definition. -/// \param name name of the mutex object. -/// \note CAN BE CHANGED: The parameter to \b osMutex shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osMutex(name) \ -&os_mutex_def_##name - -/// Create and Initialize a Mutex object. -/// \param[in] mutex_def mutex definition referenced with \ref osMutex. -/// \return mutex ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osMutexCreate shall be consistent in every CMSIS-RTOS. -osMutexId osMutexCreate (const osMutexDef_t *mutex_def); - -/// Wait until a Mutex becomes available. -/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMutexWait shall be consistent in every CMSIS-RTOS. -osStatus osMutexWait (osMutexId mutex_id, uint32_t millisec); - -/// Release a Mutex that was obtained by \ref osMutexWait. -/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMutexRelease shall be consistent in every CMSIS-RTOS. -osStatus osMutexRelease (osMutexId mutex_id); - -/// Delete a Mutex that was created by \ref osMutexCreate. -/// \param[in] mutex_id mutex ID obtained by \ref osMutexCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMutexDelete shall be consistent in every CMSIS-RTOS. -osStatus osMutexDelete (osMutexId mutex_id); - - -// ==== Semaphore Management Functions ==== - -#if (defined (osFeature_Semaphore) && (osFeature_Semaphore != 0)) // Semaphore available - -/// Define a Semaphore object. -/// \param name name of the semaphore object. -/// \note CAN BE CHANGED: The parameter to \b osSemaphoreDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osSemaphoreDef(name) \ -extern const osSemaphoreDef_t os_semaphore_def_##name -#else // define the object - -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -#define osSemaphoreDef(name) \ -const osSemaphoreDef_t os_semaphore_def_##name = { 0, NULL } - -#define osSemaphoreStaticDef(name, control) \ -const osSemaphoreDef_t os_semaphore_def_##name = { 0, (control) } - -#else //configSUPPORT_STATIC_ALLOCATION == 0 -#define osSemaphoreDef(name) \ -const osSemaphoreDef_t os_semaphore_def_##name = { 0 } -#endif -#endif - -/// Access a Semaphore definition. -/// \param name name of the semaphore object. -/// \note CAN BE CHANGED: The parameter to \b osSemaphore shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osSemaphore(name) \ -&os_semaphore_def_##name - -/// Create and Initialize a Semaphore object used for managing resources. -/// \param[in] semaphore_def semaphore definition referenced with \ref osSemaphore. -/// \param[in] count number of available resources. -/// \return semaphore ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osSemaphoreCreate shall be consistent in every CMSIS-RTOS. -osSemaphoreId osSemaphoreCreate (const osSemaphoreDef_t *semaphore_def, int32_t count); - -/// Wait until a Semaphore token becomes available. -/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out. -/// \return number of available tokens, or -1 in case of incorrect parameters. -/// \note MUST REMAIN UNCHANGED: \b osSemaphoreWait shall be consistent in every CMSIS-RTOS. -int32_t osSemaphoreWait (osSemaphoreId semaphore_id, uint32_t millisec); - -/// Release a Semaphore token. -/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osSemaphoreRelease shall be consistent in every CMSIS-RTOS. -osStatus osSemaphoreRelease (osSemaphoreId semaphore_id); - -/// Delete a Semaphore that was created by \ref osSemaphoreCreate. -/// \param[in] semaphore_id semaphore object referenced with \ref osSemaphoreCreate. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osSemaphoreDelete shall be consistent in every CMSIS-RTOS. -osStatus osSemaphoreDelete (osSemaphoreId semaphore_id); - -#endif // Semaphore available - - -// ==== Memory Pool Management Functions ==== - -#if (defined (osFeature_Pool) && (osFeature_Pool != 0)) // Memory Pool Management available - -/// \brief Define a Memory Pool. -/// \param name name of the memory pool. -/// \param no maximum number of blocks (objects) in the memory pool. -/// \param type data type of a single block (object). -/// \note CAN BE CHANGED: The parameter to \b osPoolDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osPoolDef(name, no, type) \ -extern const osPoolDef_t os_pool_def_##name -#else // define the object -#define osPoolDef(name, no, type) \ -const osPoolDef_t os_pool_def_##name = \ -{ (no), sizeof(type), NULL } -#endif - -/// \brief Access a Memory Pool definition. -/// \param name name of the memory pool -/// \note CAN BE CHANGED: The parameter to \b osPool shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osPool(name) \ -&os_pool_def_##name - -/// Create and Initialize a memory pool. -/// \param[in] pool_def memory pool definition referenced with \ref osPool. -/// \return memory pool ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osPoolCreate shall be consistent in every CMSIS-RTOS. -osPoolId osPoolCreate (const osPoolDef_t *pool_def); - -/// Allocate a memory block from a memory pool. -/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. -/// \return address of the allocated memory block or NULL in case of no memory available. -/// \note MUST REMAIN UNCHANGED: \b osPoolAlloc shall be consistent in every CMSIS-RTOS. -void *osPoolAlloc (osPoolId pool_id); - -/// Allocate a memory block from a memory pool and set memory block to zero. -/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. -/// \return address of the allocated memory block or NULL in case of no memory available. -/// \note MUST REMAIN UNCHANGED: \b osPoolCAlloc shall be consistent in every CMSIS-RTOS. -void *osPoolCAlloc (osPoolId pool_id); - -/// Return an allocated memory block back to a specific memory pool. -/// \param[in] pool_id memory pool ID obtain referenced with \ref osPoolCreate. -/// \param[in] block address of the allocated memory block that is returned to the memory pool. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osPoolFree shall be consistent in every CMSIS-RTOS. -osStatus osPoolFree (osPoolId pool_id, void *block); - -#endif // Memory Pool Management available - - -// ==== Message Queue Management Functions ==== - -#if (defined (osFeature_MessageQ) && (osFeature_MessageQ != 0)) // Message Queues available - -/// \brief Create a Message Queue Definition. -/// \param name name of the queue. -/// \param queue_sz maximum number of messages in the queue. -/// \param type data type of a single message element (for debugger). -/// \note CAN BE CHANGED: The parameter to \b osMessageQDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osMessageQDef(name, queue_sz, type) \ -extern const osMessageQDef_t os_messageQ_def_##name -#else // define the object -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) -#define osMessageQDef(name, queue_sz, type) \ -const osMessageQDef_t os_messageQ_def_##name = \ -{ (queue_sz), sizeof (type), NULL, NULL } - -#define osMessageQStaticDef(name, queue_sz, type, buffer, control) \ -const osMessageQDef_t os_messageQ_def_##name = \ -{ (queue_sz), sizeof (type) , (buffer), (control)} -#else //configSUPPORT_STATIC_ALLOCATION == 1 -#define osMessageQDef(name, queue_sz, type) \ -const osMessageQDef_t os_messageQ_def_##name = \ -{ (queue_sz), sizeof (type) } - -#endif -#endif - -/// \brief Access a Message Queue Definition. -/// \param name name of the queue -/// \note CAN BE CHANGED: The parameter to \b osMessageQ shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osMessageQ(name) \ -&os_messageQ_def_##name - -/// Create and Initialize a Message Queue. -/// \param[in] queue_def queue definition referenced with \ref osMessageQ. -/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. -/// \return message queue ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osMessageCreate shall be consistent in every CMSIS-RTOS. -osMessageQId osMessageCreate (const osMessageQDef_t *queue_def, osThreadId thread_id); - -/// Put a Message to a Queue. -/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate. -/// \param[in] info message information. -/// \param[in] millisec timeout value or 0 in case of no time-out. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMessagePut shall be consistent in every CMSIS-RTOS. -osStatus osMessagePut (osMessageQId queue_id, uint32_t info, uint32_t millisec); - -/// Get a Message or Wait for a Message from a Queue. -/// \param[in] queue_id message queue ID obtained with \ref osMessageCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out. -/// \return event information that includes status code. -/// \note MUST REMAIN UNCHANGED: \b osMessageGet shall be consistent in every CMSIS-RTOS. -osEvent osMessageGet (osMessageQId queue_id, uint32_t millisec); - -#endif // Message Queues available - - -// ==== Mail Queue Management Functions ==== - -#if (defined (osFeature_MailQ) && (osFeature_MailQ != 0)) // Mail Queues available - -/// \brief Create a Mail Queue Definition. -/// \param name name of the queue -/// \param queue_sz maximum number of messages in queue -/// \param type data type of a single message element -/// \note CAN BE CHANGED: The parameter to \b osMailQDef shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#if defined (osObjectsExternal) // object is external -#define osMailQDef(name, queue_sz, type) \ -extern struct os_mailQ_cb *os_mailQ_cb_##name \ -extern osMailQDef_t os_mailQ_def_##name -#else // define the object -#define osMailQDef(name, queue_sz, type) \ -struct os_mailQ_cb *os_mailQ_cb_##name; \ -const osMailQDef_t os_mailQ_def_##name = \ -{ (queue_sz), sizeof (type), (&os_mailQ_cb_##name) } -#endif - -/// \brief Access a Mail Queue Definition. -/// \param name name of the queue -/// \note CAN BE CHANGED: The parameter to \b osMailQ shall be consistent but the -/// macro body is implementation specific in every CMSIS-RTOS. -#define osMailQ(name) \ -&os_mailQ_def_##name - -/// Create and Initialize mail queue. -/// \param[in] queue_def reference to the mail queue definition obtain with \ref osMailQ -/// \param[in] thread_id thread ID (obtained by \ref osThreadCreate or \ref osThreadGetId) or NULL. -/// \return mail queue ID for reference by other functions or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osMailCreate shall be consistent in every CMSIS-RTOS. -osMailQId osMailCreate (const osMailQDef_t *queue_def, osThreadId thread_id); - -/// Allocate a memory block from a mail. -/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out -/// \return pointer to memory block that can be filled with mail or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osMailAlloc shall be consistent in every CMSIS-RTOS. -void *osMailAlloc (osMailQId queue_id, uint32_t millisec); - -/// Allocate a memory block from a mail and set memory block to zero. -/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out -/// \return pointer to memory block that can be filled with mail or NULL in case of error. -/// \note MUST REMAIN UNCHANGED: \b osMailCAlloc shall be consistent in every CMSIS-RTOS. -void *osMailCAlloc (osMailQId queue_id, uint32_t millisec); - -/// Put a mail to a queue. -/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. -/// \param[in] mail memory block previously allocated with \ref osMailAlloc or \ref osMailCAlloc. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMailPut shall be consistent in every CMSIS-RTOS. -osStatus osMailPut (osMailQId queue_id, void *mail); - -/// Get a mail from a queue. -/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. -/// \param[in] millisec timeout value or 0 in case of no time-out -/// \return event that contains mail information or error code. -/// \note MUST REMAIN UNCHANGED: \b osMailGet shall be consistent in every CMSIS-RTOS. -osEvent osMailGet (osMailQId queue_id, uint32_t millisec); - -/// Free a memory block from a mail. -/// \param[in] queue_id mail queue ID obtained with \ref osMailCreate. -/// \param[in] mail pointer to the memory block that was obtained with \ref osMailGet. -/// \return status code that indicates the execution status of the function. -/// \note MUST REMAIN UNCHANGED: \b osMailFree shall be consistent in every CMSIS-RTOS. -osStatus osMailFree (osMailQId queue_id, void *mail); - -#endif // Mail Queues available - -/*************************** Additional specific APIs to Free RTOS ************/ -/** -* @brief Handles the tick increment -* @param none. -* @retval none. -*/ -void osSystickHandler(void); - -#if ( INCLUDE_eTaskGetState == 1 ) -/** -* @brief Obtain the state of any thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval the stae of the thread, states are encoded by the osThreadState enumerated type. -*/ -osThreadState osThreadGetState(osThreadId thread_id); -#endif /* INCLUDE_eTaskGetState */ - -#if ( INCLUDE_eTaskGetState == 1 ) -/** -* @brief Check if a thread is already suspended or not. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ - -osStatus osThreadIsSuspended(osThreadId thread_id); - -#endif /* INCLUDE_eTaskGetState */ - -/** -* @brief Suspend execution of a thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadSuspend (osThreadId thread_id); - -/** -* @brief Resume execution of a suspended thread. -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadResume (osThreadId thread_id); - -/** -* @brief Suspend execution of a all active threads. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadSuspendAll (void); - -/** -* @brief Resume execution of a all suspended threads. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadResumeAll (void); - -/** -* @brief Delay a task until a specified time -* @param PreviousWakeTime Pointer to a variable that holds the time at which the -* task was last unblocked. PreviousWakeTime must be initialised with the current time -* prior to its first use (PreviousWakeTime = osKernelSysTick() ) -* @param millisec time delay value -* @retval status code that indicates the execution status of the function. -*/ -osStatus osDelayUntil (uint32_t *PreviousWakeTime, uint32_t millisec); - -/** -* @brief Abort the delay for a specific thread -* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId -* @retval status code that indicates the execution status of the function. -*/ -osStatus osAbortDelay(osThreadId thread_id); - -/** -* @brief Lists all the current threads, along with their current state -* and stack usage high water mark. -* @param buffer A buffer into which the above mentioned details -* will be written -* @retval status code that indicates the execution status of the function. -*/ -osStatus osThreadList (uint8_t *buffer); - -/** -* @brief Receive an item from a queue without removing the item from the queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval event information that includes status code. -*/ -osEvent osMessagePeek (osMessageQId queue_id, uint32_t millisec); - -/** -* @brief Get the number of messaged stored in a queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval number of messages stored in a queue. -*/ -uint32_t osMessageWaiting(osMessageQId queue_id); - -/** -* @brief Get the available space in a message queue. -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval available space in a message queue. -*/ -uint32_t osMessageAvailableSpace(osMessageQId queue_id); - -/** -* @brief Delete a Message Queue -* @param queue_id message queue ID obtained with \ref osMessageCreate. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osMessageDelete (osMessageQId queue_id); - -/** -* @brief Create and Initialize a Recursive Mutex -* @param mutex_def mutex definition referenced with \ref osMutex. -* @retval mutex ID for reference by other functions or NULL in case of error.. -*/ -osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def); - -/** -* @brief Release a Recursive Mutex -* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osRecursiveMutexRelease (osMutexId mutex_id); - -/** -* @brief Release a Recursive Mutex -* @param mutex_id mutex ID obtained by \ref osRecursiveMutexCreate. -* @param millisec timeout value or 0 in case of no time-out. -* @retval status code that indicates the execution status of the function. -*/ -osStatus osRecursiveMutexWait (osMutexId mutex_id, uint32_t millisec); - -/** -* @brief Returns the current count value of a counting semaphore -* @param semaphore_id semaphore_id ID obtained by \ref osSemaphoreCreate. -* @retval count value -*/ -uint32_t osSemaphoreGetCount(osSemaphoreId semaphore_id); - -#ifdef __cplusplus -} -#endif - -#endif // _CMSIS_OS_H diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h new file mode 100644 index 0000000..aae5229 --- /dev/null +++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os.h @@ -0,0 +1,34 @@ +/* + * Copyright (c) 2013-2019 ARM Limited. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * ---------------------------------------------------------------------- + * + * $Date: 10. January 2017 + * $Revision: V2.1.0 + * + * Project: CMSIS-RTOS API + * Title: cmsis_os.h FreeRTOS header file + *---------------------------------------------------------------------------*/ + +#ifndef CMSIS_OS_H_ +#define CMSIS_OS_H_ + +#define osCMSIS 0x20001U ///< API version (main[31:16].sub[15:0]) + +#include "cmsis_os2.h" + +#endif // CMSIS_OS_H_ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c new file mode 100644 index 0000000..85d90fd --- /dev/null +++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c @@ -0,0 +1,2957 @@ +/* -------------------------------------------------------------------------- + * Copyright (c) 2013-2022 Arm Limited. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Name: cmsis_os2.c + * Purpose: CMSIS RTOS2 wrapper for FreeRTOS + * + *---------------------------------------------------------------------------*/ +#include + +#include "FreeRTOS.h" // ARM.FreeRTOS::RTOS:Core +#include "task.h" // ARM.FreeRTOS::RTOS:Core +#include "event_groups.h" // ARM.FreeRTOS::RTOS:Event Groups +#include "semphr.h" // ARM.FreeRTOS::RTOS:Core +#include "timers.h" // ARM.FreeRTOS::RTOS:Timers + +#include "freertos_mpool.h" // osMemoryPool definitions +#include "freertos_os2.h" // Configuration check and setup + +#include "cmsis_os2.h" // ::CMSIS:RTOS2 +#include "cmsis_compiler.h" // Compiler agnostic definitions + +/*---------------------------------------------------------------------------*/ +#ifndef __ARM_ARCH_6M__ + #define __ARM_ARCH_6M__ 0 +#endif +#ifndef __ARM_ARCH_7M__ + #define __ARM_ARCH_7M__ 0 +#endif +#ifndef __ARM_ARCH_7EM__ + #define __ARM_ARCH_7EM__ 0 +#endif +#ifndef __ARM_ARCH_8M_MAIN__ + #define __ARM_ARCH_8M_MAIN__ 0 +#endif +#ifndef __ARM_ARCH_7A__ + #define __ARM_ARCH_7A__ 0 +#endif + +#if ((__ARM_ARCH_7M__ == 1U) || \ + (__ARM_ARCH_7EM__ == 1U) || \ + (__ARM_ARCH_8M_MAIN__ == 1U)) +#define IS_IRQ_MASKED() ((__get_PRIMASK() != 0U) || (__get_BASEPRI() != 0U)) +#elif (__ARM_ARCH_6M__ == 1U) +#define IS_IRQ_MASKED() (__get_PRIMASK() != 0U) +#elif (__ARM_ARCH_7A__ == 1U) +/* CPSR mask bits */ +#define CPSR_MASKBIT_I 0x80U + +#define IS_IRQ_MASKED() ((__get_CPSR() & CPSR_MASKBIT_I) != 0U) +#else +#define IS_IRQ_MASKED() (__get_PRIMASK() != 0U) +#endif + +#if (__ARM_ARCH_7A__ == 1U) +/* CPSR mode bitmasks */ +#define CPSR_MODE_USER 0x10U +#define CPSR_MODE_SYSTEM 0x1FU + +#define IS_IRQ_MODE() ((__get_mode() != CPSR_MODE_USER) && (__get_mode() != CPSR_MODE_SYSTEM)) +#else +#define IS_IRQ_MODE() (__get_IPSR() != 0U) +#endif + +/* Limits */ +#define MAX_BITS_TASK_NOTIFY 31U +#define MAX_BITS_EVENT_GROUPS 24U + +#define THREAD_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_TASK_NOTIFY) - 1U)) +#define EVENT_FLAGS_INVALID_BITS (~((1UL << MAX_BITS_EVENT_GROUPS) - 1U)) + +/* Kernel version and identification string definition (major.minor.rev: mmnnnrrrr dec) */ +#define KERNEL_VERSION (((uint32_t)tskKERNEL_VERSION_MAJOR * 10000000UL) | \ + ((uint32_t)tskKERNEL_VERSION_MINOR * 10000UL) | \ + ((uint32_t)tskKERNEL_VERSION_BUILD * 1UL)) + +#define KERNEL_ID ("FreeRTOS " tskKERNEL_VERSION_NUMBER) + +/* Timer callback information structure definition */ +typedef struct { + osTimerFunc_t func; + void *arg; +} TimerCallback_t; + +/* Kernel initialization state */ +static osKernelState_t KernelState = osKernelInactive; + +/* Get OS Tick count value */ +static uint32_t OS_Tick_GetCount (void); +#if (configUSE_TICKLESS_IDLE == 0) +/* Get OS Tick overflow status */ +static uint32_t OS_Tick_GetOverflow (void); +#endif +/* Get OS Tick interval */ +static uint32_t OS_Tick_GetInterval (void); + +/* + Heap region definition used by heap_5 variant + + Define configAPPLICATION_ALLOCATED_HEAP as nonzero value in FreeRTOSConfig.h if + heap regions are already defined and vPortDefineHeapRegions is called in application. + + Otherwise vPortDefineHeapRegions will be called by osKernelInitialize using + definition configHEAP_5_REGIONS as parameter. Overriding configHEAP_5_REGIONS + is possible by defining it globally or in FreeRTOSConfig.h. +*/ +#if defined(USE_FreeRTOS_HEAP_5) +#if (configAPPLICATION_ALLOCATED_HEAP == 0) + /* + FreeRTOS heap is not defined by the application. + Single region of size configTOTAL_HEAP_SIZE (defined in FreeRTOSConfig.h) + is provided by default. Define configHEAP_5_REGIONS to provide custom + HeapRegion_t array. + */ + #define HEAP_5_REGION_SETUP 1 + + #ifndef configHEAP_5_REGIONS + #define configHEAP_5_REGIONS xHeapRegions + + static uint8_t ucHeap[configTOTAL_HEAP_SIZE]; + + static HeapRegion_t xHeapRegions[] = { + { ucHeap, configTOTAL_HEAP_SIZE }, + { NULL, 0 } + }; + #else + /* Global definition is provided to override default heap array */ + extern HeapRegion_t configHEAP_5_REGIONS[]; + #endif +#else + /* + The application already defined the array used for the FreeRTOS heap and + called vPortDefineHeapRegions to initialize heap. + */ + #define HEAP_5_REGION_SETUP 0 +#endif /* configAPPLICATION_ALLOCATED_HEAP */ +#endif /* USE_FreeRTOS_HEAP_5 */ + +#if defined(SysTick) +#undef SysTick_Handler + +/* CMSIS SysTick interrupt handler prototype */ +extern void SysTick_Handler (void); +/* FreeRTOS tick timer interrupt handler prototype */ +extern void xPortSysTickHandler (void); + +/* + SysTick handler implementation that also clears overflow flag. +*/ +#if (USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION == 0) +void SysTick_Handler (void) { +#if (configUSE_TICKLESS_IDLE == 0) + /* Clear overflow flag */ + SysTick->CTRL; +#endif + + if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) { + /* Call tick handler */ + xPortSysTickHandler(); + } +} +#endif +#endif /* SysTick */ + +/* + Setup SVC to reset value. +*/ +__STATIC_INLINE void SVC_Setup (void) { +#if (__ARM_ARCH_7A__ == 0U) + /* Service Call interrupt might be configured before kernel start */ + /* and when its priority is lower or equal to BASEPRI, svc instruction */ + /* causes a Hard Fault. */ + NVIC_SetPriority (SVCall_IRQn, 0U); +#endif +} + +/* + Function macro used to retrieve semaphore count from ISR +*/ +#ifndef uxSemaphoreGetCountFromISR +#define uxSemaphoreGetCountFromISR( xSemaphore ) uxQueueMessagesWaitingFromISR( ( QueueHandle_t ) ( xSemaphore ) ) +#endif + +/* + Determine if CPU executes from interrupt context or if interrupts are masked. +*/ +__STATIC_INLINE uint32_t IRQ_Context (void) { + uint32_t irq; + BaseType_t state; + + irq = 0U; + + if (IS_IRQ_MODE()) { + /* Called from interrupt context */ + irq = 1U; + } + else { + /* Get FreeRTOS scheduler state */ + state = xTaskGetSchedulerState(); + + if (state != taskSCHEDULER_NOT_STARTED) { + /* Scheduler was started */ + if (IS_IRQ_MASKED()) { + /* Interrupts are masked */ + irq = 1U; + } + } + } + + /* Return context, 0: thread context, 1: IRQ context */ + return (irq); +} + +/* Get OS Tick count value */ +static uint32_t OS_Tick_GetCount (void) { +#if (__ARM_ARCH_7A__ == 1U) + return (__get_CNTFRQ() - PL1_GetCurrentValue()); +#else + uint32_t load = SysTick->LOAD; + return (load - SysTick->VAL); +#endif /* __ARM_ARCH_7A__ */ +} + +#if (configUSE_TICKLESS_IDLE == 0) +/* Get OS Tick overflow status */ +static uint32_t OS_Tick_GetOverflow (void) { +#if (__ARM_ARCH_7A__ == 1U) + CNTP_CTL_Type cntp_ctl; + cntp_ctl.w = PL1_GetControl(); + return (cntp_ctl.b.ISTATUS); +#else + return ((SysTick->CTRL >> 16) & 1U); +#endif /* __ARM_ARCH_7A__ */ +} +#endif + +/* Get OS Tick interval */ +static uint32_t OS_Tick_GetInterval (void) { +#if (__ARM_ARCH_7A__ == 1U) + return (__get_CNTFRQ() + 1U); +#else + return (SysTick->LOAD + 1U); +#endif /* __ARM_ARCH_7A__ */ +} + +/* ==== Kernel Management Functions ==== */ + +/* + Initialize the RTOS Kernel. +*/ +osStatus_t osKernelInitialize (void) { + osStatus_t stat; + BaseType_t state; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else { + state = xTaskGetSchedulerState(); + + /* Initialize if scheduler not started and not initialized before */ + if ((state == taskSCHEDULER_NOT_STARTED) && (KernelState == osKernelInactive)) { + #if defined(USE_TRACE_EVENT_RECORDER) + /* Initialize the trace macro debugging output channel */ + EvrFreeRTOSSetup(0U); + #endif + #if defined(USE_FreeRTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1) + /* Initialize the memory regions when using heap_5 variant */ + vPortDefineHeapRegions (configHEAP_5_REGIONS); + #endif + KernelState = osKernelReady; + stat = osOK; + } else { + stat = osError; + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get RTOS Kernel Information. +*/ +osStatus_t osKernelGetInfo (osVersion_t *version, char *id_buf, uint32_t id_size) { + + if (version != NULL) { + /* Version encoding is major.minor.rev: mmnnnrrrr dec */ + version->api = KERNEL_VERSION; + version->kernel = KERNEL_VERSION; + } + + if ((id_buf != NULL) && (id_size != 0U)) { + /* Buffer for retrieving identification string is provided */ + if (id_size > sizeof(KERNEL_ID)) { + id_size = sizeof(KERNEL_ID); + } + /* Copy kernel identification string into provided buffer */ + memcpy(id_buf, KERNEL_ID, id_size); + } + + /* Return execution status */ + return (osOK); +} + +/* + Get the current RTOS Kernel state. +*/ +osKernelState_t osKernelGetState (void) { + osKernelState_t state; + + switch (xTaskGetSchedulerState()) { + case taskSCHEDULER_RUNNING: + state = osKernelRunning; + break; + + case taskSCHEDULER_SUSPENDED: + state = osKernelLocked; + break; + + case taskSCHEDULER_NOT_STARTED: + default: + if (KernelState == osKernelReady) { + /* Ready, osKernelInitialize was already called */ + state = osKernelReady; + } else { + /* Not initialized */ + state = osKernelInactive; + } + break; + } + + /* Return current state */ + return (state); +} + +/* + Start the RTOS Kernel scheduler. +*/ +osStatus_t osKernelStart (void) { + osStatus_t stat; + BaseType_t state; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else { + state = xTaskGetSchedulerState(); + + /* Start scheduler if initialized and not started before */ + if ((state == taskSCHEDULER_NOT_STARTED) && (KernelState == osKernelReady)) { + /* Ensure SVC priority is at the reset value */ + SVC_Setup(); + /* Change state to ensure correct API flow */ + KernelState = osKernelRunning; + /* Start the kernel scheduler */ + vTaskStartScheduler(); + stat = osOK; + } else { + stat = osError; + } + } + + /* Return execution status */ + return (stat); +} + +/* + Lock the RTOS Kernel scheduler. +*/ +int32_t osKernelLock (void) { + int32_t lock; + + if (IRQ_Context() != 0U) { + lock = (int32_t)osErrorISR; + } + else { + switch (xTaskGetSchedulerState()) { + case taskSCHEDULER_SUSPENDED: + lock = 1; + break; + + case taskSCHEDULER_RUNNING: + vTaskSuspendAll(); + lock = 0; + break; + + case taskSCHEDULER_NOT_STARTED: + default: + lock = (int32_t)osError; + break; + } + } + + /* Return previous lock state */ + return (lock); +} + +/* + Unlock the RTOS Kernel scheduler. +*/ +int32_t osKernelUnlock (void) { + int32_t lock; + + if (IRQ_Context() != 0U) { + lock = (int32_t)osErrorISR; + } + else { + switch (xTaskGetSchedulerState()) { + case taskSCHEDULER_SUSPENDED: + lock = 1; + + if (xTaskResumeAll() != pdTRUE) { + if (xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED) { + lock = (int32_t)osError; + } + } + break; + + case taskSCHEDULER_RUNNING: + lock = 0; + break; + + case taskSCHEDULER_NOT_STARTED: + default: + lock = (int32_t)osError; + break; + } + } + + /* Return previous lock state */ + return (lock); +} + +/* + Restore the RTOS Kernel scheduler lock state. +*/ +int32_t osKernelRestoreLock (int32_t lock) { + + if (IRQ_Context() != 0U) { + lock = (int32_t)osErrorISR; + } + else { + switch (xTaskGetSchedulerState()) { + case taskSCHEDULER_SUSPENDED: + case taskSCHEDULER_RUNNING: + if (lock == 1) { + vTaskSuspendAll(); + } + else { + if (lock != 0) { + lock = (int32_t)osError; + } + else { + if (xTaskResumeAll() != pdTRUE) { + if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) { + lock = (int32_t)osError; + } + } + } + } + break; + + case taskSCHEDULER_NOT_STARTED: + default: + lock = (int32_t)osError; + break; + } + } + + /* Return new lock state */ + return (lock); +} + +/* + Get the RTOS kernel tick count. +*/ +uint32_t osKernelGetTickCount (void) { + TickType_t ticks; + + if (IRQ_Context() != 0U) { + ticks = xTaskGetTickCountFromISR(); + } else { + ticks = xTaskGetTickCount(); + } + + /* Return kernel tick count */ + return (ticks); +} + +/* + Get the RTOS kernel tick frequency. +*/ +uint32_t osKernelGetTickFreq (void) { + /* Return frequency in hertz */ + return (configTICK_RATE_HZ); +} + +/* + Get the RTOS kernel system timer count. +*/ +uint32_t osKernelGetSysTimerCount (void) { + uint32_t irqmask = IS_IRQ_MASKED(); + TickType_t ticks; + uint32_t val; +#if (configUSE_TICKLESS_IDLE != 0) + uint32_t val0; + + /* Low Power Tickless Idle controls timer overflow flag and therefore */ + /* OS_Tick_GetOverflow may be non-functional. As a workaround a reference */ + /* time is measured here before disabling interrupts. Timer value overflow */ + /* is then checked by comparing reference against latest time measurement. */ + /* Timer count value returned by this method is less accurate but if an */ + /* overflow is missed, an invalid timer count would be returned. */ + val0 = OS_Tick_GetCount(); +#endif + + __disable_irq(); + + ticks = xTaskGetTickCount(); + val = OS_Tick_GetCount(); + + /* Update tick count and timer value when timer overflows */ +#if (configUSE_TICKLESS_IDLE != 0) + if (val < val0) { + ticks++; + } +#else + if (OS_Tick_GetOverflow() != 0U) { + val = OS_Tick_GetCount(); + ticks++; + } +#endif + + val += ticks * OS_Tick_GetInterval(); + + if (irqmask == 0U) { + __enable_irq(); + } + + /* Return system timer count */ + return (val); +} + +/* + Get the RTOS kernel system timer frequency. +*/ +uint32_t osKernelGetSysTimerFreq (void) { + /* Return frequency in hertz */ + return (configCPU_CLOCK_HZ); +} + + +/* ==== Thread Management Functions ==== */ + +/* + Create a thread and add it to Active Threads. + + Limitations: + - The memory for control block and stack must be provided in the osThreadAttr_t + structure in order to allocate object statically. + - Attribute osThreadJoinable is not supported, NULL is returned if used. +*/ +osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAttr_t *attr) { + const char *name; + uint32_t stack; + TaskHandle_t hTask; + UBaseType_t prio; + int32_t mem; + + hTask = NULL; + + if ((IRQ_Context() == 0U) && (func != NULL)) { + stack = configMINIMAL_STACK_SIZE; + prio = (UBaseType_t)osPriorityNormal; + + name = NULL; + mem = -1; + + if (attr != NULL) { + if (attr->name != NULL) { + name = attr->name; + } + if (attr->priority != osPriorityNone) { + prio = (UBaseType_t)attr->priority; + } + + if ((prio < osPriorityIdle) || (prio > osPriorityISR) || ((attr->attr_bits & osThreadJoinable) == osThreadJoinable)) { + /* Invalid priority or unsupported osThreadJoinable attribute used */ + return (NULL); + } + + if (attr->stack_size > 0U) { + /* In FreeRTOS stack is not in bytes, but in sizeof(StackType_t) which is 4 on ARM ports. */ + /* Stack size should be therefore 4 byte aligned in order to avoid division caused side effects */ + stack = attr->stack_size / sizeof(StackType_t); + } + + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTask_t)) && + (attr->stack_mem != NULL) && (attr->stack_size > 0U)) { + /* The memory for control block and stack is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) && (attr->stack_mem == NULL)) { + /* Control block and stack memory will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t *)attr->stack_mem, + (StaticTask_t *)attr->cb_mem); + #endif + } + else { + if (mem == 0) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + if (xTaskCreate ((TaskFunction_t)func, name, (configSTACK_DEPTH_TYPE)stack, argument, prio, &hTask) != pdPASS) { + hTask = NULL; + } + #endif + } + } + } + + /* Return thread ID */ + return ((osThreadId_t)hTask); +} + +/* + Get name of a thread. +*/ +const char *osThreadGetName (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + const char *name; + + if ((IRQ_Context() != 0U) || (hTask == NULL)) { + name = NULL; + } else { + name = pcTaskGetName (hTask); + } + + /* Return name as null-terminated string */ + return (name); +} + +/* + Return the thread ID of the current running thread. +*/ +osThreadId_t osThreadGetId (void) { + osThreadId_t id; + + id = (osThreadId_t)xTaskGetCurrentTaskHandle(); + + /* Return thread ID */ + return (id); +} + +/* + Get current thread state of a thread. +*/ +osThreadState_t osThreadGetState (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osThreadState_t state; + + if ((IRQ_Context() != 0U) || (hTask == NULL)) { + state = osThreadError; + } + else { + switch (eTaskGetState (hTask)) { + case eRunning: state = osThreadRunning; break; + case eReady: state = osThreadReady; break; + case eBlocked: + case eSuspended: state = osThreadBlocked; break; + case eDeleted: + case eInvalid: + default: state = osThreadError; break; + } + } + + /* Return current thread state */ + return (state); +} + +/* + Get available stack space of a thread based on stack watermark recording during execution. +*/ +uint32_t osThreadGetStackSpace (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + uint32_t sz; + + if ((IRQ_Context() != 0U) || (hTask == NULL)) { + sz = 0U; + } else { + sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t)); + } + + /* Return remaining stack space in bytes */ + return (sz); +} + +/* + Change priority of a thread. +*/ +osStatus_t osThreadSetPriority (osThreadId_t thread_id, osPriority_t priority) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if ((hTask == NULL) || (priority < osPriorityIdle) || (priority > osPriorityISR)) { + stat = osErrorParameter; + } + else { + stat = osOK; + vTaskPrioritySet (hTask, (UBaseType_t)priority); + } + + /* Return execution status */ + return (stat); +} + +/* + Get current priority of a thread. +*/ +osPriority_t osThreadGetPriority (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osPriority_t prio; + + if ((IRQ_Context() != 0U) || (hTask == NULL)) { + prio = osPriorityError; + } else { + prio = (osPriority_t)((int32_t)uxTaskPriorityGet (hTask)); + } + + /* Return current thread priority */ + return (prio); +} + +/* + Pass control to next thread that is in state READY. +*/ +osStatus_t osThreadYield (void) { + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } else { + stat = osOK; + taskYIELD(); + } + + /* Return execution status */ + return (stat); +} + +#if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1) +/* + Suspend execution of a thread. +*/ +osStatus_t osThreadSuspend (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hTask == NULL) { + stat = osErrorParameter; + } + else { + stat = osOK; + vTaskSuspend (hTask); + } + + /* Return execution status */ + return (stat); +} + +/* + Resume execution of a thread. +*/ +osStatus_t osThreadResume (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hTask == NULL) { + stat = osErrorParameter; + } + else { + stat = osOK; + vTaskResume (hTask); + } + + /* Return execution status */ + return (stat); +} +#endif /* (configUSE_OS2_THREAD_SUSPEND_RESUME == 1) */ + +/* + Terminate execution of current running thread. +*/ +__NO_RETURN void osThreadExit (void) { +#ifndef USE_FreeRTOS_HEAP_1 + vTaskDelete (NULL); +#endif + for (;;); +} + +/* + Terminate execution of a thread. +*/ +osStatus_t osThreadTerminate (osThreadId_t thread_id) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + osStatus_t stat; +#ifndef USE_FreeRTOS_HEAP_1 + eTaskState tstate; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hTask == NULL) { + stat = osErrorParameter; + } + else { + tstate = eTaskGetState (hTask); + + if (tstate != eDeleted) { + stat = osOK; + vTaskDelete (hTask); + } else { + stat = osErrorResource; + } + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} + +/* + Get number of active threads. +*/ +uint32_t osThreadGetCount (void) { + uint32_t count; + + if (IRQ_Context() != 0U) { + count = 0U; + } else { + count = uxTaskGetNumberOfTasks(); + } + + /* Return number of active threads */ + return (count); +} + +#if (configUSE_OS2_THREAD_ENUMERATE == 1) +/* + Enumerate active threads. +*/ +uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) { + uint32_t i, count; + TaskStatus_t *task; + + if ((IRQ_Context() != 0U) || (thread_array == NULL) || (array_items == 0U)) { + count = 0U; + } else { + vTaskSuspendAll(); + + /* Allocate memory on heap to temporarily store TaskStatus_t information */ + count = uxTaskGetNumberOfTasks(); + task = pvPortMalloc (count * sizeof(TaskStatus_t)); + + if (task != NULL) { + /* Retrieve task status information */ + count = uxTaskGetSystemState (task, count, NULL); + + /* Copy handles from task status array into provided thread array */ + for (i = 0U; (i < count) && (i < array_items); i++) { + thread_array[i] = (osThreadId_t)task[i].xHandle; + } + count = i; + } + (void)xTaskResumeAll(); + + vPortFree (task); + } + + /* Return number of enumerated threads */ + return (count); +} +#endif /* (configUSE_OS2_THREAD_ENUMERATE == 1) */ + + +/* ==== Thread Flags Functions ==== */ + +#if (configUSE_OS2_THREAD_FLAGS == 1) +/* + Set the specified Thread Flags of a thread. +*/ +uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) { + TaskHandle_t hTask = (TaskHandle_t)thread_id; + uint32_t rflags; + BaseType_t yield; + + if ((hTask == NULL) || ((flags & THREAD_FLAGS_INVALID_BITS) != 0U)) { + rflags = (uint32_t)osErrorParameter; + } + else { + rflags = (uint32_t)osError; + + if (IRQ_Context() != 0U) { + yield = pdFALSE; + + (void)xTaskNotifyFromISR (hTask, flags, eSetBits, &yield); + (void)xTaskNotifyAndQueryFromISR (hTask, 0, eNoAction, &rflags, NULL); + + portYIELD_FROM_ISR (yield); + } + else { + (void)xTaskNotify (hTask, flags, eSetBits); + (void)xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags); + } + } + /* Return flags after setting */ + return (rflags); +} + +/* + Clear the specified Thread Flags of current running thread. +*/ +uint32_t osThreadFlagsClear (uint32_t flags) { + TaskHandle_t hTask; + uint32_t rflags, cflags; + + if (IRQ_Context() != 0U) { + rflags = (uint32_t)osErrorISR; + } + else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) { + rflags = (uint32_t)osErrorParameter; + } + else { + hTask = xTaskGetCurrentTaskHandle(); + + if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &cflags) == pdPASS) { + rflags = cflags; + cflags &= ~flags; + + if (xTaskNotify (hTask, cflags, eSetValueWithOverwrite) != pdPASS) { + rflags = (uint32_t)osError; + } + } + else { + rflags = (uint32_t)osError; + } + } + + /* Return flags before clearing */ + return (rflags); +} + +/* + Get the current Thread Flags of current running thread. +*/ +uint32_t osThreadFlagsGet (void) { + TaskHandle_t hTask; + uint32_t rflags; + + if (IRQ_Context() != 0U) { + rflags = (uint32_t)osErrorISR; + } + else { + hTask = xTaskGetCurrentTaskHandle(); + + if (xTaskNotifyAndQuery (hTask, 0, eNoAction, &rflags) != pdPASS) { + rflags = (uint32_t)osError; + } + } + + /* Return current flags */ + return (rflags); +} + +/* + Wait for one or more Thread Flags of the current running thread to become signaled. +*/ +uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout) { + uint32_t rflags, nval; + uint32_t clear; + TickType_t t0, td, tout; + BaseType_t rval; + + if (IRQ_Context() != 0U) { + rflags = (uint32_t)osErrorISR; + } + else if ((flags & THREAD_FLAGS_INVALID_BITS) != 0U) { + rflags = (uint32_t)osErrorParameter; + } + else { + if ((options & osFlagsNoClear) == osFlagsNoClear) { + clear = 0U; + } else { + clear = flags; + } + + rflags = 0U; + tout = timeout; + + t0 = xTaskGetTickCount(); + do { + rval = xTaskNotifyWait (0, clear, &nval, tout); + + if (rval == pdPASS) { + rflags &= flags; + rflags |= nval; + + if ((options & osFlagsWaitAll) == osFlagsWaitAll) { + if ((flags & rflags) == flags) { + break; + } else { + if (timeout == 0U) { + rflags = (uint32_t)osErrorResource; + break; + } + } + } + else { + if ((flags & rflags) != 0) { + break; + } else { + if (timeout == 0U) { + rflags = (uint32_t)osErrorResource; + break; + } + } + } + + /* Update timeout */ + td = xTaskGetTickCount() - t0; + + if (td > timeout) { + tout = 0; + } else { + tout = timeout - td; + } + } + else { + if (timeout == 0) { + rflags = (uint32_t)osErrorResource; + } else { + rflags = (uint32_t)osErrorTimeout; + } + } + } + while (rval != pdFAIL); + } + + /* Return flags before clearing */ + return (rflags); +} +#endif /* (configUSE_OS2_THREAD_FLAGS == 1) */ + + +/* ==== Generic Wait Functions ==== */ + +/* + Wait for Timeout (Time Delay). +*/ +osStatus_t osDelay (uint32_t ticks) { + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else { + stat = osOK; + + if (ticks != 0U) { + vTaskDelay(ticks); + } + } + + /* Return execution status */ + return (stat); +} + +/* + Wait until specified time. +*/ +osStatus_t osDelayUntil (uint32_t ticks) { + TickType_t tcnt, delay; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else { + stat = osOK; + tcnt = xTaskGetTickCount(); + + /* Determine remaining number of ticks to delay */ + delay = (TickType_t)ticks - tcnt; + + /* Check if target tick has not expired */ + if((delay != 0U) && (0 == (delay >> (8 * sizeof(TickType_t) - 1)))) { + if (xTaskDelayUntil (&tcnt, delay) == pdFALSE) { + /* Did not delay */ + stat = osError; + } + } + else + { + /* No delay or already expired */ + stat = osErrorParameter; + } + } + + /* Return execution status */ + return (stat); +} + + +/* ==== Timer Management Functions ==== */ + +#if (configUSE_OS2_TIMER == 1) + +static void TimerCallback (TimerHandle_t hTimer) { + TimerCallback_t *callb; + + /* Retrieve pointer to callback function and argument */ + callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer); + + /* Remove dynamic allocation flag */ + callb = (TimerCallback_t *)((uint32_t)callb & ~1U); + + if (callb != NULL) { + callb->func (callb->arg); + } +} + +/* + Create and Initialize a timer. +*/ +osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument, const osTimerAttr_t *attr) { + const char *name; + TimerHandle_t hTimer; + TimerCallback_t *callb; + UBaseType_t reload; + int32_t mem; + uint32_t callb_dyn; + + hTimer = NULL; + + if ((IRQ_Context() == 0U) && (func != NULL)) { + callb = NULL; + callb_dyn = 0U; + + #if (configSUPPORT_STATIC_ALLOCATION == 1) + /* Static memory allocation is available: check if memory for control block */ + /* is provided and if it also contains space for callback and its argument */ + if ((attr != NULL) && (attr->cb_mem != NULL)) { + if (attr->cb_size >= (sizeof(StaticTimer_t) + sizeof(TimerCallback_t))) { + callb = (TimerCallback_t *)((uint32_t)attr->cb_mem + sizeof(StaticTimer_t)); + } + } + #endif + + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + /* Dynamic memory allocation is available: if memory for callback and */ + /* its argument is not provided, allocate it from dynamic memory pool */ + if (callb == NULL) { + callb = (TimerCallback_t *)pvPortMalloc (sizeof(TimerCallback_t)); + + if (callb != NULL) { + /* Callback memory was allocated from dynamic pool, set flag */ + callb_dyn = 1U; + } + } + #endif + + if (callb != NULL) { + callb->func = func; + callb->arg = argument; + + if (type == osTimerOnce) { + reload = pdFALSE; + } else { + reload = pdTRUE; + } + + mem = -1; + name = NULL; + + if (attr != NULL) { + if (attr->name != NULL) { + name = attr->name; + } + + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticTimer_t))) { + /* The memory for control block is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) { + /* Control block will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + /* Store callback memory dynamic allocation flag */ + callb = (TimerCallback_t *)((uint32_t)callb | callb_dyn); + /* + TimerCallback function is always provided as a callback and is used to call application + specified function with its argument both stored in structure callb. + */ + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem); + #endif + } + else { + if (mem == 0) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback); + #endif + } + } + + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + if ((hTimer == NULL) && (callb != NULL) && (callb_dyn == 1U)) { + /* Failed to create a timer, release allocated resources */ + callb = (TimerCallback_t *)((uint32_t)callb & ~1U); + + vPortFree (callb); + } + #endif + } + } + + /* Return timer ID */ + return ((osTimerId_t)hTimer); +} + +/* + Get name of a timer. +*/ +const char *osTimerGetName (osTimerId_t timer_id) { + TimerHandle_t hTimer = (TimerHandle_t)timer_id; + const char *p; + + if ((IRQ_Context() != 0U) || (hTimer == NULL)) { + p = NULL; + } else { + p = pcTimerGetName (hTimer); + } + + /* Return name as null-terminated string */ + return (p); +} + +/* + Start or restart a timer. +*/ +osStatus_t osTimerStart (osTimerId_t timer_id, uint32_t ticks) { + TimerHandle_t hTimer = (TimerHandle_t)timer_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if ((hTimer == NULL) || (ticks == 0U)) { + stat = osErrorParameter; + } + else { + if (xTimerChangePeriod (hTimer, ticks, 0) == pdPASS) { + stat = osOK; + } else { + stat = osErrorResource; + } + } + + /* Return execution status */ + return (stat); +} + +/* + Stop a timer. +*/ +osStatus_t osTimerStop (osTimerId_t timer_id) { + TimerHandle_t hTimer = (TimerHandle_t)timer_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hTimer == NULL) { + stat = osErrorParameter; + } + else { + if (xTimerIsTimerActive (hTimer) == pdFALSE) { + stat = osErrorResource; + } + else { + if (xTimerStop (hTimer, 0) == pdPASS) { + stat = osOK; + } else { + stat = osError; + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Check if a timer is running. +*/ +uint32_t osTimerIsRunning (osTimerId_t timer_id) { + TimerHandle_t hTimer = (TimerHandle_t)timer_id; + uint32_t running; + + if ((IRQ_Context() != 0U) || (hTimer == NULL)) { + running = 0U; + } else { + running = (uint32_t)xTimerIsTimerActive (hTimer); + } + + /* Return 0: not running, 1: running */ + return (running); +} + +/* + Delete a timer. +*/ +osStatus_t osTimerDelete (osTimerId_t timer_id) { + TimerHandle_t hTimer = (TimerHandle_t)timer_id; + osStatus_t stat; +#ifndef USE_FreeRTOS_HEAP_1 +#if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + TimerCallback_t *callb; +#endif + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hTimer == NULL) { + stat = osErrorParameter; + } + else { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + callb = (TimerCallback_t *)pvTimerGetTimerID (hTimer); + #endif + + if (xTimerDelete (hTimer, 0) == pdPASS) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + if ((uint32_t)callb & 1U) { + /* Callback memory was allocated from dynamic pool, clear flag */ + callb = (TimerCallback_t *)((uint32_t)callb & ~1U); + + /* Return allocated memory to dynamic pool */ + vPortFree (callb); + } + #endif + stat = osOK; + } else { + stat = osErrorResource; + } + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} +#endif /* (configUSE_OS2_TIMER == 1) */ + + +/* ==== Event Flags Management Functions ==== */ + +/* + Create and Initialize an Event Flags object. + + Limitations: + - Event flags are limited to 24 bits. +*/ +osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr) { + EventGroupHandle_t hEventGroup; + int32_t mem; + + hEventGroup = NULL; + + if (IRQ_Context() == 0U) { + mem = -1; + + if (attr != NULL) { + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticEventGroup_t))) { + /* The memory for control block is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) { + /* Control block will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hEventGroup = xEventGroupCreateStatic (attr->cb_mem); + #endif + } + else { + if (mem == 0) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + hEventGroup = xEventGroupCreate(); + #endif + } + } + } + + /* Return event flags ID */ + return ((osEventFlagsId_t)hEventGroup); +} + +/* + Set the specified Event Flags. + + Limitations: + - Event flags are limited to 24 bits. +*/ +uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) { + EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id; + uint32_t rflags; + BaseType_t yield; + + if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) { + rflags = (uint32_t)osErrorParameter; + } + else if (IRQ_Context() != 0U) { + #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0) + (void)yield; + /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */ + rflags = (uint32_t)osErrorResource; + #else + yield = pdFALSE; + + if (xEventGroupSetBitsFromISR (hEventGroup, (EventBits_t)flags, &yield) == pdFAIL) { + rflags = (uint32_t)osErrorResource; + } else { + /* Retrieve bits that are already set and add flags to be set in current call */ + rflags = xEventGroupGetBitsFromISR (hEventGroup); + rflags |= flags; + portYIELD_FROM_ISR (yield); + } + #endif + } + else { + rflags = xEventGroupSetBits (hEventGroup, (EventBits_t)flags); + } + + /* Return event flags after setting */ + return (rflags); +} + +/* + Clear the specified Event Flags. + + Limitations: + - Event flags are limited to 24 bits. +*/ +uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags) { + EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id; + uint32_t rflags; + + if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) { + rflags = (uint32_t)osErrorParameter; + } + else if (IRQ_Context() != 0U) { + #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0) + /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */ + rflags = (uint32_t)osErrorResource; + #else + rflags = xEventGroupGetBitsFromISR (hEventGroup); + + if (xEventGroupClearBitsFromISR (hEventGroup, (EventBits_t)flags) == pdFAIL) { + rflags = (uint32_t)osErrorResource; + } + else { + /* xEventGroupClearBitsFromISR only registers clear operation in the timer command queue. */ + /* Yield is required here otherwise clear operation might not execute in the right order. */ + /* See https://github.com/FreeRTOS/FreeRTOS-Kernel/issues/93 for more info. */ + portYIELD_FROM_ISR (pdTRUE); + } + #endif + } + else { + rflags = xEventGroupClearBits (hEventGroup, (EventBits_t)flags); + } + + /* Return event flags before clearing */ + return (rflags); +} + +/* + Get the current Event Flags. + + Limitations: + - Event flags are limited to 24 bits. +*/ +uint32_t osEventFlagsGet (osEventFlagsId_t ef_id) { + EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id; + uint32_t rflags; + + if (ef_id == NULL) { + rflags = 0U; + } + else if (IRQ_Context() != 0U) { + rflags = xEventGroupGetBitsFromISR (hEventGroup); + } + else { + rflags = xEventGroupGetBits (hEventGroup); + } + + /* Return current event flags */ + return (rflags); +} + +/* + Wait for one or more Event Flags to become signaled. + + Limitations: + - Event flags are limited to 24 bits. + - osEventFlagsWait cannot be called from an ISR. +*/ +uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t options, uint32_t timeout) { + EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id; + BaseType_t wait_all; + BaseType_t exit_clr; + uint32_t rflags; + + if ((hEventGroup == NULL) || ((flags & EVENT_FLAGS_INVALID_BITS) != 0U)) { + rflags = (uint32_t)osErrorParameter; + } + else if (IRQ_Context() != 0U) { + if (timeout == 0U) { + /* Try semantic is not supported */ + rflags = (uint32_t)osErrorISR; + } else { + /* Calling osEventFlagsWait from ISR with non-zero timeout is invalid */ + rflags = (uint32_t)osFlagsErrorParameter; + } + } + else { + if (options & osFlagsWaitAll) { + wait_all = pdTRUE; + } else { + wait_all = pdFAIL; + } + + if (options & osFlagsNoClear) { + exit_clr = pdFAIL; + } else { + exit_clr = pdTRUE; + } + + rflags = xEventGroupWaitBits (hEventGroup, (EventBits_t)flags, exit_clr, wait_all, (TickType_t)timeout); + + if (options & osFlagsWaitAll) { + if ((flags & rflags) != flags) { + if (timeout > 0U) { + rflags = (uint32_t)osErrorTimeout; + } else { + rflags = (uint32_t)osErrorResource; + } + } + } + else { + if ((flags & rflags) == 0U) { + if (timeout > 0U) { + rflags = (uint32_t)osErrorTimeout; + } else { + rflags = (uint32_t)osErrorResource; + } + } + } + } + + /* Return event flags before clearing */ + return (rflags); +} + +/* + Delete an Event Flags object. +*/ +osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id) { + EventGroupHandle_t hEventGroup = (EventGroupHandle_t)ef_id; + osStatus_t stat; + +#ifndef USE_FreeRTOS_HEAP_1 + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hEventGroup == NULL) { + stat = osErrorParameter; + } + else { + stat = osOK; + vEventGroupDelete (hEventGroup); + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} + + +/* ==== Mutex Management Functions ==== */ + +#if (configUSE_OS2_MUTEX == 1) +/* + Create and Initialize a Mutex object. + + Limitations: + - Priority inherit protocol is used by default, osMutexPrioInherit attribute is ignored. + - Robust mutex is not supported, NULL is returned if used. +*/ +osMutexId_t osMutexNew (const osMutexAttr_t *attr) { + SemaphoreHandle_t hMutex; + uint32_t type; + uint32_t rmtx; + int32_t mem; + + hMutex = NULL; + + if (IRQ_Context() == 0U) { + if (attr != NULL) { + type = attr->attr_bits; + } else { + type = 0U; + } + + if ((type & osMutexRecursive) == osMutexRecursive) { + rmtx = 1U; + } else { + rmtx = 0U; + } + + if ((type & osMutexRobust) != osMutexRobust) { + mem = -1; + + if (attr != NULL) { + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) { + /* The memory for control block is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) { + /* Control block will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + if (rmtx != 0U) { + #if (configUSE_RECURSIVE_MUTEXES == 1) + hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem); + #endif + } + else { + hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem); + } + #endif + } + else { + if (mem == 0) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + if (rmtx != 0U) { + #if (configUSE_RECURSIVE_MUTEXES == 1) + hMutex = xSemaphoreCreateRecursiveMutex (); + #endif + } else { + hMutex = xSemaphoreCreateMutex (); + } + #endif + } + } + + #if (configQUEUE_REGISTRY_SIZE > 0) + if (hMutex != NULL) { + if ((attr != NULL) && (attr->name != NULL)) { + /* Only non-NULL name objects are added to the Queue Registry */ + vQueueAddToRegistry (hMutex, attr->name); + } + } + #endif + + if ((hMutex != NULL) && (rmtx != 0U)) { + /* Set LSB as 'recursive mutex flag' */ + hMutex = (SemaphoreHandle_t)((uint32_t)hMutex | 1U); + } + } + } + + /* Return mutex ID */ + return ((osMutexId_t)hMutex); +} + +/* + Acquire a Mutex or timeout if it is locked. +*/ +osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) { + SemaphoreHandle_t hMutex; + osStatus_t stat; + uint32_t rmtx; + + hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U); + + /* Extract recursive mutex flag */ + rmtx = (uint32_t)mutex_id & 1U; + + stat = osOK; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hMutex == NULL) { + stat = osErrorParameter; + } + else { + if (rmtx != 0U) { + #if (configUSE_RECURSIVE_MUTEXES == 1) + if (xSemaphoreTakeRecursive (hMutex, timeout) != pdPASS) { + if (timeout != 0U) { + stat = osErrorTimeout; + } else { + stat = osErrorResource; + } + } + #endif + } + else { + if (xSemaphoreTake (hMutex, timeout) != pdPASS) { + if (timeout != 0U) { + stat = osErrorTimeout; + } else { + stat = osErrorResource; + } + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Release a Mutex that was acquired by osMutexAcquire. +*/ +osStatus_t osMutexRelease (osMutexId_t mutex_id) { + SemaphoreHandle_t hMutex; + osStatus_t stat; + uint32_t rmtx; + + hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U); + + /* Extract recursive mutex flag */ + rmtx = (uint32_t)mutex_id & 1U; + + stat = osOK; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hMutex == NULL) { + stat = osErrorParameter; + } + else { + if (rmtx != 0U) { + #if (configUSE_RECURSIVE_MUTEXES == 1) + if (xSemaphoreGiveRecursive (hMutex) != pdPASS) { + stat = osErrorResource; + } + #endif + } + else { + if (xSemaphoreGive (hMutex) != pdPASS) { + stat = osErrorResource; + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get Thread which owns a Mutex object. +*/ +osThreadId_t osMutexGetOwner (osMutexId_t mutex_id) { + SemaphoreHandle_t hMutex; + osThreadId_t owner; + + hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U); + + if ((IRQ_Context() != 0U) || (hMutex == NULL)) { + owner = NULL; + } else { + owner = (osThreadId_t)xSemaphoreGetMutexHolder (hMutex); + } + + /* Return owner thread ID */ + return (owner); +} + +/* + Delete a Mutex object. +*/ +osStatus_t osMutexDelete (osMutexId_t mutex_id) { + osStatus_t stat; +#ifndef USE_FreeRTOS_HEAP_1 + SemaphoreHandle_t hMutex; + + hMutex = (SemaphoreHandle_t)((uint32_t)mutex_id & ~1U); + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hMutex == NULL) { + stat = osErrorParameter; + } + else { + #if (configQUEUE_REGISTRY_SIZE > 0) + vQueueUnregisterQueue (hMutex); + #endif + stat = osOK; + vSemaphoreDelete (hMutex); + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} +#endif /* (configUSE_OS2_MUTEX == 1) */ + + +/* ==== Semaphore Management Functions ==== */ + +/* + Create and Initialize a Semaphore object. +*/ +osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, const osSemaphoreAttr_t *attr) { + SemaphoreHandle_t hSemaphore; + int32_t mem; + + hSemaphore = NULL; + + if ((IRQ_Context() == 0U) && (max_count > 0U) && (initial_count <= max_count)) { + mem = -1; + + if (attr != NULL) { + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticSemaphore_t))) { + /* The memory for control block is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) { + /* Control block will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + + if (mem != -1) { + if (max_count == 1U) { + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem); + #endif + } + else { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + hSemaphore = xSemaphoreCreateBinary(); + #endif + } + + if ((hSemaphore != NULL) && (initial_count != 0U)) { + if (xSemaphoreGive (hSemaphore) != pdPASS) { + vSemaphoreDelete (hSemaphore); + hSemaphore = NULL; + } + } + } + else { + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem); + #endif + } + else { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + hSemaphore = xSemaphoreCreateCounting (max_count, initial_count); + #endif + } + } + + #if (configQUEUE_REGISTRY_SIZE > 0) + if (hSemaphore != NULL) { + if ((attr != NULL) && (attr->name != NULL)) { + /* Only non-NULL name objects are added to the Queue Registry */ + vQueueAddToRegistry (hSemaphore, attr->name); + } + } + #endif + } + } + + /* Return semaphore ID */ + return ((osSemaphoreId_t)hSemaphore); +} + +/* + Acquire a Semaphore token or timeout if no tokens are available. +*/ +osStatus_t osSemaphoreAcquire (osSemaphoreId_t semaphore_id, uint32_t timeout) { + SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id; + osStatus_t stat; + BaseType_t yield; + + stat = osOK; + + if (hSemaphore == NULL) { + stat = osErrorParameter; + } + else if (IRQ_Context() != 0U) { + if (timeout != 0U) { + stat = osErrorParameter; + } + else { + yield = pdFALSE; + + if (xSemaphoreTakeFromISR (hSemaphore, &yield) != pdPASS) { + stat = osErrorResource; + } else { + portYIELD_FROM_ISR (yield); + } + } + } + else { + if (xSemaphoreTake (hSemaphore, (TickType_t)timeout) != pdPASS) { + if (timeout != 0U) { + stat = osErrorTimeout; + } else { + stat = osErrorResource; + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Release a Semaphore token up to the initial maximum count. +*/ +osStatus_t osSemaphoreRelease (osSemaphoreId_t semaphore_id) { + SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id; + osStatus_t stat; + BaseType_t yield; + + stat = osOK; + + if (hSemaphore == NULL) { + stat = osErrorParameter; + } + else if (IRQ_Context() != 0U) { + yield = pdFALSE; + + if (xSemaphoreGiveFromISR (hSemaphore, &yield) != pdTRUE) { + stat = osErrorResource; + } else { + portYIELD_FROM_ISR (yield); + } + } + else { + if (xSemaphoreGive (hSemaphore) != pdPASS) { + stat = osErrorResource; + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get current Semaphore token count. +*/ +uint32_t osSemaphoreGetCount (osSemaphoreId_t semaphore_id) { + SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id; + uint32_t count; + + if (hSemaphore == NULL) { + count = 0U; + } + else if (IRQ_Context() != 0U) { + count = (uint32_t)uxSemaphoreGetCountFromISR (hSemaphore); + } else { + count = (uint32_t)uxSemaphoreGetCount (hSemaphore); + } + + /* Return number of tokens */ + return (count); +} + +/* + Delete a Semaphore object. +*/ +osStatus_t osSemaphoreDelete (osSemaphoreId_t semaphore_id) { + SemaphoreHandle_t hSemaphore = (SemaphoreHandle_t)semaphore_id; + osStatus_t stat; + +#ifndef USE_FreeRTOS_HEAP_1 + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hSemaphore == NULL) { + stat = osErrorParameter; + } + else { + #if (configQUEUE_REGISTRY_SIZE > 0) + vQueueUnregisterQueue (hSemaphore); + #endif + + stat = osOK; + vSemaphoreDelete (hSemaphore); + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} + + +/* ==== Message Queue Management Functions ==== */ + +/* + Create and Initialize a Message Queue object. + + Limitations: + - The memory for control block and and message data must be provided in the + osThreadAttr_t structure in order to allocate object statically. +*/ +osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) { + QueueHandle_t hQueue; + int32_t mem; + + hQueue = NULL; + + if ((IRQ_Context() == 0U) && (msg_count > 0U) && (msg_size > 0U)) { + mem = -1; + + if (attr != NULL) { + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(StaticQueue_t)) && + (attr->mq_mem != NULL) && (attr->mq_size >= (msg_count * msg_size))) { + /* The memory for control block and message data is provided, use static object */ + mem = 1; + } + else { + if ((attr->cb_mem == NULL) && (attr->cb_size == 0U) && + (attr->mq_mem == NULL) && (attr->mq_size == 0U)) { + /* Control block will be allocated from the dynamic pool */ + mem = 0; + } + } + } + else { + mem = 0; + } + + if (mem == 1) { + #if (configSUPPORT_STATIC_ALLOCATION == 1) + hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem); + #endif + } + else { + if (mem == 0) { + #if (configSUPPORT_DYNAMIC_ALLOCATION == 1) + hQueue = xQueueCreate (msg_count, msg_size); + #endif + } + } + + #if (configQUEUE_REGISTRY_SIZE > 0) + if (hQueue != NULL) { + if ((attr != NULL) && (attr->name != NULL)) { + /* Only non-NULL name objects are added to the Queue Registry */ + vQueueAddToRegistry (hQueue, attr->name); + } + } + #endif + + } + + /* Return message queue ID */ + return ((osMessageQueueId_t)hQueue); +} + +/* + Put a Message into a Queue or timeout if Queue is full. + + Limitations: + - Message priority is ignored +*/ +osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout) { + QueueHandle_t hQueue = (QueueHandle_t)mq_id; + osStatus_t stat; + BaseType_t yield; + + (void)msg_prio; /* Message priority is ignored */ + + stat = osOK; + + if (IRQ_Context() != 0U) { + if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) { + stat = osErrorParameter; + } + else { + yield = pdFALSE; + + if (xQueueSendToBackFromISR (hQueue, msg_ptr, &yield) != pdTRUE) { + stat = osErrorResource; + } else { + portYIELD_FROM_ISR (yield); + } + } + } + else { + if ((hQueue == NULL) || (msg_ptr == NULL)) { + stat = osErrorParameter; + } + else { + if (xQueueSendToBack (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) { + if (timeout != 0U) { + stat = osErrorTimeout; + } else { + stat = osErrorResource; + } + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get a Message from a Queue or timeout if Queue is empty. + + Limitations: + - Message priority is ignored +*/ +osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout) { + QueueHandle_t hQueue = (QueueHandle_t)mq_id; + osStatus_t stat; + BaseType_t yield; + + (void)msg_prio; /* Message priority is ignored */ + + stat = osOK; + + if (IRQ_Context() != 0U) { + if ((hQueue == NULL) || (msg_ptr == NULL) || (timeout != 0U)) { + stat = osErrorParameter; + } + else { + yield = pdFALSE; + + if (xQueueReceiveFromISR (hQueue, msg_ptr, &yield) != pdPASS) { + stat = osErrorResource; + } else { + portYIELD_FROM_ISR (yield); + } + } + } + else { + if ((hQueue == NULL) || (msg_ptr == NULL)) { + stat = osErrorParameter; + } + else { + if (xQueueReceive (hQueue, msg_ptr, (TickType_t)timeout) != pdPASS) { + if (timeout != 0U) { + stat = osErrorTimeout; + } else { + stat = osErrorResource; + } + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get maximum number of messages in a Message Queue. +*/ +uint32_t osMessageQueueGetCapacity (osMessageQueueId_t mq_id) { + StaticQueue_t *mq = (StaticQueue_t *)mq_id; + uint32_t capacity; + + if (mq == NULL) { + capacity = 0U; + } else { + /* capacity = pxQueue->uxLength */ + capacity = mq->uxDummy4[1]; + } + + /* Return maximum number of messages */ + return (capacity); +} + +/* + Get maximum message size in a Message Queue. +*/ +uint32_t osMessageQueueGetMsgSize (osMessageQueueId_t mq_id) { + StaticQueue_t *mq = (StaticQueue_t *)mq_id; + uint32_t size; + + if (mq == NULL) { + size = 0U; + } else { + /* size = pxQueue->uxItemSize */ + size = mq->uxDummy4[2]; + } + + /* Return maximum message size */ + return (size); +} + +/* + Get number of queued messages in a Message Queue. +*/ +uint32_t osMessageQueueGetCount (osMessageQueueId_t mq_id) { + QueueHandle_t hQueue = (QueueHandle_t)mq_id; + UBaseType_t count; + + if (hQueue == NULL) { + count = 0U; + } + else if (IRQ_Context() != 0U) { + count = uxQueueMessagesWaitingFromISR (hQueue); + } + else { + count = uxQueueMessagesWaiting (hQueue); + } + + /* Return number of queued messages */ + return ((uint32_t)count); +} + +/* + Get number of available slots for messages in a Message Queue. +*/ +uint32_t osMessageQueueGetSpace (osMessageQueueId_t mq_id) { + StaticQueue_t *mq = (StaticQueue_t *)mq_id; + uint32_t space; + uint32_t isrm; + + if (mq == NULL) { + space = 0U; + } + else if (IRQ_Context() != 0U) { + isrm = taskENTER_CRITICAL_FROM_ISR(); + + /* space = pxQueue->uxLength - pxQueue->uxMessagesWaiting; */ + space = mq->uxDummy4[1] - mq->uxDummy4[0]; + + taskEXIT_CRITICAL_FROM_ISR(isrm); + } + else { + space = (uint32_t)uxQueueSpacesAvailable ((QueueHandle_t)mq); + } + + /* Return number of available slots */ + return (space); +} + +/* + Reset a Message Queue to initial empty state. +*/ +osStatus_t osMessageQueueReset (osMessageQueueId_t mq_id) { + QueueHandle_t hQueue = (QueueHandle_t)mq_id; + osStatus_t stat; + + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hQueue == NULL) { + stat = osErrorParameter; + } + else { + stat = osOK; + (void)xQueueReset (hQueue); + } + + /* Return execution status */ + return (stat); +} + +/* + Delete a Message Queue object. +*/ +osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) { + QueueHandle_t hQueue = (QueueHandle_t)mq_id; + osStatus_t stat; + +#ifndef USE_FreeRTOS_HEAP_1 + if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else if (hQueue == NULL) { + stat = osErrorParameter; + } + else { + #if (configQUEUE_REGISTRY_SIZE > 0) + vQueueUnregisterQueue (hQueue); + #endif + + stat = osOK; + vQueueDelete (hQueue); + } +#else + stat = osError; +#endif + + /* Return execution status */ + return (stat); +} + + +/* ==== Memory Pool Management Functions ==== */ + +#ifdef FREERTOS_MPOOL_H_ +/* Static memory pool functions */ +static void FreeBlock (MemPool_t *mp, void *block); +static void *AllocBlock (MemPool_t *mp); +static void *CreateBlock (MemPool_t *mp); + +/* + Create and Initialize a Memory Pool object. +*/ +osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr) { + MemPool_t *mp; + const char *name; + int32_t mem_cb, mem_mp; + uint32_t sz; + + if (IRQ_Context() != 0U) { + mp = NULL; + } + else if ((block_count == 0U) || (block_size == 0U)) { + mp = NULL; + } + else { + mp = NULL; + sz = MEMPOOL_ARR_SIZE (block_count, block_size); + + name = NULL; + mem_cb = -1; + mem_mp = -1; + + if (attr != NULL) { + if (attr->name != NULL) { + name = attr->name; + } + + if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(MemPool_t))) { + /* Static control block is provided */ + mem_cb = 1; + } + else if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) { + /* Allocate control block memory on heap */ + mem_cb = 0; + } + + if ((attr->mp_mem == NULL) && (attr->mp_size == 0U)) { + /* Allocate memory array on heap */ + mem_mp = 0; + } + else { + if (attr->mp_mem != NULL) { + /* Check if array is 4-byte aligned */ + if (((uint32_t)attr->mp_mem & 3U) == 0U) { + /* Check if array big enough */ + if (attr->mp_size >= sz) { + /* Static memory pool array is provided */ + mem_mp = 1; + } + } + } + } + } + else { + /* Attributes not provided, allocate memory on heap */ + mem_cb = 0; + mem_mp = 0; + } + + if (mem_cb == 0) { + mp = pvPortMalloc (sizeof(MemPool_t)); + } else { + mp = attr->cb_mem; + } + + if (mp != NULL) { + /* Create a semaphore (max count == initial count == block_count) */ + #if (configSUPPORT_STATIC_ALLOCATION == 1) + mp->sem = xSemaphoreCreateCountingStatic (block_count, block_count, &mp->mem_sem); + #elif (configSUPPORT_DYNAMIC_ALLOCATION == 1) + mp->sem = xSemaphoreCreateCounting (block_count, block_count); + #else + mp->sem = NULL; + #endif + + if (mp->sem != NULL) { + /* Setup memory array */ + if (mem_mp == 0) { + mp->mem_arr = pvPortMalloc (sz); + } else { + mp->mem_arr = attr->mp_mem; + } + } + } + + if ((mp != NULL) && (mp->mem_arr != NULL)) { + /* Memory pool can be created */ + mp->head = NULL; + mp->mem_sz = sz; + mp->name = name; + mp->bl_sz = block_size; + mp->bl_cnt = block_count; + mp->n = 0U; + + /* Set heap allocated memory flags */ + mp->status = MPOOL_STATUS; + + if (mem_cb == 0) { + /* Control block on heap */ + mp->status |= 1U; + } + if (mem_mp == 0) { + /* Memory array on heap */ + mp->status |= 2U; + } + } + else { + /* Memory pool cannot be created, release allocated resources */ + if ((mem_cb == 0) && (mp != NULL)) { + /* Free control block memory */ + vPortFree (mp); + } + mp = NULL; + } + } + + /* Return memory pool ID */ + return (mp); +} + +/* + Get name of a Memory Pool object. +*/ +const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id) { + MemPool_t *mp = (osMemoryPoolId_t)mp_id; + const char *p; + + if (IRQ_Context() != 0U) { + p = NULL; + } + else if (mp_id == NULL) { + p = NULL; + } + else { + p = mp->name; + } + + /* Return name as null-terminated string */ + return (p); +} + +/* + Allocate a memory block from a Memory Pool. +*/ +void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout) { + MemPool_t *mp; + void *block; + uint32_t isrm; + + if (mp_id == NULL) { + /* Invalid input parameters */ + block = NULL; + } + else { + block = NULL; + + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) { + if (IRQ_Context() != 0U) { + if (timeout == 0U) { + if (xSemaphoreTakeFromISR (mp->sem, NULL) == pdTRUE) { + if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) { + isrm = taskENTER_CRITICAL_FROM_ISR(); + + /* Get a block from the free-list */ + block = AllocBlock(mp); + + if (block == NULL) { + /* List of free blocks is empty, 'create' new block */ + block = CreateBlock(mp); + } + + taskEXIT_CRITICAL_FROM_ISR(isrm); + } + } + } + } + else { + if (xSemaphoreTake (mp->sem, (TickType_t)timeout) == pdTRUE) { + if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) { + taskENTER_CRITICAL(); + + /* Get a block from the free-list */ + block = AllocBlock(mp); + + if (block == NULL) { + /* List of free blocks is empty, 'create' new block */ + block = CreateBlock(mp); + } + + taskEXIT_CRITICAL(); + } + } + } + } + } + + /* Return memory block address */ + return (block); +} + +/* + Return an allocated memory block back to a Memory Pool. +*/ +osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block) { + MemPool_t *mp; + osStatus_t stat; + uint32_t isrm; + BaseType_t yield; + + if ((mp_id == NULL) || (block == NULL)) { + /* Invalid input parameters */ + stat = osErrorParameter; + } + else { + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) { + /* Invalid object status */ + stat = osErrorResource; + } + else if ((block < (void *)&mp->mem_arr[0]) || (block > (void*)&mp->mem_arr[mp->mem_sz-1])) { + /* Block pointer outside of memory array area */ + stat = osErrorParameter; + } + else { + stat = osOK; + + if (IRQ_Context() != 0U) { + if (uxSemaphoreGetCountFromISR (mp->sem) == mp->bl_cnt) { + stat = osErrorResource; + } + else { + isrm = taskENTER_CRITICAL_FROM_ISR(); + + /* Add block to the list of free blocks */ + FreeBlock(mp, block); + + taskEXIT_CRITICAL_FROM_ISR(isrm); + + yield = pdFALSE; + xSemaphoreGiveFromISR (mp->sem, &yield); + portYIELD_FROM_ISR (yield); + } + } + else { + if (uxSemaphoreGetCount (mp->sem) == mp->bl_cnt) { + stat = osErrorResource; + } + else { + taskENTER_CRITICAL(); + + /* Add block to the list of free blocks */ + FreeBlock(mp, block); + + taskEXIT_CRITICAL(); + + xSemaphoreGive (mp->sem); + } + } + } + } + + /* Return execution status */ + return (stat); +} + +/* + Get maximum number of memory blocks in a Memory Pool. +*/ +uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id) { + MemPool_t *mp; + uint32_t n; + + if (mp_id == NULL) { + /* Invalid input parameters */ + n = 0U; + } + else { + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) { + /* Invalid object status */ + n = 0U; + } + else { + n = mp->bl_cnt; + } + } + + /* Return maximum number of memory blocks */ + return (n); +} + +/* + Get memory block size in a Memory Pool. +*/ +uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id) { + MemPool_t *mp; + uint32_t sz; + + if (mp_id == NULL) { + /* Invalid input parameters */ + sz = 0U; + } + else { + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) { + /* Invalid object status */ + sz = 0U; + } + else { + sz = mp->bl_sz; + } + } + + /* Return memory block size in bytes */ + return (sz); +} + +/* + Get number of memory blocks used in a Memory Pool. +*/ +uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id) { + MemPool_t *mp; + uint32_t n; + + if (mp_id == NULL) { + /* Invalid input parameters */ + n = 0U; + } + else { + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) { + /* Invalid object status */ + n = 0U; + } + else { + if (IRQ_Context() != 0U) { + n = uxSemaphoreGetCountFromISR (mp->sem); + } else { + n = uxSemaphoreGetCount (mp->sem); + } + + n = mp->bl_cnt - n; + } + } + + /* Return number of memory blocks used */ + return (n); +} + +/* + Get number of memory blocks available in a Memory Pool. +*/ +uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id) { + MemPool_t *mp; + uint32_t n; + + if (mp_id == NULL) { + /* Invalid input parameters */ + n = 0U; + } + else { + mp = (MemPool_t *)mp_id; + + if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) { + /* Invalid object status */ + n = 0U; + } + else { + if (IRQ_Context() != 0U) { + n = uxSemaphoreGetCountFromISR (mp->sem); + } else { + n = uxSemaphoreGetCount (mp->sem); + } + } + } + + /* Return number of memory blocks available */ + return (n); +} + +/* + Delete a Memory Pool object. +*/ +osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id) { + MemPool_t *mp; + osStatus_t stat; + + if (mp_id == NULL) { + /* Invalid input parameters */ + stat = osErrorParameter; + } + else if (IRQ_Context() != 0U) { + stat = osErrorISR; + } + else { + mp = (MemPool_t *)mp_id; + + taskENTER_CRITICAL(); + + /* Invalidate control block status */ + mp->status = mp->status & 3U; + + /* Wake-up tasks waiting for pool semaphore */ + while (xSemaphoreGive (mp->sem) == pdTRUE); + + mp->head = NULL; + mp->bl_sz = 0U; + mp->bl_cnt = 0U; + + if ((mp->status & 2U) != 0U) { + /* Memory pool array allocated on heap */ + vPortFree (mp->mem_arr); + } + if ((mp->status & 1U) != 0U) { + /* Memory pool control block allocated on heap */ + vPortFree (mp); + } + + taskEXIT_CRITICAL(); + + stat = osOK; + } + + /* Return execution status */ + return (stat); +} + +/* + Create new block given according to the current block index. +*/ +static void *CreateBlock (MemPool_t *mp) { + MemPoolBlock_t *p = NULL; + + if (mp->n < mp->bl_cnt) { + /* Unallocated blocks exist, set pointer to new block */ + p = (void *)(mp->mem_arr + (mp->bl_sz * mp->n)); + + /* Increment block index */ + mp->n += 1U; + } + + return (p); +} + +/* + Allocate a block by reading the list of free blocks. +*/ +static void *AllocBlock (MemPool_t *mp) { + MemPoolBlock_t *p = NULL; + + if (mp->head != NULL) { + /* List of free block exists, get head block */ + p = mp->head; + + /* Head block is now next on the list */ + mp->head = p->next; + } + + return (p); +} + +/* + Free block by putting it to the list of free blocks. +*/ +static void FreeBlock (MemPool_t *mp, void *block) { + MemPoolBlock_t *p = block; + + /* Store current head into block memory space */ + p->next = mp->head; + + /* Store current block as new head */ + mp->head = p; +} +#endif /* FREERTOS_MPOOL_H_ */ +/*---------------------------------------------------------------------------*/ + +/* Callback function prototypes */ +extern void vApplicationIdleHook (void); +extern void vApplicationMallocFailedHook (void); +extern void vApplicationDaemonTaskStartupHook (void); + +/** + Dummy implementation of the callback function vApplicationIdleHook(). +*/ +#if (configUSE_IDLE_HOOK == 1) +__WEAK void vApplicationIdleHook (void){} +#endif + +/** + Dummy implementation of the callback function vApplicationTickHook(). +*/ +#if (configUSE_TICK_HOOK == 1) + __WEAK void vApplicationTickHook (void){} +#endif + +/** + Dummy implementation of the callback function vApplicationMallocFailedHook(). +*/ +#if (configUSE_MALLOC_FAILED_HOOK == 1) +__WEAK void vApplicationMallocFailedHook (void) { + /* Assert when malloc failed hook is enabled but no application defined function exists */ + configASSERT(0); +} +#endif + +/** + Dummy implementation of the callback function vApplicationDaemonTaskStartupHook(). +*/ +#if (configUSE_DAEMON_TASK_STARTUP_HOOK == 1) +__WEAK void vApplicationDaemonTaskStartupHook (void){} +#endif + +/** + Dummy implementation of the callback function vApplicationStackOverflowHook(). +*/ +#if (configCHECK_FOR_STACK_OVERFLOW > 0) +__WEAK void vApplicationStackOverflowHook (TaskHandle_t xTask, char *pcTaskName) { + (void)xTask; + (void)pcTaskName; + + /* Assert when stack overflow is enabled but no application defined function exists */ + configASSERT(0); +} +#endif + +/*---------------------------------------------------------------------------*/ +#if (configSUPPORT_STATIC_ALLOCATION == 1) +/* + vApplicationGetIdleTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION + equals to 1 and is required for static memory allocation support. +*/ +__WEAK void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) { + /* Idle task control block and stack */ + static StaticTask_t Idle_TCB; + static StackType_t Idle_Stack[configMINIMAL_STACK_SIZE]; + + *ppxIdleTaskTCBBuffer = &Idle_TCB; + *ppxIdleTaskStackBuffer = &Idle_Stack[0]; + *pulIdleTaskStackSize = (uint32_t)configMINIMAL_STACK_SIZE; +} + +/* + vApplicationGetTimerTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION + equals to 1 and is required for static memory allocation support. +*/ +__WEAK void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) { + /* Timer task control block and stack */ + static StaticTask_t Timer_TCB; + static StackType_t Timer_Stack[configTIMER_TASK_STACK_DEPTH]; + + *ppxTimerTaskTCBBuffer = &Timer_TCB; + *ppxTimerTaskStackBuffer = &Timer_Stack[0]; + *pulTimerTaskStackSize = (uint32_t)configTIMER_TASK_STACK_DEPTH; +} +#endif diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h new file mode 100644 index 0000000..cea5017 --- /dev/null +++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h @@ -0,0 +1,63 @@ +/* -------------------------------------------------------------------------- + * Copyright (c) 2013-2020 Arm Limited. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Name: freertos_mpool.h + * Purpose: CMSIS RTOS2 wrapper for FreeRTOS + * + *---------------------------------------------------------------------------*/ + +#ifndef FREERTOS_MPOOL_H_ +#define FREERTOS_MPOOL_H_ + +#include +#include "FreeRTOS.h" +#include "semphr.h" + +/* Memory Pool implementation definitions */ +#define MPOOL_STATUS 0x5EED0000U + +/* Memory Block header */ +typedef struct { + void *next; /* Pointer to next block */ +} MemPoolBlock_t; + +/* Memory Pool control block */ +typedef struct MemPoolDef_t { + MemPoolBlock_t *head; /* Pointer to head block */ + SemaphoreHandle_t sem; /* Pool semaphore handle */ + uint8_t *mem_arr; /* Pool memory array */ + uint32_t mem_sz; /* Pool memory array size */ + const char *name; /* Pointer to name string */ + uint32_t bl_sz; /* Size of a single block */ + uint32_t bl_cnt; /* Number of blocks */ + uint32_t n; /* Block allocation index */ + volatile uint32_t status; /* Object status flags */ +#if (configSUPPORT_STATIC_ALLOCATION == 1) + StaticSemaphore_t mem_sem; /* Semaphore object memory */ +#endif +} MemPool_t; + +/* No need to hide static object type, just align to coding style */ +#define StaticMemPool_t MemPool_t + +/* Define memory pool control block size */ +#define MEMPOOL_CB_SIZE (sizeof(StaticMemPool_t)) + +/* Define size of the byte array required to create count of blocks of given size */ +#define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count)) + +#endif /* FREERTOS_MPOOL_H_ */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h new file mode 100644 index 0000000..ddb4aa1 --- /dev/null +++ b/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h @@ -0,0 +1,310 @@ +/* -------------------------------------------------------------------------- + * Copyright (c) 2013-2021 Arm Limited. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * Name: freertos_os2.h + * Purpose: CMSIS RTOS2 wrapper for FreeRTOS + * + *---------------------------------------------------------------------------*/ + +#ifndef FREERTOS_OS2_H_ +#define FREERTOS_OS2_H_ + +#include +#include + +#include "FreeRTOS.h" // ARM.FreeRTOS::RTOS:Core + +#include CMSIS_device_header + + /* + CMSIS-RTOS2 FreeRTOS image size optimization definitions. + + Note: Definitions configUSE_OS2 can be used to optimize FreeRTOS image size when + certain functionality is not required when using CMSIS-RTOS2 API. + In general optimization decisions are left to the tool chain but in cases + when coding style prevents it to optimize the code following optional + definitions can be used. +*/ + +/* + Option to exclude CMSIS-RTOS2 functions osThreadSuspend and osThreadResume from + the application image. +*/ +#ifndef configUSE_OS2_THREAD_SUSPEND_RESUME +#define configUSE_OS2_THREAD_SUSPEND_RESUME 1 +#endif + +/* + Option to exclude CMSIS-RTOS2 function osThreadEnumerate from the application image. +*/ +#ifndef configUSE_OS2_THREAD_ENUMERATE +#define configUSE_OS2_THREAD_ENUMERATE 1 +#endif + +/* + Option to disable CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear + operation from ISR. +*/ +#ifndef configUSE_OS2_EVENTFLAGS_FROM_ISR +#define configUSE_OS2_EVENTFLAGS_FROM_ISR 1 +#endif + +/* + Option to exclude CMSIS-RTOS2 Thread Flags API functions from the application image. +*/ +#ifndef configUSE_OS2_THREAD_FLAGS +#define configUSE_OS2_THREAD_FLAGS configUSE_TASK_NOTIFICATIONS +#endif + +/* + Option to exclude CMSIS-RTOS2 Timer API functions from the application image. +*/ +#ifndef configUSE_OS2_TIMER +#define configUSE_OS2_TIMER configUSE_TIMERS +#endif + +/* + Option to exclude CMSIS-RTOS2 Mutex API functions from the application image. +*/ +#ifndef configUSE_OS2_MUTEX +#define configUSE_OS2_MUTEX configUSE_MUTEXES +#endif + + +/* + CMSIS-RTOS2 FreeRTOS configuration check (FreeRTOSConfig.h). + + Note: CMSIS-RTOS API requires functions included by using following definitions. + In case if certain API function is not used compiler will optimize it away. +*/ +#if (INCLUDE_xSemaphoreGetMutexHolder == 0) + /* + CMSIS-RTOS2 function osMutexGetOwner uses FreeRTOS function xSemaphoreGetMutexHolder. In case if + osMutexGetOwner is not used in the application image, compiler will optimize it away. + Set #define INCLUDE_xSemaphoreGetMutexHolder 1 to fix this error. + */ + #error "Definition INCLUDE_xSemaphoreGetMutexHolder must equal 1 to implement Mutex Management API." +#endif +#if (INCLUDE_vTaskDelay == 0) + /* + CMSIS-RTOS2 function osDelay uses FreeRTOS function vTaskDelay. In case if + osDelay is not used in the application image, compiler will optimize it away. + Set #define INCLUDE_vTaskDelay 1 to fix this error. + */ + #error "Definition INCLUDE_vTaskDelay must equal 1 to implement Generic Wait Functions API." +#endif +#if (INCLUDE_xTaskDelayUntil == 0) + /* + CMSIS-RTOS2 function osDelayUntil uses FreeRTOS function xTaskDelayUntil. In case if + osDelayUntil is not used in the application image, compiler will optimize it away. + Set #define INCLUDE_xTaskDelayUntil 1 to fix this error. + */ + #error "Definition INCLUDE_xTaskDelayUntil must equal 1 to implement Generic Wait Functions API." +#endif +#if (INCLUDE_vTaskDelete == 0) + /* + CMSIS-RTOS2 function osThreadTerminate and osThreadExit uses FreeRTOS function + vTaskDelete. In case if they are not used in the application image, compiler + will optimize them away. + Set #define INCLUDE_vTaskDelete 1 to fix this error. + */ + #error "Definition INCLUDE_vTaskDelete must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_xTaskGetCurrentTaskHandle == 0) + /* + CMSIS-RTOS2 API uses FreeRTOS function xTaskGetCurrentTaskHandle to implement + functions osThreadGetId, osThreadFlagsClear and osThreadFlagsGet. In case if these + functions are not used in the application image, compiler will optimize them away. + Set #define INCLUDE_xTaskGetCurrentTaskHandle 1 to fix this error. + */ + #error "Definition INCLUDE_xTaskGetCurrentTaskHandle must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_xTaskGetSchedulerState == 0) + /* + CMSIS-RTOS2 API uses FreeRTOS function xTaskGetSchedulerState to implement Kernel + tick handling and therefore it is vital that xTaskGetSchedulerState is included into + the application image. + Set #define INCLUDE_xTaskGetSchedulerState 1 to fix this error. + */ + #error "Definition INCLUDE_xTaskGetSchedulerState must equal 1 to implement Kernel Information and Control API." +#endif +#if (INCLUDE_uxTaskGetStackHighWaterMark == 0) + /* + CMSIS-RTOS2 function osThreadGetStackSpace uses FreeRTOS function uxTaskGetStackHighWaterMark. + In case if osThreadGetStackSpace is not used in the application image, compiler will + optimize it away. + Set #define INCLUDE_uxTaskGetStackHighWaterMark 1 to fix this error. + */ + #error "Definition INCLUDE_uxTaskGetStackHighWaterMark must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_uxTaskPriorityGet == 0) + /* + CMSIS-RTOS2 function osThreadGetPriority uses FreeRTOS function uxTaskPriorityGet. In case if + osThreadGetPriority is not used in the application image, compiler will optimize it away. + Set #define INCLUDE_uxTaskPriorityGet 1 to fix this error. + */ + #error "Definition INCLUDE_uxTaskPriorityGet must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_vTaskPrioritySet == 0) + /* + CMSIS-RTOS2 function osThreadSetPriority uses FreeRTOS function vTaskPrioritySet. In case if + osThreadSetPriority is not used in the application image, compiler will optimize it away. + Set #define INCLUDE_vTaskPrioritySet 1 to fix this error. + */ + #error "Definition INCLUDE_vTaskPrioritySet must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_eTaskGetState == 0) + /* + CMSIS-RTOS2 API uses FreeRTOS function vTaskDelayUntil to implement functions osThreadGetState + and osThreadTerminate. In case if these functions are not used in the application image, + compiler will optimize them away. + Set #define INCLUDE_eTaskGetState 1 to fix this error. + */ + #error "Definition INCLUDE_eTaskGetState must equal 1 to implement Thread Management API." +#endif +#if (INCLUDE_vTaskSuspend == 0) + /* + CMSIS-RTOS2 API uses FreeRTOS functions vTaskSuspend and vTaskResume to implement + functions osThreadSuspend and osThreadResume. In case if these functions are not + used in the application image, compiler will optimize them away. + Set #define INCLUDE_vTaskSuspend 1 to fix this error. + + Alternatively, if the application does not use osThreadSuspend and + osThreadResume they can be excluded from the image code by setting: + #define configUSE_OS2_THREAD_SUSPEND_RESUME 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1) + #error "Definition INCLUDE_vTaskSuspend must equal 1 to implement Kernel Information and Control API." + #endif +#endif +#if (INCLUDE_xTimerPendFunctionCall == 0) + /* + CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear, when called from + the ISR, call FreeRTOS functions xEventGroupSetBitsFromISR and + xEventGroupClearBitsFromISR which are only enabled if timers are operational and + xTimerPendFunctionCall in enabled. + Set #define INCLUDE_xTimerPendFunctionCall 1 and #define configUSE_TIMERS 1 + to fix this error. + + Alternatively, if the application does not use osEventFlagsSet and osEventFlagsClear + from the ISR their operation from ISR can be restricted by setting: + #define configUSE_OS2_EVENTFLAGS_FROM_ISR 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 1) + #error "Definition INCLUDE_xTimerPendFunctionCall must equal 1 to implement Event Flags API." + #endif +#endif + +#if (configUSE_TIMERS == 0) + /* + CMSIS-RTOS2 Timer Management API functions use FreeRTOS timer functions to implement + timer management. In case if these functions are not used in the application image, + compiler will optimize them away. + Set #define configUSE_TIMERS 1 to fix this error. + + Alternatively, if the application does not use timer functions they can be + excluded from the image code by setting: + #define configUSE_OS2_TIMER 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_TIMER == 1) + #error "Definition configUSE_TIMERS must equal 1 to implement Timer Management API." + #endif +#endif + +#if (configUSE_MUTEXES == 0) + /* + CMSIS-RTOS2 Mutex Management API functions use FreeRTOS mutex functions to implement + mutex management. In case if these functions are not used in the application image, + compiler will optimize them away. + Set #define configUSE_MUTEXES 1 to fix this error. + + Alternatively, if the application does not use mutex functions they can be + excluded from the image code by setting: + #define configUSE_OS2_MUTEX 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_MUTEX == 1) + #error "Definition configUSE_MUTEXES must equal 1 to implement Mutex Management API." + #endif +#endif + +#if (configUSE_COUNTING_SEMAPHORES == 0) + /* + CMSIS-RTOS2 Memory Pool functions use FreeRTOS function xSemaphoreCreateCounting + to implement memory pools. In case if these functions are not used in the application image, + compiler will optimize them away. + Set #define configUSE_COUNTING_SEMAPHORES 1 to fix this error. + */ + #error "Definition configUSE_COUNTING_SEMAPHORES must equal 1 to implement Memory Pool API." +#endif +#if (configUSE_TASK_NOTIFICATIONS == 0) + /* + CMSIS-RTOS2 Thread Flags API functions use FreeRTOS Task Notification functions to implement + thread flag management. In case if these functions are not used in the application image, + compiler will optimize them away. + Set #define configUSE_TASK_NOTIFICATIONS 1 to fix this error. + + Alternatively, if the application does not use thread flags functions they can be + excluded from the image code by setting: + #define configUSE_OS2_THREAD_FLAGS 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_THREAD_FLAGS == 1) + #error "Definition configUSE_TASK_NOTIFICATIONS must equal 1 to implement Thread Flags API." + #endif +#endif + +#if (configUSE_TRACE_FACILITY == 0) + /* + CMSIS-RTOS2 function osThreadEnumerate requires FreeRTOS function uxTaskGetSystemState + which is only enabled if configUSE_TRACE_FACILITY == 1. + Set #define configUSE_TRACE_FACILITY 1 to fix this error. + + Alternatively, if the application does not use osThreadEnumerate it can be + excluded from the image code by setting: + #define configUSE_OS2_THREAD_ENUMERATE 0 (in FreeRTOSConfig.h) + */ + #if (configUSE_OS2_THREAD_ENUMERATE == 1) + #error "Definition configUSE_TRACE_FACILITY must equal 1 to implement osThreadEnumerate." + #endif +#endif + +#if (configUSE_16_BIT_TICKS == 1) + /* + CMSIS-RTOS2 wrapper for FreeRTOS relies on 32-bit tick timer which is also optimal on + a 32-bit CPU architectures. + Set #define configUSE_16_BIT_TICKS 0 to fix this error. + */ + #error "Definition configUSE_16_BIT_TICKS must be zero to implement CMSIS-RTOS2 API." +#endif + +#if (configMAX_PRIORITIES != 56) + /* + CMSIS-RTOS2 defines 56 different priorities (see osPriority_t) and portable CMSIS-RTOS2 + implementation should implement the same number of priorities. + Set #define configMAX_PRIORITIES 56 to fix this error. + */ + #error "Definition configMAX_PRIORITIES must equal 56 to implement Thread Management API." +#endif +#if (configUSE_PORT_OPTIMISED_TASK_SELECTION != 0) + /* + CMSIS-RTOS2 requires handling of 56 different priorities (see osPriority_t) while FreeRTOS port + optimised selection for Cortex core only handles 32 different priorities. + Set #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 to fix this error. + */ + #error "Definition configUSE_PORT_OPTIMISED_TASK_SELECTION must be zero to implement Thread Management API." +#endif + +#endif /* FREERTOS_OS2_H_ */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/History.txt b/Middlewares/Third_Party/FreeRTOS/Source/History.txt deleted file mode 100644 index 6707bec..0000000 --- a/Middlewares/Third_Party/FreeRTOS/Source/History.txt +++ /dev/null @@ -1,2752 +0,0 @@ -Documentation and download available at http://www.FreeRTOS.org/ - -Changes between FreeRTOS V10.3.0 and FreeRTOS V10.3.1 released February 18 2020 - - See http://www.FreeRTOS.org/FreeRTOS-V10.3.x.html - - ./FreeRTOS-Labs directory was removed from this file. The libraries it - contained are now available as a separate download. - -Changes between FreeRTOS V10.2.1 and FreeRTOS V10.3.0 released February 7 2020 - - See http://www.FreeRTOS.org/FreeRTOS-V10.3.x.html - - New and updated kernel ports: - - + Added RISC-V port for the IAR compiler. - + Update the Windows simulator port to use a synchronous object to prevent - a user reported error whereby a task continues to run for a short time - after being moved to the Blocked state. Note we were not able to - replicate the reported issue and it likely depends on your CPU model. - + Correct alignment of stack top in RISC-V port when - configISR_STACK_SIZE_WORDS is defined to a non zero value, which causes - the interrupt stack to be statically allocated. - + The RISC-V machine timer compare register can now be for any HART, whereas - previously it was always assumed FreeRTOS was running on HART 0. - + Update the sequence used to update the 64-bit machine timer - compare register on 32-bit cores to match that suggested in RISC-V - documentation. - + Added tickless low power modes into the ARM, IAR and GCC Cortex-M0 compiler - ports. - + Updated the behaviour of the ARMv7-M MPU (Memory Protection Unit) ports to - match that of the ARMv8-M ports whereby privilege escalations can only - originate from within the kernel's own memory segment. Added - configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY configuration constant. - + Update existing MPU ports to correctly disable the MPU before it is - updated. - + Added contributed port and demo application for a T-Head (formally C-SKY) - microcontroller. - - New API functions: - - + Added the vPortGetHeapStats() API function which returns information on - the heap_4 and heap_5 state. - + Added xTaskCatchUpTicks(), which corrects the tick count value after the - application code has held interrupts disabled for an extended period. - + Added xTaskNotifyValueClear() API function. - + Added uxTimerGetReloadMode() API function. - - Other miscellaneous changes: - + Change type of uxPendedTicks from UBaseType_t to TickType_t to ensure it - has the same type as variables with which it is compared to, and therefore - also renamed the variable xPendingTicks. - + Update Keil projects that use the MPU so memory regions come from linker - script (scatter file) variables instead of being hard coded. - + Added LPC51U68 Cortex-M0+ demos for GCC (MCUXpresso), Keil and IAR - compilers. - + Added CORTEX_MPU_STM32L4_Discovery_Keil_STM32Cube demo. - + Added LPC54018 MPU demo. - + Rename xTaskGetIdleRunTimeCounter() to ulTaskGetIdleRunTimeCounter(). - - -Changes between FreeRTOS V10.2.1 and FreeRTOS V10.2.0 released May 13 2019: - - + Added ARM Cortex-M23 port layer to complement the pre-existing ARM - Cortex-M33 port layer. - + The RISC-V port now automatically switches between 32-bit and 64-bit - cores. - + Introduced the portMEMORY_BARRIER macro to prevent instruction re-ordering - when GCC link time optimisation is used. - + Introduced the portDONT_DISCARD macro to the ARMv8-M ports to try and - prevent the secure side builds from removing symbols required by the - non secure side build. - + Introduced the portARCH_NAME to provide additional data to select semi- - automated build environments. - + Cortex-M33 and Cortex-M23 ports now correctly disable the MPU before - updating the MPU registers. - - + Added Nuvoton NuMaker-PFM-M2351 ARM Cortex-M23 demo. - + Added LPC55S69 ARM Cortex-M33 demo. - + Added an STM32 dual core AMP stress test demo. - - -Changes between FreeRTOS V10.1.1 and FreeRTOS V10.2.0 released February 25 2019: - - + Added GCC RISC-V MCU port with three separate demo applications. - + Included pre-existing ARM Cortex-M33 (ARMv8-M) GCC/ARMclang and IAR ports - with Keil simulator demo. - + Update the method used to detect if a timer is active. Previously the - timer was deemed to be inactive if it was not referenced from a list. - However, when a timer is updated it is temporarily removed from, then - re-added to a list, so now the timer's active status is stored separately. - + Add vTimerSetReloadMode(), xTaskGetIdleRunTimeCounter(), and - xTaskGetApplicationTaskTagFromISR() API functions. - + Updated third party Xtensa port so it is MIT licensed. - + Added configINCLUDE_PLATFORM_H_INSTEAD_OF_IODEFINE_H to the Renesas - compiler RX600v2 port to enable switching between platform.h and - iodefine.h includes within that port's port.c file. - + Removed the 'FromISR' functions from the MPU ports as ISRs run privileged - anyway. - + Added uxTaskGetStackHighWaterMark2() function to enable the return type to - be changed without breaking backward compatibility. - uxTaskGetStackHighWaterMark() returns a UBaseType_t as always, - uxTaskGetStackHighWaterMark2() returns configSTACK_DEPTH_TYPE to allow the - user to determine the return type. - + Fixed issues in memory protected ports related to different combinations - of static memory only and dynamic memory only builds. As a result the - definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE became more - complex and was moved to FreeRTOS.h with a table explaining its definition. - + Added a 'get task tag from ISR' function. - + Change the method used to determine if a timer is active or not from just - seeing if it is referenced from the active timer list to storing its - active state explicitly. The change prevents the timer reporting that it - is inactive while it is being moved from one list to another. - + The pcName parameter passed into the task create functions can be NULL, - previously a name had to be provided. - + When using tickless idle, prvResetNextTaskUnblockTime() is now only called - in xTaskRemoveFromEventList() if the scheduler is not suspended. - + Introduced portHAS_STACK_OVERFLOW_CHECKING, which should be set to 1 for - FreeRTOS ports that run on architectures that have stack limit registers. - - -Changes between FreeRTOS V10.1.0 and FreeRTOS V10.1.1 released 7 September 2018 - - + Reverted a few structure name changes that broke several kernel aware - debugger plug-ins. - + Updated to the latest trace recorder code. - + Fixed some formatting in the FreeRTOS+TCP TCP/IP stack code. - + Reverted moving some variables from file to function scope as doing so - broke debug scenarios that require the static qualifier to be removed. - -Changes between FreeRTOS V10.0.1 and FreeRTOS V10.1.0 released 22 August 2018 - - FreeRTOS Kernel Changes: - - + Update lint checked MISRA compliance to use the latest MISRA standard, was - previously using the original MISRA standard. - + Updated all object handles (TaskHandle_t, QueueHandle_t, etc.) to be - unique types instead of void pointers, improving type safety. (this was - attempted some years back but had to be backed out due to bugs in some - debuggers). Note this required the pvContainer member of a ListItem_t - struct to be renamed - set configENABLE_BACKWARD_COMPATIBILITY to 1 if - this causes an issue. - + Added configUSE_POSIX_ERRNO to enable per task POSIX style errno - functionality in a more user friendly way - previously the generic thread - local storage feature was used for this purpose. - + Added Xtensa port and demo application for the XCC compiler. - + Changed the implementation of vPortEndScheduler() for the Win32 port to - simply call exit( 0 ). - + Bug fix in vPortEnableInterrupt() for the GCC Microblaze port to protect - the read modify write access to an internal Microblaze register. - + Fix minor niggles when the MPU is used with regards to prototype - differences, static struct size differences, etc. - + The usStackHighWaterMark member of the TaskStatus_t structure now has type - configSTACK_DEPTH_TYPE in place of uint16_t - that change should have been - made when the configSTACK_DEPTH_TYPE type (which gets around the previous - 16-bit limit on stack size specifications) was introduced. - + Added the xMessageBufferNextLengthBytes() API function and likewise stream - buffer equivalent. - + Introduce configMESSAGE_BUFFER_LENGTH_TYPE to allow the number of bytes - used to hold the length of a message in the message buffer to be reduced. - configMESSAGE_BUFFER_LENGTH_TYPE default to size_t, but if, for example, - messages can never be more than 255 bytes it could be set to uint8_t, - saving 3 bytes each time a message is written into the message buffer - (assuming sizeof( size_t ) is 4). - + Updated the StaticTimer_t structure to ensure it matches the size of the - Timer_t structure when the size of TaskFunction_t does not equal the size - of void *. - + Update various Xilinx demos to use 2018.1 version of the SDK tools. - + Various updates to demo tasks to maintain test coverage. - + FreeRTOS+UDP was removed in FreeRTOS V10.1.0 as it was replaced by - FreeRTOS+TCP, which was brought into the main download in FreeRTOS - V10.0.0. FreeRTOS+TCP can be configured as a UDP only stack, and - FreeRTOS+UDP does not contain the patches applied to FreeRTOS+TCP. - - FreeRTOS+TCP Changes: - - + Multiple security improvements and fixes in packet parsing routines, DNS - caching, and TCP sequence number and ID generation. - + Disable NBNS and LLMNR by default. - + Add TCP hang protection by default. - - We thank Ori Karliner of Zimperium zLabs Team for reporting these issues. - - -Changes between FreeRTOS V10.0.0 and FreeRTOS V10.0.1, released December 20 2017 - - + Fix position of "#if defined( __cplusplus )" in stream_buffer.h. - + Correct declarations of MPU_xQueuePeek() and MPU_xQueueSemaphoreTake() in - mpu_prototypes.h. - + Correct formatting in vTaskList() helper function when it prints the state - of the currently executing task. - + Introduce #error if stream_buffer.c is built without - configUSE_TASK_NOTIFICATIONS set to 1. - + Update FreeRTOS+TCP to V2.0.0 - - Improve the formatting of text that displays the available netword - interfaces when FreeRTOS+TCP is used on Windows with WinPCap. - - Introduce ipconfigSOCKET_HAS_USER_WAKE_CALLBACK option to enable a user - definable callback to execute when data arrives on a socket. - -Changes between FreeRTOS V9.0.1 and FreeRTOS V10.0.0: - - The FreeRTOS kernel is now MIT licensed: https://www.FreeRTOS.org/license - - New Features and components: - - + Stream Buffers - see http://www.FreeRTOS.org/RTOS-stream-buffer-example.html - + Message Buffers - see http://www.FreeRTOS.org//RTOS-message-buffer-example.html - + Move FreeRTOS+TCP into the main repository, along with the basic Win32 - TCP demo FreeRTOS_Plus_TCP_Minimal_Windows_Simulator. - - New ports or demos: - - + Added demo for TI SimpleLink CC3220 MCU. - + Added MPU and non MPU projects for Microchip CEC and MEC 17xx and 51xx - MCUs. - + Added CORTEX_MPU_Static_Simulator_Keil_GCC demo to test static allocation - in the MPU port. - - Fixes or enhancements: - - + Cortex-M ports push additional register prior to calling - vTaskSwitchContext to ensure 8-byte alignment is maintained. Only - important if a user defined tick hook function performs an operation that - requires 8-byte alignment. - + Optimisations to the implementation of the standard tickless idle mode on - Cortex-M devices. - + Improvements to the Win32 port including using higher priority threads. - + Ensure interrupt stack alignment on PIC32 ports. - + Updated GCC TriCore port to build with later compiler versions. - + Update mpu_wrappers.c to support static allocation. - + The uxNumberOfItems member of List_t is now volatile - solving an issue - when the IAR compiler was used with maximum optimization. - + Introduced configRECORD_STACK_HIGH_ADDRESS. When set to 1 the stack start - address is saved into each task's TCB (assuming stack grows down). - + Introduced configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H to allow user defined - functionality, and user defined initialisation, to be added to FreeRTOS's - tasks.c source file. When configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H is - set to 1 a user provided header file called freertos_task_c_additions.h - will be included at the bottom of tasks.c. Functions defined in that - header file can call freertos_tasks_c_additions_init(), which in turn - calls a macro called FREERTOS_TASKS_C_ADDITIONS_INIT(), if it is defined. - FREERTOS_TASKS_C_ADDITIONS_INIT() can be defined in FreeRTOSConfig.h. - + Introduced configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) which can be - defined by a user in FreeRTOSConfig.h. The macro is called before - assessing whether to enter tickless idle mode or not. If the macro sets - x to zero then tickless idle mode will not be entered. This allows users - to abort tickless idle mode entry before the tickless idle function is - even called - previously it was only possible to abort from within the - tickless idle function itself. - + Added configPRINTF(), which can be defined by users to allow all libraries - to use the same print formatter. - + Introduced configMAX() and configMIN() macros which default to standard - max( x, y ) and min( x, y ) macro behaviour, but can be overridden if the - application writer defines the same macros in FreeRTOSConfig.h. - + Corrected the definition of StaticTask_t in the case where - INCLUDE_xTaskAbortDelay is set to 1. - + Introduced configTIMER_SERVICE_TASK_NAME and configIDLE_TASK_NAME, both of - which can be defined to strings in FreeRTOSConfig.h to change the default - names of the timer service and idle tasks respectively. - + Only fill the stack of a newly created task with a known value if stack - checking, or high water mark checking/viewing, is in use - removing the - dependency on memset() in other cases. - + Introduced xTaskCreateRestrictedStatic() so static allocation can be used - with the MPU. - + Ensure suspended tasks cannot be unsuspended by a received task - notification. - + Fix race condition in vTaskSetTimeOutState(). - + Updated trace recorder files to the latest version. - -Changes since FreeRTOS V9.0.0: - - + Priority dis-inheritance behaviour has been enhanced in the case where a - task that attempted to take a mutex that was held by a lower priority task - timed out before it was able to obtain the mutex (causing the task that - holds the mutex to have its priority raised, then lowered again, in - accordance with the priority inheritance protocol). - + Split the overloaded xQueueGenericReceive() function into three separate - dedicated functions. - + Allow the default human readable text names given to the Idle and Timer - tasks to be overridden by defining the configIDLE_TASK_NAME and - configTIMER_SERVICE_TASK_NAME definitions respectively in FreeRTOSConfig.h. - + Introduced configINITIAL_TICK_COUNT to allow the tick count to take a - value of than than 0 when the system boots. This can be useful for - testing purposes - although setting configUSE_16_BIT_TICKS to 1 can also - be used to test frequent tick overflows. - + Ensure the Cortex-M SysTick count is cleared to zero before starting the - first task. - + Add configASSERT() into ARM Cortex-M ports to check the number of priority - bit settings. - + Clear the 'control' register before starting ARM Cortex-M4F ports in case - the FPU is used before the scheduler is started. This just saves a few - bytes on the main stack as it prevents space being left for a later save - of FPU registers. - + Added xSemaphoreGetMutexHolderFromISR(). - + Corrected use of portNVIC_PENDSVSET to portNVIC_PENDSVSET_BIT in MPU ports. - + Introduced configSTACK_DEPTH_TYPE to allow users to change the type used - to specify the stack size when using xTaskCreate(). For historic reasons, - when FreeRTOS was only used on small MCUs, the type was set to uint16_t, - but that can be too restrictive when FreeRTOS is used on larger - processors. configSTACK_DEPTH_TYPE defaults to uint16_t. - xTaskCreateStatic(), being a newer function, used a uint32_t. - + Increase the priority of the Windows threads used by the Win32 port. As - all the threads run on the same core, and the threads run with very high - priority, there is a risk that the host will become unresponsive, so also - prevent the Windows port executing on single core hosts. - -Changes between FreeRTOS V9.0.0 and FreeRTOS V9.0.0rc2 released May 25 2016: - - See http://www.FreeRTOS.org/FreeRTOS-V9.html - - RTOS kernel updates: - - + The prototype of the new xTaskCreateStatic() API function was modified to - remove a parameter and improve compatibility with other new - "CreateStatic()" API functions. The stack size parameter in - xTaskCreateStatic() is now uint32_t, which changes the prototype of the - callback functions. See the following URL: - http://www.freertos.org/xTaskCreateStatic.html - + GCC ARM Cortex-A port: Introduced the configUSE_TASK_FPU_SUPPORT - constant. When configUSE_TASK_FPU_SUPPORT is set to 2 every task is - automatically given a floating point (FPU) context. - + GCC ARM Cortex-A port: It is now possible to automatically save and - restore all floating point (FPU) registers on entry to each potentially - nested interrupt by defining vApplicationFPUSafeIRQHandler() instead of - vApplicationIRQHandler(). - + All ARM Cortex-M3/4F/7 ports: Clear the least significant bit of the task - entry address placed onto the stack of a task when the task is created for - strict compliance with the ARM Cortex-M3/4/7 architecture documentation - (no noticeable effect unless using the QMEU emulator). - + Added GCC and Keil ARM Cortex-M4F MPU ports - previously the MPU was only - supported on ARM Cortex-M3. - + ARM Cortex-M3/4F MPU ports: Update to fully support the FreeRTOS V9.0.0 - API (other than static object creation) and added the - FreeRTOS/Demo/CORTEX_MPU_Simulator_Keil_GCC demo application to - demonstrate how to use the updated MPU port. - + All ARM Cortex-M3/4F/7 ports: Add additional barrier instructions to the - default low power tickless implementation. - + All ARM Cortex-M0 ports: Prevent an item being left on the stack of the - first task that executes. - + Win32 ports: Reduce the amount of stack used and change the way Windows - threads are deleted to increase the maximum execution time. - + Add an ARM Cortex-M4F port for the MikroC compiler. Ensure to read the - documentation page for this port before use. - + MPS430X IAR port: Update to be compatible with the latest EW430 tools - release. - + IAR32 GCC port: Correct vPortExitCritical() when - configMAX_API_CALL_INTERRUPT_PRIORITY == portMAX_PRIORITY. - + For consistency vTaskGetTaskInfo() now has the alias vTaskGetInfo(), - xTaskGetTaskHandle() now has the alias xTaskGetHandle() and - pcQueueGetQueueName() now has an alias pcQueueGetName(). - + Fix various errors in comments and compiler warnings. - - Demo application updates: - - + Update Atmel Studio projects to use Atmel Studio 7. - + Update Xilinx SDK projects to use the 2016.1 version of the SDK. - + Remove dependency on legacy IO libraries from the PIC32 demos. - + Move the Xilinx UltraScale Cortex-R5 demo into the main distribution. - + Update the MSP432 libraries to the latest version. - + Add Microchip CEC1302 (ARM Cortex-M4F) demos for GCC, Keil and MikroC - compilers. - + Move the Atmel SAMA5D2 demo into the main distribution. - -Changes between FreeRTOS V9.0.0rc1 and FreeRTOS V9.0.0rc2 (release candidate 2) -released March 30 2016: - - NOTE - See http://www.FreeRTOS.org/FreeRTOS-V9.html for details - - + The functions that create RTOS objects using static memory allocation have - been simplified and will not revert to using dynamic allocation if a - buffer is passed into a function as NULL. - + Introduced the configSUPPORT_DYNAMIC_ALLOCATION configuration constant to - allow a FreeRTOS application to be built without a heap even being being - defined. The Win32 example located in the - /FreeRTOS/demo/WIN32-MSVC-Static-Allocation-Only directory is provided as - a reference for projects that do not include a FreeRTOS heap. - + Minor run-time optimisations. - + Two new low power tickless implementations that target Silicon Labs EFM32 - microcontrollers. - + Addition of the xTimerGetPeriod() and xTimerGetExpireTime() API functions. - -Changes between FreeRTOS V8.2.3 and FreeRTOS V9.0.0rc1 (release candidate 1) -released February 19 2016: - - RTOS Kernel Updates: - - + Major new feature - tasks, semaphores, queues, timers and event groups can - now be created using statically allocated memory, so without any calls to - pvPortMalloc(). - + Major new features - Added the xTaskAbortDelay() API function which allows - one task to force another task to immediately leave the Blocked state, - even if the event the blocked task is waiting for has not occurred, or the - blocked task's timeout has not expired. - + Updates necessary to allow FreeRTOS to run on 64-bit architectures. - + Added vApplicationDaemonTaskStartupHook() which executes when the RTOS - daemon task (which used to be called the timer service task) starts - running. This is useful if the application includes initialisation code - that would benefit from executing after the scheduler has been started. - + Added the xTaskGetTaskHandle() API function, which obtains a task handle - from the task's name. xTaskGetTaskHandle() uses multiple string compare - operations, so it is recommended that it is called only once per task. - The handle returned by xTaskGetTaskHandle() can then be stored locally for - later re-use. - + Added the pcQueueGetQueueName() API function, which obtains the name of - a queue from the queue's handle. - + Tickless idling (for low power applications) can now also be used when - configUSE_PREEMPTION is 0. - + If one task deletes another task, then the stack and TCB of the deleted - task is now freed immediately. If a task deletes itself, then the stack - and TCB of the deleted task are freed by the Idle task as before. - + If a task notification is used to unblock a task from an ISR, but the - xHigherPriorityTaskWoken parameter is not used, then pend a context switch - that will then occur during the next tick interrupt. - + Heap_1.c and Heap_2.c now use the configAPPLICATION_ALLOCATED_HEAP - settings, which previously was only used by heap_4.c. - configAPPLICATION_ALLOCATED_HEAP allows the application writer to declare - the array that will be used as the FreeRTOS heap, and in-so-doing, place - the heap at a specific memory location. - + TaskStatus_t structures are used to obtain details of a task. - TaskStatus_t now includes the bae address of the task's stack. - + Added the vTaskGetTaskInfo() API function, which returns a TaskStatus_t - structure that contains information about a single task. Previously this - information could only be obtained for all the tasks at once, as an array - of TaskStatus_t structures. - + Added the uxSemaphoreGetCount() API function. - + Replicate previous Cortex-M4F and Cortex-M7 optimisations in some - Cortex-M3 port layers. - - Demo Application Updates: - - Further demo applications will be added prior to the final FreeRTOS V9 - release. - - + Updated SAM4L Atmel Studio project to use Atmel Studio 7. - + Added ARM Cortex-A53 64-bit port. - + Added a port and demo for the ARM Cortex-A53 64-bit cores on the Xilinx - Ultrascale MPSoC. - + Added Cortex-M7 SAME70 GCC demo. - + Added EFM32 Giant and Wonder Gecko demos. - - -Changes between V8.2.2 and V8.2.3 released October 16, 2015 - - RTOS kernel updates: - - + Fix bug identified in a modification made in V8.2.2 to the software timer - code that allows tickless low power applications to sleep indefinitely - when software timers are used. - + Simplify and improve efficiency of stack overflow checking. - + Add xTaskNotifyStateClear() API function. - + New IAR and GCC Cortex-R ports for microprocessors that do not use an ARM - generic interrupt controller (GIC). - + New PIC32MEC14xx port. - + Add support for PIC32MZ EF parts (with floating point) into the PIC32MZ - port. - + Zynq7000 port layer now declares the functions that setup and clear the - tick interrupt as weak symbols so they can be overridden by the - application, and uses a global XScuGic object so the same object can be - used by the application code. - + Introduced configUSE_TASK_FPU_SUPPORT, although the PIC32MZ EF port is - currently the only port that uses it. - + Updates to RL78 and 78K0 IAR port layers to improve support for - combinations of memory models. - + Minor updates to heap_5.c to remove compiler warnings generated by some - compilers. - + License simplifications. See /FreeRTOS/License/license.txt in the - official distribution. - - FreeRTOS+ updates: - - + Update directory names to use WolfSSL instead of CyaSSL, inline with - WolfSSL's re-branding. - + Update to latest WolfSSL code. - + Update to latest FreeRTOS+Trace recorder code. - + Add in the FreeRTOS+Trace recorder library required for streaming trace. - - Demo application changes: - - + Add demo applications for Renesas RZ/T (Cortex-R), PIC32MZ EF (PIC32 with - floating point hardware), PIC32MEC14xx, RX71M, RX113 and RX231. - + General tidy up of spelling and compiler warnings. - - -Changes between V8.2.1 and V8.2.2 released August 12, 2015 - - RTOS kernel updates: - - + Added Intel IA32/x86 32-bit port. - + General maintenance. - + PRIVILEGED_FUNCTION and PRIVILEGED_DATA macros, which are used in memory - protected systems, have been added to the newer event group and software - timer functions. - + Add the errno definitions used by FreeRTOS+ components into projdefs.h. - + Remove the restriction that prevented tick-less idle implementations - waiting indefinitely when software timers were used in the same - application. - + Introduce xTaskNotifyAndQueryFromISR() as the interrupt safe version of - xTaskNotifyAndQuery(). - + Add additional NOPs to the MSP430X port layers to ensure strict compliance - with the hardware documentation. - + Microblaze port: Added option for port optimised task selection. - + Microblaze port: Previously tasks inherited the exception enable state - at the time the task was created. Now all tasks are created with - exceptions enabled if the Microblaze design supports exceptions. - + Windows port: Add additional safe guards to ensure the correct start up - sequence and thread switching timing. - + Windows port: Improve the implementation of the port optimised task - selection assembly code. - + Update heap_4 and heap_5 to allow use on 64-bit processors. - + Simplify the code that creates a queue. - + General improved tick-less idle behaviour. - + Ensure none of the variables in the common kernel files are initialised to - anything other than zero. - + Correct calculation of xHeapStructSize in heap_4 and heap_5. - - Demo application updates: - - + Added demo project for the new IA32/x86 port that targets the Galileo - hardware. - + Added MSP430FR5969 demos (previously provided as a separate download). - + Added FreeRTOS BSP repository for automatic creation of FreeRTOS - applications in the Xilinx SDK. - + Added Atmel Studio / GCC project for the SAMV71 (ARM Cortex-M7) - + Update Xilinx SDK projects to use version 2015.2 of the SDK. - + Remove Microblaze demos that were using obsolete tools. - + Add MSP43FR5969 IAR and CCS demos. - - FreeRTOS+ Updates: - - + Updated FreeRTOS+Trace recorder library, which requires an update to the - FreeRTOS+Trace application. - + Added Reliance Edge source code and demo application. Reliance edge is - a fail safe transactional file system ideal for applications that require - file storage, and especially when high reliability is essential. - + Introduce configAPPLICATION_PROVIDES_cOutputBuffer to allow FreeRTOS+CLI - users to place the output buffer at a fixed memory address. - + Improve the NetworkInterface.c file provided for the Windows port of - FreeRTOS+UDP. - -Changes between V8.2.0 and V8.2.1 released 24th March 2015. - - RTOS kernel updates: - - + Added user definable and flexible thread local storage facility. - + Added vTimerSetTimerID() API function to complement the pvTimerGetTimerID() - function to allow the timer's ID to be used as timer local storage. - + Fixed a potential issue related to the use of queue sets from an ISR. - + Some updates to the Xilinx Microblaze GCC port. - + Added ARM Cortex-M4F port for Texas Instruments Code Composer Studio. - + Added ARM Cortex-M7 r0p1 port layer for IAR, GCC and Keil which contains a - minor errata work around. All other ARM Cortex-M7 core revisions should - use the ARM Cortex-M4F port. - + Exclude the whole of croutine.c if configUSE_CO_ROUTINES is set to 0. - + Change some data types from uint32_t to size_t in preparation for 64-bit - Windows port. - + Update the PIC32 port to remove deprecation warnings output by the latest - XC32 compilers. - + Fix bug when xQueueOverwrite() and xQueueOverwrite() from ISR are used to - overwrite items in two queues that are part of the same set. - - Demo application updates: - - + Added demo application for TI's ARM Cortex-M4F based MSP432 - microcontroller using IAR, Keil and CCS compilers. - + Added demo application for STM32F ARM Cortex-M7 based microcontroller - using IAR and Keil. - + Added demo application for Atmel SAMV71 ARM Cortex-M7 based - microcontroller using IAR and Keil. - + Added Microblaze demo that uses the 2014.4 version of the Xilinx SDK and - runs on the KC705 evaluation board (Kintex FPGA). - -Changes between V8.1.2 and V8.2.0 released 16th January 2015 - - Changes between release candidate 1 and the official release are restricted - to maintenance only. - - Significant RTOS kernel updates: - - + MAJOR NEW FEATURE! Task notifications. Please see the following URL for - details: http://www.FreeRTOS.org/RTOS-task-notifications.html - + NEW HEADER FILE REQUIRED! Obsolete definitions have been separated into - a new header file called FreeRTOS/Source/include/deprecated_definitions.h. - This header file must be present to build. Note some of the obsolete - definitions are still used by very old demo application projects. - - Other RTOS kernel updates: - - + Made xSemaphoreGiveFromISR() a function rather than a macro that calls - xQueueGenericSendFromISR(). This allows for major performance - enhancements at the expense of some additional code size if both functions - are used in the same application. NOTE: In most uses cases such use of - a semaphore can now be replaced with a task notification which is smaller - and faster still. - + The TCB is now always allocated such that the task's stack grows away from - the TCB (improves debugging of stack overflows as the overflow will not - overwrite the task's name). - + GCC, IAR and Keil Cortex-M4F ports now use more inlining (performance - enhancements at the cost of a little additional code space). - + Queues are now allocated with a single call to pvPortMalloc() which - allocates both the queue structure and the queue storage area. - + Introduced a new critical section macro for reading the tick count that - defines away to nothing in cases where the width of the tick allows the - tick count to be read atomically (performance benefits - especially when - optimisation is on). - + Introduced configAPPLICATION_ALLOCATED_HEAP in heap_4.c to allow the - application writer to provide their own heap array - and in so doing - control the location of the heap. - + Introduced configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES which, when set, will - include known values in both list and list item structures. The values - are intended to assist debugging. If the values get overwritten then it - is likely application code has written over RAM used by the kernel. - + configASSERT()s in all Cortex-M ports used to test the lowest 5 bits of - the interrupt control register to detect taskENTER_CRITICAL() being called - from an interrupt. This has been changed to test all 8 bits. - + Introduced uxTaskPriorityGetFromISR(). - + Microblze V8 port now tests XPAR_MICROBLAZE_0_USE_FPU for inequality to 0 - rather than equality to 1, and 2 and 3 are also valid values. - + Cortex-A5 GIC-less port no longer passes the address of the interrupting - peripheral into the interrupt handler. - + Fix an issue in FreeRTOS-MPU where an attempt was made to free the stack - belonging to a task when the task was deleted, even when the stack was - allocated statically. - + Utility (helper) functions that format task statistic information into - human readable tables now pad task names with spaces to ensure columns - line up correctly even where task name lengths vary greatly. - + Update FreeRTOS+Trace recorder library to version 2.7.0. - - Demo application updates: - - + Added two new standard demo task sets: IntSemTest and TaskNotify. - + Added port and demo application for Atmel SAMA5D4 Cortex-A5 MPU. - + Added demo application for Altera Cyclone V Cortex-A9 MPU. - + Updated Zynq demo to use version 2014.4 of Xilinx's SDK and added in - demo tasks for new RTOS features. - + Updated Atmel SAM4E and SAM4S demos to include a lot of additional test - and demo tasks. - + Fixed a corner case issue in Atmel SAM4L low power tickless - implementation, and added button interrupt handling. - + Make the interrupt queue tests more tolerant to heave CPU loads. - + Updated MSVC FreeRTOS simulator demo to include the latest standard test - and demo tasks. - + Updated MingW/Eclipse FreeRTOS simulator demo to match the FreeRTOS MSVC - simulator demo. - + Updated all demos that use FreeRTOS+Trace to work with the latest trace - recorder code. - - -Changes between V8.1.1 and V8.1.2 released September 2nd 2014 - - Move the defaulting of configUSE_PORT_OPTIMISED_TASK_SELECTION into the - individual port layers where necessary so it does not affect ports that do - not support the definition. - -Changes between V8.1.0 and V8.1.1 released August 29th 2014 - - By popular requests - a minor patch to V8.1.0 to re-instate the ability to - give a mutex type semaphore (with priority inheritance) from an interrupt - handler. - -Changes between V8.0.1 and V8.1.0 released August 26th 2014 - - FreeRTOS scheduler, kernel, demo and test updates: - - + Improved the priority inheritance algorithms to assist integration with - off the shelf middleware that may hold multiple mutexes simultaneously. - + Introduce heap_5.c, which is similar to heap_4.c but allows the heap to - span multiple non-contiguous memory regions. - + Updated all Cortex-A9 ports to help trap a couple of common usage errors - - the first being when a task incorrectly attempts to exit its implementing - function and the second being when a non interrupt safe API function is - called from an interrupt. - + Update all Cortex-A9 ports to remove obsolete mode switches prior to - restoring a task context. - + configUSE_PORT_OPTIMISED_TASK_SELECTION now defaults to 1 instead of 0. - + Update all Cortex-M3/4F ports to trap a non interrupt safe API function - being called from an interrupt handler. - + Simplify the alignment checks in heap_4.c. - + Update the MSVC Windows simulator demo to use heap_5.c in place of - heap_4.c to ensure end users have an example to refer to. - + Updated standard demo test code to test the new priority inheritance - algorithms. - + Updated the standard demo tasks to make use of stdint and the FreeRTOS - specific typedefs that were introduced in FreeRTOS V8.0.0. - + Introduce the pdMS_TO_TICKS() macro as a more user friendly and intuitive - alternative to pdTICKS_PER_MS - both of which can be used to convert a - time specified in milliseconds to a time specified in RTOS ticks. - + Fix a bug in the Tasking compiler's Cortex-M port that resulted in an - incorrect value being written to the basepri register. This only effects - users of the Tasking compiler. - + Update the Zynq demo to use version 2014.2 of the SDK and add in an lwIP - example that demonstrates lwIP being used with both its raw and sockets - interfaces. - + Updated the CCS Cortex-R4 port to enable it to be built with the latest - CCS compiler. - - New ports and demo applications: - - + Two Renesas RX64M ports (RXv2 core) and demos introduced, one for the GCC - compiler and one for the Renesas compiler. Both demos use e2 studio. - + Generic IAR Cortex-A5 port (without any reliance on a GIC) introduced. - The new port is demonstrated on an Atmel SAMA5D3 XPlained board. - - FreeRTOS+ component updates: - - + Update CyaSSL to the latest version. - + Updated the FreeRTOS+ components supplied directly by Real Time Engineers - Ltd. to make use of stdint and the FreeRTOS specific typedefs that were - introduced in FreeRTOS V8.0.0. - + Rework and simplify the FreeRTOS+FAT SL RAM disk driver. - - Miscellaneous updates and maintenance: - - + Update the IAR and DS-5/ARM RZ demos to target the official RZ RSK - hardware in place of the previously targeted Renesas internal (not - publicly available) hardware. - + Various other maintenance tasks. - - -Changes between V8.0.0 and V8.0.1 released 2nd May 2014 - - + Minor fixes to the event group functionality that was released in V8.0.0. - The 'clear bits from ISR' functionality is now implemented using a - deferred interrupt callback instead of a function, and the 'wait bits' and - 'task sync' functions now correctly clear internal control bits before - returning a value in every possible path through the respective functions. - + Ensure the updating of internal control data is protected by a critical - section after a task is deleted or suspended. - + Minor fixes to FreeRTOS+FAT SL - namely seeking beyond the end of a file - when the offset was not a multiple of the sector size. - + Ensure Cortex-A9 system registers are only ever accessed as 32-bit values, - even when only the lest significant byte of the register is implemented. - - Other updates: - - + Updated the XMC4200 IAR project so it links with version 7.x of the IAR - tools. - + Add RL78L1C demo. - + Add pcTimerGetName() API function. - + Call _reclaim_reent() when a task is deleted if configUSE_NEWLIB_REENTRANT - is defined. - -Changes between V7.6.0 and V8.0.0 released 19th Feb 2014 - - http://www.freertos.org/upgrading-to-FreeRTOS-V8.html - - FreeRTOS V8.x.x is a drop-in compatible replacement for FreeRTOS V7.x.x, - although a change to the type used to reference character strings may result - in application code generating a few (easily clearable) compiler warnings - after the upgrade, and an updated typedef naming convention means use of the - old typedef names is now discouraged. - See http://www.freertos.org/upgrading-to-FreeRTOS-V8.html for full - information. - - New features and functionality: - - + Event groups - see http://www.freertos.org/FreeRTOS-Event-Groups.html - + Centralised deferred interrupt processing - see - http://www.freertos.org/xTimerPendFunctionCallFromISR.html - - Other updates: - - + Previously, when a task left the Blocked state, a context switch was - performed if the priority of the unblocked task was greater than or equal - to the priority of the Running task. Now a context switch is only - performed if the priority of the unblocked task is greater than the - priority of the Running task. - + New low power tickless demonstration project that targets the ST STM32L - microcontroller - see - http://www.freertos.org/STM32L-discovery-low-power-tickless-RTOS-demo.html - + Add xPortGetMinimumEverFreeHeapSize() to heap_4.c. - + Small change to the tickless low power implementation on the SAM4L to - ensure the alarm value (compare match value) cannot be set to zero when a - tickless period is exited due to an interrupt originating from a source - other than the RTOS tick. - + Update the GCC/Eclipse Win32 simulator demo to make better use of Eclipse - resource filters and match the functionality of the MSVC equivalent. - + xTaskIsTaskSuspended() is no longer a public function. Use - eTaskGetState() in its place. - + Improved trace macros, including tracing of heap usage. - + Remove one level of indirection when accepting interrupts on the PIC32MZ. - + Add Cortex-A9 GCC port layer. - + Add Xilinx Zynq demo application. - - -Changes between V7.5.3 and V7.6.0 released 18th November 2013 - - V7.6.0 changes some behaviour when the co-operative scheduler is used (when - configUSE_PREEMPTION is set to 0). It is important to note that the - behaviour of the pre-emptive scheduler is unchanged - the following - description only applies when configUSE_PREEMPTION is set to 0: - - WHEN configUSE_PREEMPTION IS SET TO 0 (which is in a small minority of - cases) a context switch will now only occur when a task places itself into - the Blocked state, or explicitly calls taskYIELD(). This differs from - previous versions, where a context switch would also occur when implicitly - moving a higher priority task out of the Blocked state. For example, - previously, WHEN PREEMPTION WAS TURNED OFF, if task A unblocks task B by - writing to a queue, then the scheduler would switch to the higher priority - task. Now, WHEN PREEMPTION IS TURNED OFF, if task A unblocks task B by - writing to a queue, task B will not start running until task A enters the - Blocked state or task A calls taskYIELD(). [If configUSE_PREEMPTION is not - set to 0, so the normal pre-emptive scheduler is being used, then task B - will start running immediately that it is moved out of the Blocked state]. - - Other changes: - - + Added a port layer and a demo project for the new PIC32MZ architecture. - + Update the PIC32MX port layer to re-introduce some ehb instructions that - were previously removed, add the ability to catch interrupt stack - overflows (previously only task stack overflows were trapped), and also - add the ability to catch an application task incorrectly attempting to - return from its implementing function. - + Make dramatic improvements to the performance of the Win32 simulator port - layer. - + Ensure tasks that are blocked indefinitely report their state as Blocked - instead of Suspended. - + Slight improvement to the Cortex-M4F port layers where previously one - register was inadvertently being saved twice. - + Introduce the xSemaphoreCreateBinary() API function to ensure consistency - in the semantics of how each semaphore type is created. It is no longer - recommended to use vSemaphoreCreateBinary() (the version prefixed with a - 'v'), although it will remain in the code for backward compatibility. - + Update the Cortex-M0 port layers to allow the scheduler to be started - without using the SVC handler. - + Added a build configuration to the PIC32MX MPLAB X demo project that - targets the PIC32 USB II starter kit. Previously all the build - configurations required the Explorer 16 hardware. - + Some of the standard demo tasks have been updated to ensure they execute - correctly with the updated co-operative scheduling behaviour. - + Added comprehensive demo for the Atmel SAM4E, including use of - FreeRTOS+UDP, FreeRTOS+FAT SL and FreeRTOS+CLI. - - FreeRTOS+ Changes: - - + Minor maintenance on FreeRTOS+UDP. - -Changes between V7.5.2 and V7.5.3 released October 14 2013 - - Kernel changes: - - + Prior to V7.5.x yields requested from the tick hook would occur in the - same tick interrupt - revert to that original behaviour. - + New API function uxQueueSpacesAvailable(). - + Introduced the prvTaskExitError() function to Cortex-M0, Cortex-M3/4 - and Cortex-M4F ports. prvTaskExitError() is used to trap tasks that - attempt to return from their implementing functions (tasks should call - vTaskDelete( NULL ); if they want to exit). - + The Cortex-M0 version of portSET_INTERRUPT_MASK_FROM_ISR and - portCLEAR_INTERRUPT_MASK_FROM_ISR are now fully nestable. - + Improved behaviour and robustness of the default Cortex-M tickless idle - behaviour. - + Add workaround for silicon errata PMU_CM001 in Infineon XMC4000 devices to - all Cortex-M4F ports. - + Add Cortex-M0 port for Keil. - + Updated Cortus port. - + Ensure _impure_ptr is initialised before the scheduler is started. - Previously it was not set until the first context switch. - - FreeRTOS+ changes: - - + Update FreeRTOS+UDP to V1.0.1 - including direct integration of the - FreeRTOS+Nabto task, improvements to the DHCP behaviour, and a correction - to the test that prevents the network event hook being called on the first - network down event. The FreeRTOS+UDP change history is maintained - separately. - + Correct the __NVIC_PRIO_BITS setting in the LPC18xx.h header files - provided in the NXP CMSIS library, then update the interrupts used by the - LPC18xx demos accordingly. - + Replace double quotes (") with single quotes (') in FreeRTOS+CLI help - strings to ensure the strings can be used with the JSON descriptions used - in the FreeRTOS+Nabto demos. - - Demo and miscellaneous changes: - - + Added demo for the Atmel SAMD20 Cortex-M0+. The demo includes - FreeRTOS+CLI - + Added a demo for the Infineon Cortex-M0 that can be built with the IAR - Keil and GCC tools. - + Updated the Infineon XMC4000 demos for IAR, Keil, GCC and Tasking tools, - with additional build configurations to directly support the XMC4200 and - XMC4400 devices, in addition to the previously supported XMC4500. - + Updated the demo application. - + Added additional trace macros traceMALLOC and traceFREE to track heap - usage. - -Changes between V7.5.0 and V7.5.2 released July 24 2013 - - V7.5.2 makes the new Cortex-M vPortCheckInterruptPriority() function - compatible with the STM32 standard peripheral driver library, and adds - an extra critical section to the default low power tickless mode - implementation. Only users of the STM32 peripheral library or the default - tickless implementation need update from version 7.5.0. - -Changes between V7.4.2 and V7.5.0 released July 19 2013 - - V7.5.0 is a major upgrade that includes multiple scheduling and efficiency - improvements, and some new API functions. - - Compatibility information for FreeRTOS users: - FreeRTOS V7.5.0 is backward compatible with FreeRTOS V7.4.0 with one - exception; the vTaskList() and vTaskGetRunTimeStats() functions are now - considered legacy, having been replaced by the single uxTaskGetSystemState() - function. configUSE_STATS_FORMATTING_FUNCTIONS must be set to 1 in - FreeRTOSConfig.h for vTaskList() and vTaskGetRunTimeStats() to be - available. - - Compatibility information for FreeRTOS port writers: - vTaskIncrementTick() is now called xTaskIncrementTick() (because it now - returns a value). - - Headline changes: - - + Multiple scheduling and efficiency improvements. - + Core kernel files now pass PC-Lint V8 static checking without outputting - any warnings (information on the test conditions will follow). - - New API functions: - - + uxTaskGetSystemState() http://www.freertos.org/uxTaskGetSystemState.html - + xQueueOverwrite() http://www.freertos.org/xQueueOverwrite.html - + xQueueOverwriteFromISR() - + xQueuePeekFromISR() - - The following ports and demos, which were previously available separately, - are now incorporated into the main FreeRTOS zip file download: - - + ARM Cortex-A9 IAR - + ARM Cortex-A9 ARM compiler - + Renesas RZ - + Microsemi SmartFusion2 - - New FreeRTOSConfig.h settings - http://shop.freertos.org/FreeRTOS_API_and_Configuration_Reference_s/1822.htm - - + configUSE_TIME_SLICING - + configUSE_NEWLIB_REENTRANT - + configUSE_STATS_FORMATTING_FUNCTIONS - + configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - - Other changes: - - + (MPU port only) The configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - options provides a mechanism that allows application writers to execute - certain functions in privileged mode even when a task is running in user - mode. - + Ports that support interrupt nesting now include a configASSERT() that - will trigger if an interrupt safe FreeRTOS function is called from an - interrupt that has a priority designated as above the maximum system/API - call interrupt priority. - + The included FreeRTOS+Trace recorder code has been updated to the latest - version, and the demo applications that use the trace recorder code have - been updated accordingly. - + The FreeRTOS Windows Simulator (MSVC version only) has been updated to - include a new basic 'blinky' build option in addition to the original - comprehensive build option. - + Improve RAM usage efficiency of heap_4.c and heap_2.c. - + Prevent heap_4.c from attempting to free memory blocks that were not - allocated by heap_4.c, or have already been freed. - + As FreeRTOS now comes with FreeRTOS+FAT SL (donated by HCC) the Chan FATfs - files have been removed from FreeRTOS/Demo/Common. - + Fix build error when R4 port is build in co-operative mode. - + Multiple port and demo application maintenance activities. - -Changes between V7.4.1 and V7.4.2 released May 1 2013 - - NOTE: There are no changes in the FreeRTOS kernel between V7.4.1 and V7.4.2 - - + Added FreeRTOS+FAT SL source code and demo project. The demo project - runs in the FreeRTOS Windows simulator for easy and hardware independent - experimentation and evaluation. See http://www.FreeRTOS.org/fat_sl - -Changes between V7.4.0 and V7.4.1 released April 18 2013 - - + To ensure strict conformance with the spec and ensure compatibility with - future chips data and instruction barrier instructions have been added to - the yield macros of Cortex-M and Cortex-R port layers. For efficiency - the Cortex-M port layer "yield" and "yield" from ISR are now implemented - separately as the barrier instructions are not required in the ISR case. - + Added FreeRTOS+UDP into main download. - + Reorganised the FreeRTOS+ directory so it now matches the FreeRTOS - directory with Source and Demo subdirectories. - + Implemented the Berkeley sockets select() function in FreeRTOS+UDP. - + Changed (unsigned) casting in calls to standard library functions with - (size_t) casting. - + Added the Atmel SAM4L and Renesas RX100 demos that demonstrates the - tickless (tick suppression) low power FreeRTOS features. - + Add a new RL78 IAR demo that targets numerous new RL78 chips and - evaluation boards. - + Adjusted stack alignment on RX200 ports to ensure an assert was not - falsely triggered when configASSERT() is defined. - + Updated the Cortex_M4F_Infineon_XMC4500_IAR demo to build with the latest - version of EWARM. - + Corrected header comments in the het.c and het.h files (RM48/TMS570 demo). - - -Changes between V7.3.0 and V7.4.0 released February 20 2013 - - + New feature: Queue sets. See: - http://www.FreeRTOS.org/Pend-on-multiple-rtos-objects.html - + Overhauled the default tickless idle mode implementation provided with the - ARM Cortex-M3 port layers. - + Enhanced tickless support in the core kernel code with the introduction of - the configEXPECTED_IDLE_TIME_BEFORE_SLEEP macro and the - eTaskConfirmSleepModeStatus() function. - + Added the QueueSet.c common demo/test file. Several demo applications - have been updated to use the new demo/test tasks. - + Removed reliance on the PLIB libraries from the MPLAB PIC32 port layer and - demo applications. - + Added the FreeRTOS+Trace recorder code to the MSVC Win32 demo. - + Renamed eTaskStateGet() to eTaskGetState() for consistency, and added a - pre-processor macro for backward compatibility with the previous name. - + Updated functions implemented in the core queue.c source file to allow - queue.h to be included from the .c file directly (this prevents compiler - warnings that were generated by some compilers). - + Updated the CCS Cortex-R4 port layer to replace the CLZ assembler function - with the CLZ compiler intrinsic that is provided by the latest versions of - the CCS ARM compiler. - + Updated all heap_x.c implementations to replace the structure that was - used to ensure the start of the heap was aligned with a more portable - direct C code implementation. - + Added support for PIC24 devices that include EDS. - + Minor optimisations to the PIC32 port layer. - + Minor changes to tasks.c that allow the state viewer plug-ins to display - additional information. - + Bug fix: Update prvProcessReceivedCommands() in timers.c to remove an - issue that could occur if the priority of the timer daemon task was set - below the priority of tasks that used timer services. - + Update the FreeRTOS+Trace recorder code to the latest version. - -Changes between V7.2.0 and V7.3.0 released October 31 2012 - - + Added ability to override the default scheduler task selection mechanism - with implementations that make use of architecture specific instructions. - + Added ability to suppress tick interrupts during idle time, and in so - doing, provide the ability to make use of architecture specific low power - functionality. - + Added the portSUPPRESS_TICKS_AND_SLEEP() macro and vTaskStepTick() helper - function. - + Added the configSYSTICK_CLOCK_HZ configuration constant. - + Reworked the Cortex-M3 and Cortex-M4F port layers for GCC, Keil and IAR to - directly support basic power saving functionality. - + Added hooks to allow basic power saving to be augmented in the application - by making use of chip specific functionality. - + Minor change to allow mutex type semaphores to be used from interrupts - (which would not be a normal usage model for a mutex). - + Change the behaviour of the interrupt safe interrupt mask save and restore - macros in the Cortex-M ports. The save macro now returns the previous - mask value. The restore macro now uses the previous mask value. These - changes are not necessary for the kernel's own implementation, and are - made purely because the macros were being used by application writers. - + Added eTaskStateGet() API function. - + Added port specific optimisations to the PIC32 port layer, and updated the - PIC32 demo applications to make use of this new feature. - + Added port specific optimisations to the Win32 simulator port. - + Added new ports and demo applications for the TI Hercules RM48 and TMS570 - safety microcontrollers. - + Added SAM3 demos targeting the ATSAM3S-EK2 and ATSAM3X-EK evaluation - boards. - + Updated the PIC32 MPLAB X project to manually set the compiler include - paths instead of using the IDE entry box following reports that the - include paths were somehow being deleted. - + Improved character handling in FreeRTOS+CLI. - -Changes between V7.1.1 and V7.2.0 released 14 August 2012 - - FreeRTOS V7.2.0 is backward compatible with FreeRTOS V7.1.2. - - + Added a FreeRTOS+ sub-directory. The directory contains some FreeRTOS+ - source code, and example projects that use the FreeRTOS Win32 simulator. - + Added a new example heap allocation implementation (heap_4.c) that - includes memory block coalescence. - + Added a demo that targets the Atmel SAM4S Cortex-M4 based microcontroller. - The demo is preconfigured to build using the free Atmel Studio 6 IDE and - GCC compiler. - + Added xSemaphoreTakeFromISR() implementation. - + The last parameter in ISR safe FreeRTOS queue and semaphore functions - (xHigherPriorityTaskWoken) is now optional and can be set to NULL if it - is not required. - + Update the IAR and MSP430X ports to clear all lower power mode bits before - exiting the tick interrupt [bug fix]. - + Allow xQueueReset() to be used, even when the queues event lists are not - empty. - + Added a vQueueDelete() handler for the FreeRTOS MPU port (this was - previously missing). - + Updated the vPortSVCHandler() functions in the FreeRTOS MPU port layer to - ensure it compiles with the latest ARM GCC compilers from Linaro. - + Updated the prvReadGP() function in the NIOS II port to ensure the compiler - can choose any register for the functions parameter (required at high - compiler optimisation levels). - + Add #error macros into the Keil and IAR Cortex-M ports to ensure they - cannot be built if the user has set configMAX_SYSCALL_INTERRUPT_PRIORITY - to 0. - + Added comments in the FreeRTOSConfig.h files associated with Cortex-M3 and - Cortex-M4 demos stating that the configMAX_SYSCALL_INTERRUPT_PRIORITY - parameter must not be set to 0. - + Introduce new INCLUDE_xQueueGetMutexHolder configuration constant - (defaulted to 0). - + Added two new list handling macros - for internal use only in upcoming new - products. - + Removed all mention of the legacy vTaskStartTrace and ulTaskEndTrace - macros. FreeRTOS+Trace supersedes the legacy trace. - + Added a configASSERT() into the vPortFree() function in heap_1.c as it is - invalid for the function to be called. - + Made the xRxLock and xTxLock members of the queue structure volatile. - This is probably not necessary, and is included as a precautionary - measure. - + Modify the assert() that checks to see if the priority passed into an - xTaskCreate() function is within valid bounds to permit the assert to be - used in the FreeRTOS MPU port. - + The software timer service (daemon) task is now created in a way that - to ensure compatibility with FreeRTOS MPU. - -Changes between V7.1.0 and V7.1.1 released May 1 2012 - - New ports: - - The following ports are brand new: - + Cortex-M3 Tasking - - The following ports have been available as separate downloads for a number - of months, but are now included in the main FreeRTOS download. - + Cortex-M0 IAR - + Cortex-M0 GCC - + Cortex-M4F GCC (with full floating point support) - - - New demos: - - The following demos are brand new: - + Renesas RX63N RDK (Renesas compiler) - - The following demos have been available as separate downloads for a number - of months, but are now included in the main FreeRTOS download. - + NXP LPC1114 GCC/LPCXpresso - + ST STM32F0518 IAR - + Infineon XMC4500 GCC/Atollic - + Infineon XMC4500 IAR - + Infineon XMC4500 Keil - + Infineon XMC4500 Tasking - - - Kernel miscellaneous / maintenance: - - + Introduced the portSETUP_TCB() macro to remove the requirement for the - Windows simulator to use the traceTASK_CREATE() macro, leaving the trace - macro available for use by FreeRTOS+Trace (http://www.FreeRTOS.org/trace). - + Added a new trace macro, traceMOVE_TASK_TO_READY_STATE(), to allow future - FreeRTOS+Trace versions to provide even more information to users. - + Updated the FreeRTOS MPU port to be correct for changes that were - introduced in FreeRTOS V7.1.0. - + Introduced the xQueueReset() API function. - + Introduced the xSemaphoreGetMutexHolder() API function. - + Tidy up various port implementations to add the static key word where - appropriate, and remove obsolete code. - + Slight change to the initial stack frame given to the RX600 ports to allow - them to be used in the Eclipse based E2Studio IDE without confusing GDB. - + Correct the alignment given to the initial stack of Cortex-M4F tasks. - + Added a NOP following each DINT instruction on MSP430 devices for strict - conformance with the instructions on using DINT. - + Changed the implementation of thread deletes in the Win32 port to prevent - the port making use of the traceTASK_DELETE() trace macros - leaving this - macro free for use by FreeRTOS+Trace. - + Made some benign changes to the RX600 Renesas compiler port layer to - ensure the code can be built to a library without essential code being - removed by the linker. - + Reverted the change in the name of the uxTaskNumber variable made in - V7.1.0 as it broke the IAR plug-in. - - - Demo miscellaneous / maintenance: - - + The command interpreter has now been formally released as FreeRTOS+CLI, - and been moved out of the main FreeRTOS download, to instead be available - from the FreeRTOS+ Ecosystem site http://www.FreeRTOS.org/plus. - + flash_timer.c/h has been added to the list of standard demo tasks. This - performs the same functionality as the flash.c tasks, but using software - timers in place of tasks. - + Upgraded the PIC32 demo as follows: Changes to how the library functions - are called necessitated by the new compiler version, addition of MPLAB X - project with PIC32MX360, PIC32MX460 and PIC32MX795 configurations, - addition of simply blinky demo, updated FreeRTOSConfig.h to include more - parameters, addition of hook function stubs. - + The MSP430X IAR and CCS demos have been updated to ensure the power - settings are correct for the configured CPU frequency. - + Rowley CrossWorks projects have been updated to correct the "multiple - definition of ..." warnings introduced when the toolchain was updated. - + Updated various FreeRTOSConfig.h header files associated with projects - that build with Eclipse to include a #error statement informing the user - that the CreateProjectDirectoryStructure.bat batch file needs to be - executed before the projects can be opened. - + Renamed directories that included "CCS4" in their name to remove the '4' - and instead just be "CCS". This is because the demo was updated and - tested to also work with later Code Composer Studio versions. - + Updated the TCP/IP periodic timer frequency in numerous uIP demos to be - 50ms instead of 500ms. - -Changes between V7.0.2 and V7.1.0 released December 13 2011 - - New ports: - - + Cortex-M4F IAR port. - + Cortex-M4F Keil/RVDS port. - + TriCore GCC port. - - New demos: - - + NXP LPC4350 using the Keil MDK, and demonstrated on a Hitex development - board. - + ST STM32F407 using the IAR Embedded Workbench for ARM, and demonstrated on - the IAR STM32F407ZG-SK starter kit. - + Infineon TriCore TC1782, using the GCC compiler, demonstrated on the - TriBoard TC1782 evaluation board. - + Renesas RX630, using the Renesas compiler and HEW, demonstrated on an - RX630 RSK (Renesas Starter Kit). - - Miscellaneous / maintenance: - - + Removed all calls to printf() from the K60/IAR Kinetis demo so the project - can execute stand alone - without being connected to the debugger. - + Completed the command interpreter framework. Command handlers now receive - the entire command string, giving them direct access to parameters. - Utility functions are provided to check the number of parameters, and - return parameter sub-strings. - + The previously documented fix for the bug in xTaskResumeFromISR() that - effected (only) ports supporting interrupt nesting has now been - incorporated into the main release. - + The portALIGNMENT_ASSERT_pxCurrentTCB() definition has been added to allow - specific ports to skip the second stack alignment check when a task is - created. This is because the second check is not appropriate for some - ports - including the new TriCore port where the checked pointer does not - actually point to a stack. - + The portCLEAN_UP_TCB() macro has been added to allow port specific clean - up when a task is deleted - again this is required by the TriCore port. - + Various other minor changes to ensure warning free builds on a growing - number of microcontroller and toolchain platforms. This includes a - (benign) correction to the prototype of the - vApplicationStackOverflowHook() definition found in lots of recent demos. - - Trace system: - - + The legacy trace mechanism has been completely removed - it has been - obsolete for the years since the trace macros were introduced. The - configuration constant configUSE_TRACE_FACILITY is now used to optionally - include additional queue and task information. The additional information - is intended to make the trace mechanism more generic, and allow the trace - output to provide more information. When configUSE_TRACE_FACILITY is set - to 1: - - the queue structure includes an additional member to hold the queue - type, which can be base, mutex, counting semaphore, binary semaphore - or recursive mutex. - - the queue structure includes an additional member to hold a queue - number. A trace tool can set and query the queue number for its own - purposes. The kernel does not use the queue number itself. - - the TCB structure includes an additional member to hold a task number - number. A trace tool can set and query the task number for its own - purposes. The kernel does not use the task number itself. - + Queues and all types of semaphores are now automatically allocated their - type as they are created. - + Added two new trace macros - traceTASK_PRIORITY_INHERIT() and - traskTASK_PRIORITY_DISINHERIT(). - + Updated the traceQUEUE_CREATE_FAILED() macro to take a parameter that - indicates the type of queue, mutex, or semaphore that failed to be - created. - + The position from which traceCREATE_MUTEX() is called has been moved from - after the call to xQueueGenericSend() [within the same function] to before - the call. This ensures the trace events occur in the correct order. - + The value passed into tracePRIORITY_SET() has been corrected for the case - where vTaskPrioritySet() is called with a null parameter. - -Changes between V7.0.1 and V7.0.2 released September 20 2011 - - New ports: - - + The official FreeRTOS Renesas RX200 port and demo application have been - incorporated into the main FreeRTOS zip file download. - + The official FreeRTOS Renesas RL78 port and demo application have been - incorporated into the main FreeRTOS zip file download. - + The official FreeRTOS Freescale Kinetis K60 tower demo application has - been incorporated into the main FreeRTOS zip file download. This includes - an embedded web server example. - + A new Microblaze V8 port layer has been created to replace the older, now - deprecated, port layer. The V8 port supports V8.x of the Microblaze IP, - including exceptions, caches, and the floating point unit. A new - Microblaze demo has also been added to demonstrate the new Microblaze V8 - port layer. The demo application was created using V13.1 of the Xilinx - EDK, and includes a basic embedded web server that uses lwIP V1.4.0. - + The official FreeRTOS Fujitsu FM3 MB9A310 demo application has been - incorporated into the main FreeRTOS zip file download. Projects are - provided for both the IAR and Keil toolchains. - - - API additions: - - + xTaskGetIdleTaskHandle() has been added. - + xTaskGetTimerDaemonTaskHandle() has been added. - + pcTaskGetTaskName() has been added. - + vSemaphoreDelete() macro has been added to make it obvious how to delete - a semaphore. In previous versions vQueueDelete() had to be used. - + vTaskCleanUpResources() has been removed. It has been obsolete for a - while. - + portPOINTER_SIZE_TYPE has been introduced to prevent compiler warnings - being generated when the size of a pointer does not match the size of - the stack type. This will (has already) be used in new ports, but will - not be retrofitted to existing ports until the existing port itself is - updated. - - Other updates and news: - - + The core files have all been modified to tighten the coding standard even - further. These are style, not functional changes. - + All ARM7 port layers have been slightly modified to prevent erroneous - assert() failures when tasks are created and configASSERT() is defined. - + All ARM IAR projects have been updated to build with the latest V6.2.x - versions of the IAR Embedded Workbench for ARM tools (EWARM). This was - necessary due to a change in the way EWARM uses the CMSIS libraries. - + The PIC32 port layer has been updated in preparation for V2 of the C32 - compiler. - + The old Virtex-4 Microblaze demo has been marked as deprecated. Please - use the brand new Spartan-6 port and demo in its place. - + The bones of a new generic command interpreter is located in - FreeRTOS/Demo/Common/Utils/CommandInterpreter.c. This is still a work in - progress, and not documented. It is however already in use. It will be - documented in full when the projects that are already using it are - completed. - + A couple of new standard demos have been included. First, a version of - flop.c called sp_flop.c. This is similar to flop.c, but uses single - precision floats in place of double precision doubles. This allows the - for testing ports to processors that have only single precision floating - point units, and revert to using emulated calculations whenever a double - is used. Second, comtest_strings.c has been included to allow the test - of UART drivers when an entire string is transmitted at once. The - previous comtest.c only used single character transmission and reception. - + lwIP V1.4.0 is now included in the FreeRTOS/Demo/Common directory, and - used by a couple of new demos. - -Changes between V7.0.0 and V7.0.1 released May 13 2011 - - + Added a Fujitsu FM3 demo application for both the IAR and Keil tool - chains. - + Added a SmartFusion demo application for all of the IAR, Keil and - SoftConsole (GCC/Eclipse) tool chains. - + Updated the RX600 port and demo applications to take into account the - different semantics required when using the latest (V1.0.2.0) version of - the Renesas compiler. - + Modified the RX600 Ethernet driver slightly to make it more robust under - heavy load, and updated the uIP handling task to make use of the FreeRTOS - software timers. - + Slightly changed the PIC32 port layer to move an ehb instruction in line - with the recommendations of the MIPS core manual, and ensure 8 byte stack - alignment is truly always obtained. - + Changed the behaviour when tasks are suspended before the scheduler has - been started. Before, there needed to be at least one task that was not - in the suspended state. This is no longer the case. - -Changes between V6.1.1 and V7.0.0 released April 8 2011 - - FreeRTOS V7.0.0 is backward compatible with FreeRTOS V6.x.x - - Main changes: - - + Introduced a new software timer implementation. - + Introduced a new common demo application file to exercise the new timer - implementation. - + Updated the Win32/MSVC simulator project to include the new software timer - demo tasks and software timer tick hook test. Much simpler software timer - demonstrations are included in the demo projects for both of the new ports - (MSP430X with CCS4 and STM32 with TrueStudio). - + Various enhancements to the kernel implementation in tasks.c. These are - transparent to users and do not effect the pre-existing API. - + Added calls to configASSERT() within the kernel code. configASSERT() is - functionally equivalent to the standard C assert() macro, but does not - rely on the compiler providing assert.h. - - Other changes: - - + Updated the MSP430X IAR port and demo project to include support for the - medium memory model. - + Added a demo project for the MSP430X that targets the MSP430X Discovery - board and uses the Code Composer Studio 4 tools. This demo includes use - of the new software timer implementation. - + Added an STM32F100RB demo project that targets the STM32 Discovery Board - and uses the TrueStudio Eclipse based IDE from Atollic. - + Removed some compiler warnings from the PSoC demo application. - + Updated the PIC32 port layer to ensure the - configMAX_SYSCALL_INTERRUPT_PRIORITY constant works as expected no matter - what its value is (within the valid range set by the microcontroller - kernel). - + Updated the PIC24, dsPIC and PIC32 projects so they work with the latest - MPLAB compiler versions from Microchip. - + Various cosmetic changes to prepare for a standards compliance statement - that will be published after the software release. - - -Changes between V6.1.0 and V6.1.1 released January 14 2011 - - + Added two new Windows simulator ports. One uses the free Microsoft Visual - Studio 2010 express edition, and the other the free MingW/Eclipse - environment. Demo projects are provided for both. - + Added three demo projects for the PSoC 5 (CYAC5588). These are for the - GCC, Keil, and RVDS build tools, and all use the PSoC Creator IDE. - + Added a demo for the low power STM32L152 microcontroller using the IAR - Embedded Workbench. - + Added a new port for the MSP430X core using the IAR Embedded Workbench. - + Updated all the RX62N demo projects that target the Renesas Demonstration - Kit (RDK) to take into account the revered LED wiring on later hardware - revisions, and the new J-Link debug interface DLL. - + Updated all the RX62N demo projects so the IO page served by the example - embedded web server works with all web browsers. - + Updated the Red Suite projects to work with the up coming Red Suite - release, and to use a more recent version of the CMSIS libraries. - + Added the traceTAKE_MUTEX_RECURSIVE_FAILED() trace macro. - + Removed the (pointless) parameter from the traceTASK_CREATE_FAILED() - trace macro. - + Introduced the portALT_GET_RUN_TIME_COUNTER_VALUE() macro to compliment - the already existing portGET_RUN_TIME_COUNTER_VALUE(). This allows for - more flexibility in how the time base for the run time statistics feature - can be implemented. - + Added a "cpsie i" instruction before the "svc 0" instruction used to start - the scheduler in each of the Cortex M3 ports. This is to ensure that - interrupts are globally enabled prior to the "svc 0" instruction being - executed in cases where interrupts are left disabled by the C start up - code. - + Slight optimisation in the run time stats calculation. - -Changes between V6.0.5 and V6.1.0 released October 6 2010 - - + Added xTaskGetTickCountFromISR() function. - + Modified vTaskSuspend() to allow tasks that have just been created to be - immediately suspended even when the kernel has not been started. This - allows them to effectively start in the Suspended state - a feature that - has been asked for on numerous occasions to assist with initialisation - procedures. - + Added ports for the Renesas RX62N using IAR, GCC and Renesas tool suites. - + Added a STM32F103 demo application that uses the Rowley tools. - + Under specific conditions xFreeBytesRemaining within heap_2.c could end up - with an incorrect value. This has been fixed. - + xTaskCreateGeneric() has a parameter that can be used to pass the handle - of the task just created out to the calling task. The assignment to this - parameter has been moved to ensure it is assigned prior to the newly - created having any possibility of executing. This takes into account the - case where the assignment is made to a global variable that is accessed by - the newly created task. - + Fixed some build time compiler warnings in various FreeTCPIP (based on - uIP) files. - + Fixed some build time compiler warnings in Demo/Common/Minimal/IntQueue.c. - -Changes between V6.0.4 and V6.0.5 released May 17 2010 - - + Added port and demo application for the Cortus APS3 processor. - -Changes between V6.0.3 and V6.0.4 released March 14 2010 - - + All the contributed files that were located in the Demo/Unsupported_Demos - directory have been removed. These files are instead now available in the - new Community Contributions section of the FreeRTOS website. See - http://www.freertos.org/RTOS-contributed-ports.html - + The project file located in the Demo/CORTEX_STM32F107_GCC_Rowley directory - has been upgraded to use V2.x of the Rowley Crossworks STM32 support - package. - + An initial Energy Micro EFM32 demo has been included. This will be - updated over the coming months to make better use of the low power modes - the EFM32 provides. - -Changes between V6.0.2 and V6.0.3 released February 26 2010 - - + SuperH SH7216 (SH2A-FPU) port and demo application added. - + Slight modification made to the default implementation of - pvPortMallocAligned() and vPortFreeAligned() macros so by default they - just call pvPortMalloc() and vPortFree(). The macros are only needed to - be defined when a memory protection unit (MPU) is being used - and then - only depending on other configuration settings. - -Changes between V6.0.1 and V6.0.2 released January 9th 2010 - - + Changed all GCC ARM 7 ports to use 0 as the SWI instruction parameter. - Previously the parameter was blank and therefore only an implicit 0 but - newer GCC releases do not permit this. - + Updated IAR SAM7S and SAM7X ports to work with IAR V5.40. - + Changed the stack alignment requirement for PIC32 from 4 bytes to 8 bytes. - + Updated prvListTaskWithinSingleList() is it works on processors where the - stack grows up from low memory. - + Corrected some comments. - + Updated the startup file for the RVDS LPC21xx demo. - -Changes between V6.0.0 and V6.0.1 released November 15th 2009 - - + Altered pxPortInitialiseStack() for all Cortex-M3 ports to ensure the - stack pointer is where the compiler expects it to be when a task first - starts executing. - - The following minor changes only effect the Cortex-M3 MPU port: - - + portRESET_PRIVILEGE() assembly macro updated to include a clobber list. - + Added prototypes for all the privileged function wrappers to ensure no - compile time warnings are generated no matter what the warning level - setting. - + Corrected the name of portSVC_prvRaisePrivilege to - portSVC_RAISE_PRIVILEGE. - + Added conditional compilation into xTaskGenericCreate() to prevent some - compilers issuing warnings when portPRIVILEGE_BIT is defined as zero. - - -Changes between V5.4.2 and V6.0.0 released October 16th 2009 - - FreeRTOS V6 is backward compatible with FreeRTOS V5.x. - - Main changes: - - + FreeRTOS V6 is the first version to include memory protection unit (MPU) - support. Two ports now exist for the Cortex M3, the standard FreeRTOS - which does not include MPU support, and FreeRTOS-MPU which does. - + xTaskCreateRestricted() and vTaskAllocateMPURegions() API functions added - in support of FreeRTOS-MPU. - + Wording for the GPL exception has been (hopefully) clarified. Also the - license.txt file included in the download has been fixed (the previous - version contained some corruption). - - Other changes: - - + New API function xPortGetFreeHeapSize() added to heap_1.c and heap_2.c. - + ARM7 GCC demo interrupt service routines wrappers have been modified to - call the C portion using an __asm statement. This prevents the function - call being inlined at higher optimisation levels. - + ARM7 ports now automatically set the THUMB bit if necessary when - setting up the initial stack of a task - removing the need for - THUMB_INTERWORK to be defined. This also allows THUMB mode and ARM mode - tasks to be mixed more easily. - + All ARM7/9 ports now have portBYTE_ALIGNMENT set to 8 by default. - + Various demo application project files have been updated to be up to date - with the latest IDE versions. - + The linker scripts used with command line GCC demos have been updated to - include an eh_frame section to allow their use with the latest Yagarto - release. Likewise the demo makefiles have been updated to include - command line options to reduce or eliminate the eh_frame section all - together. - + The definition of portBYTE_ALIGNMENT_MASK has been moved out of the - various memory allocation files and into the common portable.h header - file. - + Removed unnecessary use of portLONG, portSHORT and portCHAR. - + Added LM3Sxxxx demo for Rowley CrossWorks. - + Posix simulator has been upgraded - see the corresponding WEB page on the - FreeRTOS.org site. - - -Changes between V5.4.1 and V5.4.2 released August 9th 2009 - - + Added a new port and demo app for the Altera Nios2 soft core. - + Added LPC1768 demo for IAR. - + Added a USB CDC demo to all LPC1768 demos (Code Red, CrossWorks and IAR). - + Changed clock frequency of LPC1768 demos to 99MHz. - -Changes between V5.4.0 and V5.4.1 released July 25th 2009 - - + New hook function added. vApplicationMallocFailedHook() is (optionally) - called if pvPortMalloc() returns NULL. - + Additional casting added to xTaskCheckForTimeOut(). This prevents - problems that can arise should configUSE_16_BIT_TICKS be set to 1 on a - 32 bit architecture (which would probably be a mistake, anyway). - + Corrected the parameter passed to NVIC_SetPriority() to set the MAC - interrupt priority in both LPC1768 demos. - + Decreased the default setting of configMINIMAL_STACK_SIZE in the PIC32 - demo application to ensure the heap space was not completely consumed - before the scheduler was started. - -Changes between V5.3.1 and V5.4.0 released July 13th 2009 - - + Added Virtex5 / PPC440 port and demos. - + Replaced the LPC1766 Red Suite demo with an LPC1768 Red Suite demo. The - original demo was configured to use engineering samples of the CPU. The - new demo has an improved Ethernet driver. - + Added LPC1768 Rowley demo with zero copy Ethernet driver. - + Reworked byte alignment code to ensure 8 byte alignment works correctly. - + Set configUSE_16_BIT_TICKS to 0 in the PPC405 demo projects. - + Changed the initial stack setup for the PPC405 to ensure the small data - area pointers are setup correctly. - -Changes between V5.3.0 and V5.3.1 released June 21st 2009 - - + Added ColdFire V1 MCF51CN128 port and WEB server demo. - + Added STM32 Connectivity Line STM32107 Cortex M3 WEB server demo. - + Changed the Cortex M3 port.c asm statements to __asm so it can be - compiled using Rowley CrossWorks V2 in its default configuration. - + Updated the Posix/Linux simulator contributed port. - -Changes between V5.2.0 and V5.3.0 released June 1st 2009 - - Main changes: - - + Added new (optional) feature that gathers statistics on the amount of CPU - time used by each task. - + Added a new demo application for the Atmel AT91SAM3U Cortex-M3 based - microcontroller. - + Added a new demo application for the NXP LPC1766 Cortex-M3 based - microcontroller. - + Added a contributed port/demo that allows FreeRTOS to be 'simulated' in a - Linux environment. - - Minor changes: - + Updated the Stellaris uIP WEB server demos to include the new run time - statistics gathering feature - and include a served WEB page that - presents the information in a tabular format. - + Added in the lwIP port layer for the Coldfire MCF52259. - + Updated the CrossWorks LPC2368 WEB server to include an image in the - served content. - + Changed some of the timing in the initialisation of the LPC2368 MAC to - permit its use on all part revisions. - + Minor modifications to the core uIP code to remove some compiler warnings. - + Added xTaskGetApplicationTaskTag() function and updated the OpenWatcom - demo to make use of the new function. - + Added contributed demos for AVR32 AP7000, STM32 Primer 2 and STM32 using - Rowley Crossworks. - + Heap_1.c and Heap_2.c used to define structures for the purpose of data - alignment. These have been converted to unions to save a few bytes of - RAM that would otherwise be wasted. - + Remove the call to strncpy() used to copy the task name into the TCB when - the maximum task name is configured to be 1 byte long. - -Changes between V5.1.2 and V5.2.0 released March 14th 2009 - - + Optimised the queue send and receive functions (also used by semaphores). - + Replaced the standard critical sections used to protect BIOS calls in the - PC port to instead use scheduler locks. This is because the BIOS calls - always return with interrupts enabled. - + Corrected unclosed comments in boot.s. - -Changes between V5.1.1 and V5.1.2 released February 9th 2009 - - + Added NEC V850ES port and demo. - + Added NEC 78K0R port and demo. - + Added MCF52259 port and demo. - + Added the AT91SAM9XE port and demo. - + Updated the MCF52233 FEC driver to work around a silicon bug that - prevents the part auto negotiating some network parameters. - + Minor modifications to the MCF52233 makefile to permit it to be used - on Linux hosts. - + Updated the STM32 primer files to allow them to be built with the latest - version of the RIDE tools. - + Updated the threads.js Java script used for kernel aware debugging in - the Rowley CrossWorks IDE. - - -Changes between V5.1.0 and V5.1.1 released November 20, 2008 - - + Added Coldfire MCF52233 WEB server demo using GCC and Eclipse. - + Added IAR MSP430 port and demo. - + Corrected several compiler time issues that had crept in as tool versions - change. - + Included FreeRTOS-uIP - a faster uIP. This is not yet complete. - -Changes between V5.0.4 and V5.1.0 released October 24, 2008 - - + Added a new port and demo application for the ColdFire V2 core using the - CodeWarrior development tools. - + Replaced the ARM7 demo that used the old (and now no longer supported) - Keil compiler with a new port that uses the new Keil/RVDS combo. - + Stack overflow checking now works for stacks that grow up from low - memory (PIC24 and dsPIC). - + BUG FIX - set the PIC32 definition of portSTACK_GROWTH to the correct - value of -1. - + MSP430 port layers have been updated to permit tasks to place the - microcontroller into power down modes 1 to 3. The demo applications have - likewise been updated to demonstrate the new feature. - + Replaced the two separate MSP430/Rowley port layers with a single and more - flexible version. - + Added more contributed ports, including ports for NEC and SAM9 - microcontrollers. - + Changed the linker script used in the LPC2368 Eclipse demo. - -Changes between V5.0.3 and V5.0.4 released September 22, 2008 - - + Completely re-written port for ColdFire GCC. - + Bug fix: All Cortex M3 ports have a minor change to the code that sets - the pending interrupt. - + Some header files require that FreeRTOS.h be included prior to their - inclusion. #error message have been added to all such header file - informing users to the cause of the compilation error should the headers - not be included in the correct order. - -Changes between V5.0.2 and V5.0.3 released July 31, 2008 - - Changes relating to the Cortex M3: - - + Added configMAX_SYSCALL_INTERRUPT_PRIORITY usage to all the Cortex M3 - ports and demos. See the port documentation pages on the FreeRTOS.org - WEB site for full usage information. - + Improved efficiency of Cortex M3 port even further. - + Ensure the Cortex M3 port works no matter where the vector table is - located. - + Added the IntQTimer demo/test tasks to a demo project for each CM3 port - (Keil, GCC and IAR) to test the new configMAX_SYSCALL_INTERRUPT_PRIORITY - functionality. - + Added the mainINCLUDE_WEB_SERVER definition to the LM3SXXXX IAR and Keil - projects to allow the WEB server to be conditionally excluded from the - build and therefore allow use of the KickStart (code size limited) - compiler version. - - Other changes: - - + Moved the PIC24 and dsPIC versions of vPortYield() from the C file to - an assembly file to allow use with all MPLAB compiler versions. This also - allows the omit-frame-pointer optimisation to be turned off. - -Changes between V5.0.0 and V5.0.2 released May 30, 2008 - - + Updated the PIC32 port to allow queue API calls to be used from - interrupts above the kernel interrupt priority, and to allow full - interrupt nesting. Task stack usages has also been reduced. - + Added a new PowerPC port that demonstrates how the trace macros can be - used to allow the use of a floating point co-processor. The - traceTASK_SWITCHED_OUT() and traceTASK_SWITCHED_INT() macros are used to - save and restore the floating point context respectively for those tasks - that actually use floating point operations. - + BUG FIX: The first PPC405 port contained a bug in that it did not leave - adequate space above the stack for the backchain to be saved when a task - started to execute for the first time. - + Updated queue.c to add in the means to allow interrupt nesting and for - queue API functions to be called from interrupts that have a priority - above the kernel priority. This is only supported on PIC32 ports thus - far. - + Fixed the compiler warnings that were generated when the latest version - of WinAVR was used. - + Remove all inline usage of 'inline' from the core kernel code. - + Added the queue registry feature. The queue registry is provided as a - means for kernel aware debuggers to locate queue definitions. It has no - purpose unless you are using a kernel aware debugger. The queue registry - will only be used when configQUEUE_REGISTRY_SIZE is greater than zero. - + Added the ST Cortex-M3 drivers into the Demo/Common/Drivers directory to - prevent them from having to be included in multiple demos. - + Added a Keil STM32 demo application. - + Changed the blocktim.c test files as it is no longer legitimate for all - ports to call queue API functions from within a critical section. - + Added the IntQueue.c test file to test the calling of queue API functions - from different interrupt priority levels, and test interrupt nesting. - -Changes between V5.0.0 and V5.0.1 - - + V5.0.1 was a customer specific release. - -Changes between V4.8.0 and V5.0.0 released April 15, 2008 - - *** VERY IMPORTANT INFORMATION ON UPGRADING TO FREERTOS.ORG V5.0.0 *** - - The parameters to the functions xQueueSendFromISR(), xQueueSendToFrontFromISR(), - xQueueSendToBackFromISR() and xSemaphoreGiveFromISR() have changed. You must - update all calls to these functions to use the new calling convention! Your - compiler might not issue any type mismatch warnings! - - - See http://www.FreeRTOS.org/upgrading.html for full information. - - - Other changes: - - + Support added for the new Luminary Micro LM3S3768 and LM3S3748 Cortex-M3 - microcontrollers. - + New task hook feature added. - + PowerPC demo updated to use version 10.1 of the Xilinx EDK. - + Efficiency gains within the PIC32 port layer. - -Changes between V4.7.2 and V4.8.0 released March 26 2008 - - + Added a Virtex4 PowerPC 405 port and demo application. - + Added optional stack overflow checking and new - uxTaskGetStackHighWaterMark() function. - + Added new xQueueIsQueueEmptyFromISR(), xQueueIsQueueFullFromISR() and - uxQueueMessagesWaitingFromISR() API functions. - + Efficiency improvements to the Cortex-M3 port layer. NOTE: This - requires that an SVC handler be installed in the application. - + Efficiency improvements to the queue send and receive functions. - + Added new trace macros. These are application definable to provide - a flexible trace facility. - + Implemented the configKERNEL_INTERRUPT_PRIORITY within the Keil Cortex - M3 port layer (bringing it up to the same standard as the IAR and GCC - versions). - + Ports that used the arm-stellaris-eabi-gcc tools have been converted to - use the arm-non-eabi-gcc tools. - -Changes between V4.7.1 and V4.7.2 released February 21, 2008 - - + Added Fujitsu MB91460 port and demo. - + Added Fujitsu MB96340 port and demo. - + Tidied up the capitalisation of include files to facilitate builds on - Linux hosts. - + Removed some redundant casting that was generating warnings - but was - included to remove warnings on other compilers. - -Changes between V4.7.0 and V4.7.1 released February 3, 2008 - - + Updated all IAR ARM projects to use V5.11 of the IAR Embedded Workbench - for ARM. - + Introduced recursive semaphore feature. - + Updated LPC2368 demos to take into account silicon bugs in old chip - revisions. - + Updated STR9 uIP port to manually set the net mask and gateway addresses. - + Updating demos to allow more to run with the co-operative scheduler. - + Fixed co-operative scheduler behaviour upon the occurrence of a tick - interrupt while the scheduler was suspended. - + Updated documentation contained within semphr.h. - + ARM7 GCC ports no longer use the IRQ attribute. - -Changes between V4.6.1 and V4.7.0 released December 6, 2007 - - + Introduced the counting semaphore macros and demo source files. The - Open Watcom PC project has been updated to include the new demo. See - the online documentation for more information. - + Introduced the 'alternative' queue handling API and demo source files. - The Open Watcom PC project has been updated to include the new demo - source files. See the online documentation for more information. - + Added AT91SAM7X Eclipse demo project. - + Added the STM32 primer demo project for the GCC compiler and Ride IDE. - + Removed the .lock files that were mistakenly included in the V4.6.1 - eclipse workspaces. - -Changes between V4.6.0 and V4.6.1 released November 5 2007 - - + Added support for the MIPS M4K based PIC32. - + Added 'extern "C"' to all the header files to facilitate use with C++. - -Changes between V4.5.0 and V4.6.0 released October 28 2007 - - + Changed the method used to force a context switch within an ISR for the - ARM7/9 GCC ports only. The portENTER_SWITCHING_ISR() and - portEXIT_SWITCHING_ISR() macros are no longer supported. This is to - ensure correct behaviour no matter which GCC version is used, with or - without the -fomit-frame-pointer option, and at all optimisation levels. - + Corrected the prototype for xQueueGenericSend() within queue.h. - -Changes between V4.4.0 and V4.5.0 released September 17 2007 - - + Added the xQueueSendToFront(), xQueueSendToBack() and xQueuePeek() - functionality. These should now be used in preference to the old - xQueueSend() function - which is maintained for backward compatibility. - + Added Mutex functionality. The behaviour of mutexes is subtly different - to the already existing binary semaphores as mutexes automatically - include a priority inheritance mechanism. - + Added the GenQTest.c and QPeek.c to test and demonstrate the behaviour - of the new functionality. - + Updated the LM3Sxxxx and PC ports to include the new GenQTest.c and - QPeek.c files. - + Updated the GCC port for the Cortex M3 to include the - configKERNEL_INTERRUPT_PRIORITY functionality. This was previously only - included in the IAR port. - + Optimised the GCC and IAR port layer code - specifically the context - switch code. - + Consolidated the LM3Sxxxx EK demos for all development tools into a - single project that automatically detects which version of the EK the - application is executing on. - + Added Eclipse support for LM3Sxxxx evaluation kits. - + Added Eclipse support for the Keil LPC2368 evaluation kit. - + Added the Demo/Drivers directory to hold code that is common to multiple - demo application projects. - + Included some minor bug fixes in the uIP 1.0 code. - + Added an lwIP demo for the STR9 - thanks ST for assistance. - + Updated the AVR32 port to ensure correct behaviour with full compiler - optimisation. - + Included binaries for OpenOCD FTDI and parallel port interfaces. - -Changes between V4.4.0 and V4.3.1 released July 31, 2007 - - + Added AVR32 UC3B demo application. - + Updated AVR32 UC3A port and demo applications. - + Added IAR lwIP demo for AVR32 UC3A. - + Updated listGET_OWNER_OF_NEXT_ENTRY() to assist compiler optimisation - (thanks Niu Yong for making the suggestion). - + Added xTaskGetSchedulerState() API function. - + BUG FIX: Corrected behaviour when tasks that are blocked indefinitely - have their block time adjusted (within xQueueSend() and xQueueReceive()), - and are the subject of a call the vTaskResume() when they are not - actually in the Suspended state (thanks Dan Searles for reporting the - issues). - - -Changes between V4.3.0 and V4.3.1 released June 11, 2007 - - + Added STMicroelectronics STM32 Cortex-M3 demo application. - + Updated ustdlib.c for the GCC LM3S6965 demo. - -Changes between V4.2.1 and V4.3.0 released June 5, 2007 - - + Introduced configKERNEL_INTERRUPT_PRIORITY to the IAR Cortex-M3, PIC24 - and dsPIC ports. See the LM3S6965 and PIC24 demo application - documentation pages for more information. - + Updated the PIC24 and dsPIC demos to build with V3.0 of the PIC30 GCC - tools, and changed the demo applications. - + Added demos for the new Ethernet and CAN enabled Luminary Micro Stellaris - microcontrollers. - + Corrected bug in uIP the demos that prevented frames of approximately 1480 - bytes and over from being transmitted. - + Included the LPC2368/uIP/Rowley demo into the main FreeRTOS.org - download. - + Update to WizC PIC18 port to permit its use with version 14 of the - compiler. Thanks Marcel! - -Changes between V4.2.1 and V4.2.0 released April 2, 2007 - - + Added AVR32 AT32UC3A ports for GCC and IAR. - + Added -fomit-frame-pointer option to lwIP SAM7X demo makefile. - + Moved location of call to LCD_Init() in STR9 demo to ensure it is only - called after the scheduler has been started. - -Changes between V4.1.3 and V4.2.0 released February 8, 2007 - - + Changes to both task.c and queue.c as a result of testing performed on - the SafeRTOS code base. - + Added Cortex-M3 LM3S811 demos for GCC and IAR tools. - -Changes between V4.1.2 and V4.1.3 released November 19, 2006 - - + Added STR750 ARM7 port using the Raisonance RIDE/GCC tools. - + Added -fomit-frame-pointer option to Rowley ARM7 demos as work around - to GCC bug at some optimisation levels. - + Altered the way the heap is defined in the LM3S811 Keil demo to prevent - the RAM usage from counting toward the code size limit calculation. - + CO-ROUTINE BUG FIX: Removed the call to prvIsQueueEmpty from within - xQueueCRReceive as it exited with interrupts enabled. Thanks Paul Katz. - + Tasks that block on events with a timeout of portMAX_DELAY are now - blocked indefinitely if configINCLUDE_vTaskSuspend is defined. - Previously portMAX_DELAY was just the longest block time possible. This - is still the case if configINCLUDE_vTaskSuspend is not defined. - + Minor changes to some demo application files. - -Changes between V4.1.1 and V4.1.2 released October 21, 2006 - - + Added 16bit PIC ports and demos. - + Added STR750 port and demo. - - -Changes between V4.1.0 and V4.1.1 released September 24, 2006 - - + Added the Luminary Micro Stellaris LM3S811 demo application. - -Changes between V4.0.5 and V4.1.0 released August 28, 2006 - - + Prior to V4.1.0, under certain documented circumstances, it was possible - for xQueueSend() and xQueueReceive() to return without having completed - and without their block time expiring. The block time effectively - stated a maximum block time, and the return value of the function needed - to be checked to determine the reason for returning. This is no longer - the case as the functions will only return once the block time has - expired or they are able to complete their operation. It is therefore no - longer necessary to wrap calls within loops. - + Changed the critical section handling in the IAR AVR port to correct the - behaviour when used with later compiler versions. - + Added the LPC2138 CrossWorks demo into the zip file. Previously this was - only available as a separate download. - + Modified the AVR demo applications to demonstrate the use of co-routines. - -Changes between V4.0.4 and V4.0.5 released August 13, 2006 - - + Introduced API function xTaskResumeFromISR(). Same functionality as - xTaskResume(), but can be called from within an interrupt service routine. - + Optimised vListInsert() in the case when the wake time is the maximum - tick count value. - + Bug fix: The 'value' of the event list item is updated when the priority - of a task is changed. Previously only the priority of the TCB itself was - changed. - + vTaskPrioritySet() and vTaskResume() no longer use the event list item. - This has not been necessary since V4.0.1 when the xMissedYield handling - was added. - + Lowered the PCLK setting on the ARM9 STR9 demo from 96MHz to 48MHz. - + When ending the scheduler - do not try to attempt a context switch when - deleting the current task. - + SAM7X EMAC drivers: Corrected the Rx frame length mask when obtaining - the length from the rx descriptor. - - -Changes between V4.0.3 and V4.0.4 released June 22, 2006 - - + Added a port and demo application for the STR9 ARM9 based processors from - ST. - + Slight optimisation to the vTaskPrioritySet() function. - + Included the latest uIP version (1.0) in the demo/common/ethernet - directory. - -Changes between V4.0.2 and V4.0.3 released June 7, 2006 - - + Added a port and demo application for the Cortex-M3 target using the IAR - development tools. - + The ARM Cortex-m3 Rowley projects have been updated to use V1.6 of the - CrossStudio tools. - + The heap size defined for the lwIP Rowley demo has been reduced so that - the project will link correctly when using the command line GCC tools - also. The makefile has also been modified to allow debugging. - + The lwIP Rowley demo not includes a 'kernel aware' debug window. - + The uIP Rowley project has been updated to build with V1.6 of CrossWorks. - + The second set of tasks in the blockQ demo were created the wrong way - around (inconsistent to the description in the file). This has been - corrected. - -Changes between V4.0.1 and V4.0.2 released May 28, 2006 - - + Port and demo application added for the Tern Ethernet Engine controller. - + Port and demo application added for MC9S12 using GCC, thanks to - Jefferson "imajeff" Smith. - + The function vTaskList() now suspends the scheduler rather than disabling - interrupts during the creation of the task list. - + Allow a task to delete itself by passing in its own handle. Previously - this could only be done by passing in NULL. - + Corrected the value passed to the WDG_PeriodValueConfig() library - function in the STR71x demo. - + The tick hook function is now called only within a tick isr. Previously - it was also called when the tick function was called during the scheduler - unlocking process. - + The EMAC driver in the SAM7X lwIP demo has been made more robust as per - the thread: http://sourceforge.net/forum/message.php?msg_id=3714405 - + In the PC ports: Add function prvSetTickFrequencyDefault() to set the - DOS tick back to its proper value when the scheduler exits. Thanks - Raynald! - + In the Borland x86 ports there was a mistake in the portFIRST_CONTEXT - macro where the BP register was not popped from the stack correctly. The - BP value would never get used so this did not cause a problem, but it has - been corrected all the same. - - -Changes between V4.0.0 and V4.0.1 released April 7 2006 - - + Improved the ARM CORTEX M3 ports so they now only have to service - pendSV interrupts. - + Added a Luminary Micro port and demo for use with Rowley CrossWorks. - + Added the xMissedYield handling to tasks.c. - -Changes between V3.2.4 and V4.0.0 - - Major changes: - - + Added new RTOS port for Luminary Micros ARM CORTEX M3 microcontrollers. - + Added new co-routine functionality. - - Other kernel changes: - - + An optional tick hook call is now included in the tick function. - + Introduced the xMiniListItem structure and removed the list pxHead - member in order to reduce RAM usage. - + Added the following definitions to the FreeRTOSConfig.h file included - with every port: - configUSE_TICK_HOOK - configUSE_CO_ROUTINES - configMAX_CO_ROUTINE_PRIORITIES - + The volatile qualification has been changed on the list members to allow - the task.c code to be tidied up a bit. - + The scheduler can now be started even if no tasks have been created! - This is to allow co-routines to run when there are no tasks. - + A task being woken by an event will now preempt the currently running task - even if its priority is only equal to the currently running task. - - Port and demo application changes: - - + Updated the WinAVR demo to compile with the latest version of WinAVR - with no warnings generated. - + Changed the WinAVR makefile to make chars signed - needed for the - co-routine code if BaseType_t is set to char. - + Added new demo application file crflash.c. This demonstrates co-routine - functionality including passing data between co-routines. - + Added new demo application file crhook.c. This demonstrates co-routine - and tick hook functionality including passing data between and ISR and - a co-routine. - + Some NOP's were missing following stmdb{}^ instructions in various ARM7 - ports. These have been added. - + Updated the Open Watcom PC demo project to include the crflash and crhook - demo co-routines as an example of their use. - + Updated the H8S demo to compile with the latest version of GCC. - + Updated the SAM7X EMAC drivers to take into account the hardware errata - regarding lost packets. - + Changed the default MAC address used by some WEB server demos as the - original addresses used was not liked by some routers. - + Modified the SAM7X/IAR startup code slightly to prevent it hanging on - some systems when the code is executed using a j-link debugger. The - j-link macro file configures the PLL before the code executes so - attempting to configure it again in the startup code was causing a - problem for some user. Now a check is performed first to see if the - PLL is already set up. - + GCC port now contain all assembler code in a single asm block rather than - individual blocks as before. - + GCC LPC2000 code now explicitly uses R0 rather than letting the assembler - choose the register to use as a temporary register during the context - switch. - + Added portNOP() macro. - + The compare match load value on LPC2000 ports now has 1 added to correct - the value used. - + The minimal stack depth has been increased slightly on the WIZC PIC18 - port. - -Changes between V3.2.3 and V3.2.4 - - + Modified the GCC ARM7 port layer to allow use with GCC V4.0.0 and above. - Many thanks to Glen Biagioni for the provided update. - + Added a new Microblaze port and demo application. - + Modified the SAM7X EMAC demo to default to use the MII interface rather - than the RMII interface. - + Modified the startup sequence of the SAM7X demo slightly to allow the - EMAC longer to auto negotiate. - -Changes between V3.2.2 and V3.2.3 - - + Added MII interface support to the SAM7X EMAC peripheral driver. - Previously versions worked with the RMII interface only. - + Added command line GCC support to the SAM7X lwIP demo. Previously the - project could only be built using the CrossWorks IDE. Modifications to - this end include the addition of a standard makefile and linker script to - the download, and some adjustments to the stacks allocated to each task. - + Changed the page returned by the lwIP WEB server demo to display the - task status table rather than the TCP/IP statistics. - + Corrected the capitalisation of some header file includes and makefile - dependencies to facilitate use on Linux host computers. - + The various LPC2000 ports had a mistake in the timer setup where the - prescale value was written to T0_PC instead of T0_PR. This would have - no effect unless a prescale value was actually required. This has been - corrected. - -Changes between V3.2.1 and V3.2.2 - Released 23 September, 2005 - - + Added an IAR port for the Philips LPC2129 - + The Atmel ARM7 IAR demo project files are now saved in the IAR Embedded - Workbench V4.30a format. - + Updated the J-Link macro file included with the SAM7X uIP demo project - to allow the demo board to be reset over the J-Link. - -Changes between V3.2.0 and V3.2.1 - Released 1 September, 2005 - - + Added lwIP demo for AT91SAM7X using Rowley tools. - + Added uIP demo for AT91SAM7X using IAR tools. - + Added function xTaskGetCurrentTaskHandle(). - + Renamed events.h to mevents.h to prevent it conflicting with the events.h - generated automatically by the HCS12 processor expert utility. events.h - is only used by the PC demo application. - + Both PIC18 ports now initialise the TBLPTRU to 0 as this is the value - expected by the compiler, and the compilers do not write to this - register. - + The HCS12 banked model demo now creates the 'suicide' tasks immediately - prior to starting the scheduler. These tasks should be the last tasks to - get started in order for the test to function correctly. - -Changes between V3.1.1 and V3.2.0 - Released 29 June, 2005 - - V3.2.0 introduces two new MSP430 ports and corrects a minor kernel - issues. Thanks to Ares.qi for his input. - - + Added two MSP430 ports that use the Rowley CrossWorks development tools. - One port just mirrors the existing GCC port. The other port was provided - by Milos Prokic. Thanks! - + V3.2.0 corrects the behavior when vTaskPrioritySet() or vTaskResume() - are called while the scheduler is locked (by a call to - vTaskSuspendAll()). When this is done the subject task now starts to - execute immediately when the scheduler is unlocked if it has the highest - priority that is ready to run. Previously there was a possibility that - the task would not run until the next RTOS tick or call to portYIELD(). - + Another similar small correction ensures that in the case where more than - one task is blocked on a semaphore or queue, the task with the highest - priority is guaranteed to be unblocked first. - + Added a couple of more test tasks to the PC demo which cover the points - above. - -Changes between V3.1.0 and V3.1.1 - Released 21st June, 2005 - - This release updates the HCS12 port. The common kernel code - remains unchanged. - - + Updated the HCS12 port to support banking and introduced a demo - application for the MC9S12DP256. The new demo application is - located in the Demo/HCS12_CodeWarrior_banked directory. - + The name of the directory containing the MC9S12F32 demo application - has been changed to Demo/HCS12_CodeWarrior_small (as in 'small' - memory model). - + MC9S12F32 demo updated slightly to use the PLL. The CPU speed for the - demo application is now 24MHz. Previously it was 8MHz. - + The demo application file Demo/Common/Minimal/death.c has a slight - alteration to prevent it using floating point variables. - - -Changes between V3.0.0 and V3.1.0 - Released 11th June, 2005 - - + Added new ports for ST Microsystems STR71x, and Freescale HCS12 - microcontrollers. Currently the HCS12 port is limited to the small - memory model. Large memory models will be supported in the next - release. - + PIC18 wizC port updated. Thanks to Marcel van Lieshout for his - continuing contribution. - + The accuracy of the AVR port timer setup has been improved. Thanks to - Thomas Krutmann for this contribution. - + Added a new conditional compilation macro configIDLE_SHOULD_YIELD. - See the WEB documentation for details. - + Updated the CrossWorks uIP demo to build with V1.4 of CrossWorks. - + Slight modification to the SAM7 release build configuration to correct - an include path definition. - + Updated the MPLAB PIC18 documentation to provide extra details on linker - file configuration. - -Changes between V3.0.0 and V2.6.1 - Released 23rd April, 2005 - - V3.0.0 includes many enhancements, so this history list is broken into - subsections as follows: - - API changes - New ports - Directory name changes - Kernel and miscellaneous changes changes - - - API changes - - + Each port now defines BaseType_t as the data type that is most - efficient for that architecture. The type BaseType_t is used - extensively in API calls necessitating the following changes to the - FreeRTOS API function prototypes. - - See the "New for V3.0.0" section of the FreeRTOS online - documentation for full details of API changes. - - - New ports - - + The AT91FR40008 ARM7 port contributed by John Feller is now included - in the download (thanks John!). - + The PIC18 port for the wizC/fedC compiler contributed by Marcel van - Lieshout is now included in the download (thanks Marcel!). - + The IAR port for the AVR microcontroller has been upgraded to V3.0.0 - and is now a supported port. - - - Directory name changes - - For consistency, and to allow integration of the new ports, the - following directory names have been changed. - - + The source/portable/GCC/ARM7 directory has been renamed - source/portable/GCC/ARM7_LPC2000 so it is compatible with the naming - of other GCC ARM7 ports. - + The Demo/PIC directory has been renamed Demo/PIC18_MPLAB to - accommodate the wizC/fedC PIC port. - + The demo applications for the two AVR ports no longer share the same - directory. The WinAVR demo is in the Demo/AVR_ATMega323_WinAVR - directory and the IAR port in the Demo/AVR_ATMega323_IAR directory. - - - - Kernel and miscellaneous changes changes - - See the "New for V3.0.0" section of the FreeRTOS online - documentation for more information. - - + Previously 'portmacro.h' contained some user editable definitions - relating to the user application, and some fixed definitions relating - specifically to the port being used. The application specific - definitions have been removed from 'portmacro.h' and placed inside a - new header file called 'FreeRTOSConfig.h'. 'portmacro.h' should now - never be modified by the user. A 'FreeRTOSConfig.h' is now included - in each of FreeRTOS/Demo subdirectories - as it's settings relate to - the demo application rather than being specific to the port. - + Introduced configUSE_IDLE_HOOK in idle task. - + The idle task will yield when another idle priority task is ready to - run. Previously the idle task would run to the end of its time slice - regardless. - + The idle task is now created when the scheduler is started. This - requires less stack than the previous scheme where it was created upon - creation of the first application task. - + The function usPortCheckFreeStackSpace() has been renamed - usTaskCheckFreeStackSpace() and moved from the portable layer to - tasks.c. - + Corrected spelling of portMINMAL_STACK_SIZE to portMINIMAL_STACK_SIZE. - + The portheap.c file included with the AVR port has been deleted. The - AVR demo now uses the standard heap1 sample memory allocator. - + The GCC AVR port is now build using the standard make utility. The - batch files used previously have been deleted. This means a recent - version of WinAVR is required in order to create a binary suitable for - source level debugging. - + vTaskStartScheduler() no longer takes the configUSE_PREEMPTION - constant as a parameter. Instead the constant is used directly within - tasks.c and no parameter is required. - + The header file 'FreeRTOS.h' has been created and is used to include - 'projdefs.h', 'FreeRTOSConfig.h' and 'portable.h' in the necessary - order. FreeRTOS.h can now be included in place of these other - headers. - + The header file 'errors.h' has been deleted. The definitions it - contained are now located within 'projdefs.h'. - + pvPortMalloc() now takes a size_t parameter as per the ANSI malloc(). - Previously an unsigned short was used. - + When resuming the scheduler a yield is performed if either a tick has - been missed, or a task is moved from the pending ready list into a - ready list. Previously a yield was not performed on this second - condition. - + In heap1.c an overflow check has been added to ensure the next free - byte variable does not wrap around. - + Introduced the portTASK_FUNCTION() and portTASK_FUNCTION_PROTO() - macros. - + The MPLAB PIC port now saved the TABLAT register in interrupt service - routines. - -Changes between V2.6.0 and V2.6.1 - Released Feb 22, 2005 - - This version adds support for the H8 processor. - - Other changes: - - + tskMAX_TASK_NAME_LEN removed from the task.h header and added to each - individual portmacro.h file as portMAX_TASK_NAME_LEN. This allows RAM - limited ports to allocate fewer characters to the task name. - + AVR port - Replaced the inb() and outb() functions with direct memory - access. This allows the port to be built with the 20050414 build of - WinAVR. - + GCC LPC2106 port - removed the 'static' from the definition of - vNonPreemptiveTick() to allow the demo to link when using the cooperative - scheduler. - + GCC LPC2106 port - Corrected the optimisation options in the batch files - ROM_THUMB.bat, RAM_THUMB.bat, ROM_ARM.bat and RAM_ARM.bat. The lower case - -o is replaced by an uppercase -O. - + Tasks.c - The strcpy call has been removed when copying across the task - name into the TCB. - + Updated the trace visualisation to always be 4 byte aligned so it can be - used on ARM architectures. - + There are now two tracecon executables (that convert the trace file binary - into an ASCII file). One for big endian targets and one for little endian - targets. - + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called - too often in the idle task. - + SAM7 USB driver - Replaced the duplicated RX_DATA_BK0 in the interrupt - mask with the RX_DATA_BK1. - - -Changes between V2.5.5 and V2.6.0 - Released January 16, 2005 - - + Added the API function vTaskDelayUntil(). The demo app file - Demo/Common/Minimal/flash.c has been updated to demonstrate its use. - + Added INCLUDE_vTaskDelay conditional compilation. - + Changed the name of the Demo/ARM7_AtmelSAM7S64_IAR directory to - Demo/ARM7_AT91SAM7S64_IAR for consistency. - + Modified the AT91SAM7S USB driver to allow descriptors that have - a length that is an exact multiple of the FIFO to be transmitted. - -Changes between V2.5.4 and V2.5.5 - Released January 3, 2005 - - This version adds support for the Atmel SAM7 ARM7 microcontrollers - along with the IAR development tools. - - Other changes: - - + Renamed the Demo/ARM7 directory to Demo/ARM7_LPC2106_GCC. - + Renamed the Demo/ARM7_Keil directory to Demo/ARM7_LPC2129_Keil. - + Modified the Philips ARM7 serial interrupt service routines to only - process one interrupt per call. This seems to enable the ISR to - operate more quickly. - + Removed the 'far' keyword from the Open Watcom portable layer source - files. This allows their use with V1.3 of Open Watcom. - + Minor modifications to the SDCC build files to allow their use under - Linux. Thanks to Frieder Ferlemann for this contribution. - + Small change to sTaskCreate() to allow a context switch even when - pxCreatedTask is NULL. Thanks to Kamil for this contribution. - + inline keyword removed from vTaskSwitchContext() and VTaskIncrementTick() - definitions. - -Changes between V2.5.3 and V2.5.4 - Released Dec 1, 2004 - - This is an important maintenance release. - - The function cTaskResumeAll() has been modified so it can be used safely - prior to the kernel being initialised. This was an issue as - cTaskResumeAll() is called from pvPortMalloc(). Thanks to Daniel Braun - for highlighting this issue. - -Changes between V2.5.2 and V2.5.3 - Released Nov 2, 2004 - - The critical section handling functions have been changed for the GCC ARM7 - port. Some optimisation levels use the stack differently to others. This - means the interrupt flags cannot always be stored on the stack and are - instead now stored in a variable, which is then saved as part of the - tasks context. This allows the GCC ARM7 port to be used at all - optimisation levels - including -Os. - - Other minor changes: - - + MSP430 definition of usCriticalNesting now uses the volatile qualifier. - This is probably not required but added just in case. - -Changes between V2.5.1 and V2.5.2 - Released Oct 26, 2004 - - + Added the Keil ARM7 port. - + Slight modification to comtest.c to make the delay periods more random. - This creates a better test condition. - -Changes between V2.5.0 and V2.5.1 - Released Oct 9, 2004 - - + Added the MSP430 port. - + Extra comments added to the GCC ARM7 port.c and portISR.c files. - + The memory pool allocated within heap_1.c has been placed within a - structure to ensure correct memory alignment on 32bit systems. - + Within the GCC ARM7 serial drivers an extra check is made to ensure - the post to the queue was successful if then attempting immediately - retrieve the posted character. - + Changed the name of the constant portTICKS_PER_MS to portTICK_PERIOD_MS - as the old name was misleading. - - -Changes between V2.4.2 and V2.5.0 - Released Aug 12, 2004 - - The RTOS source code download now includes three separate memory allocation - schemes - so you can choose the most appropriate for your application. - These are found in the Source/Portable/MemMang directory. The demo - application projects have also been updated to demonstrate the new schemes. - See the "Memory Management" page of the API documentation for more details. - - + Added heap_1.c, heap_2.c and heap_3.c in the Source/Portable/MemMang - directory. - + Replaced the portheap.c files for each demo application with one of the - new memory allocation files. - + Updated the portmacro.h file for each demo application to include the - constants required for the new memory allocators: portTOTAL_HEAP_SIZE and - portBYTE_ALIGNMENT. - + Added a new test to the ARM7 demo application that tests the operation - of the heap_2 memory allocator. - - -Changes between V2.4.1 and V2.4.2 - Released July 14, 2004 - - + The ARM7 port now supports THUMB mode. - + Modification to the ARM7 demo application serial port driver. - -Changes between V2.4.0 and V2.4.1 - Released July 2, 2004 - - + Rationalised the ARM7 port version of portEXIT_CRITICAL() - - improvements provided by Bill Knight. - + Made demo serial driver more complete and robust. - - -Changes between V2.4.0 and V2.3.1 - Released June 30, 2004 - - + Added the first ARM7 port - thanks to Bill Knight for the assistance - provided. - + Added extra files to the Demo/Common/Minimal directory. These are - equivalent to their Demo/Common/Full counterparts but with the - calls to the functions defined in print.c removed. - + Added TABLAT to the list of registers saved as part of a PIC18 context. - -Changes between V2.3.0 and V2.3.1 - Released June 25, 2004 - - + Changed the way the vector table is defined to be more portable. - + Corrected the definitions of SPH and SPL in portmacro.s90. - The previous definitions prevented V2.3.0 operating if the iom323.h - header file was included in portmacro.s90. - -Changes between V2.2.0 and V2.3.0 - Released June 19, 2004 - - + Added an AVR port that uses the IAR compiler. - + Explicit use of 'signed' qualifier on plain char types. - + Modified the Open Watcom project files to use 'signed' as the - default char type. - + Changed odd calculation of initial pxTopOfStack value when - portSTACK_GROWTH < 0. - + Added inline qualifier to context switch functions within task.c. - Ports that do not support the (non ANSI) inline keyword have the - inline #define'd away in their respective portmacro.h files. - -Changes between V2.1.1 and V2.2.0 - Released May 18, 2004 - - + Added Cygnal 8051 port. - + PCLATU and PCLATH are now saved as part of the PIC18 context. This - allows function pointers to be used within tasks. Thanks to Javier - Espeche for the enhancement. - + Minor changes to demo application files to reduce stack usage. - + Minor changes to prevent compiler warnings when compiling the new port. - -Changes between V2.1.0 and V2.1.1 - Released March 12, 2004 - - + Bug fix - pxCurrentTCB is now initialised before the call to - prvInitialiseTaskLists(). Previously pxCurrentTCB could be accessed - while null during the initialisation sequence. Thanks to Giuseppe - Franco for the correction. - -Changes between V2.0.0 and V2.1.0 - Released Feb 29, 2004 - - V2.1.0 has significant reworks that greatly reduce the amount of time - the kernel has interrupts disabled. The first section of modifications - listed here must be taken into account by users. The second section - are related to the kernel implementation and as such are transparent. - - Section1 : - - + The typedef TickType_t has been introduced. All delay times should - now use a variable of type TickType_t in place of the unsigned long's - used previously. API function prototypes have been updated - appropriately. - + The configuration macro USE_16_BIT_TICKS has been introduced. If set - to 1 TickType_t is defined as an unsigned short. If set to 0 - TickType_t is defined as an unsigned long. See the configuration - section of the API documentation for more details. - + The configuration macro INCLUDE_vTaskSuspendAll is now obsolete. - + vTaskResumeAll() has been renamed cTaskResumeAll() as it now returns a - value (see the API documentation). - + ulTaskGetTickCount() has been renamed xTaskGetTickCount() as the type - it returns now depends on the USE_16_BIT_TICKS definition. - + cQueueReceive() must now >never< be used from within an ISR. Use the new - cQueueReceiveFromISR() function instead. - - Section 2: - - + A mechanism has been introduced that allows a queue to be accessed by - a task and ISR simultaneously. - + A "pending ready" queue has been introduced that enables interrupts to - be processed when the scheduler is suspended. - + The list implementation has been improved to provide faster item - removal. - + The scheduler now makes use of the scheduler suspend mechanism in places - where previously interrupts were disabled. - -Changes between V1.2.6 and V2.0.0 - Released Jan 31, 2004 - - + Introduced new API functions: - vTaskPriorityGet () - vTaskPrioritySet () - vTaskSuspend () - vTaskResume () - vTaskSuspendAll () - vTaskResumeAll () - + Added conditional compilation options that allow the components of the - kernel that are unused by an application to be excluded from the build. - See the Configuration section on the WEB site for more information (on - the API pages). The macros have been added to each portmacro.h file ( - sometimes called prtmacro.h). - + Rearranged tasks.c. - + Added demo application file dynamic.c. - + Updated the PC demo application to make use of dynamic.c. - + Updated the documentation contained in the kernel header files. - + Creating a task now causes a context switch if the task being created - has a higher priority than the calling task - assuming the kernel is - running. - + vTaskDelete() now only causes a context switch if the calling task is - the task being deleted. - -Changes between V1.2.5 and V1.2.6 - Released December 31, 2003 - - Barring the change to the interrupt vector (PIC port) these are minor - enhancements. - - + The interrupt vector used for the PIC master ISR has been changed from - 0x18 to 0x08 - where it should have always been. The incorrect address - still works but probably executes a number of NOP's before getting to the - ISR. - + Changed the baud rate used by the AVR demo application to 38400. This - has an error percentage of less than one percent with an 8MHz clock. - + Raised the priority of the Rx task in demo\full\comtest.c. This only - affects the Flashlite and PC ports. This was done to prevent the Rx - buffer becoming full. - + Reverted the Flashlite COM port driver back so it does not use the DMA. - The DMA appears to miss characters under stress. The Borland Flashlite - port was also calculating a register value incorrectly resulting in the - wrong DMA source address being used. The same code worked fine when - compiling with Open Watcom. Other minor enhancements were made to the - interrupt handling. - + Modified the PIC serial Rx ISR to check for and clear overrun errors. - Overrun errors seem to prevent any further characters being received. - + The PIC demo projects now have some optimisation switched on. - - -Changes between V1.2.4 and V1.2.5 - - Small fix made to the PIC specific port.c file described below. - - + Introduced portGLOBAL_INTERRUPT_FLAG definition to test the global - interrupt flag setting. Using the two bits defined within - portINITAL_INTERRUPT_STATE was causing the w register to get clobbered - before the test was performed. - -Changes between V1.2.3 and V1.2.4 - - V1.2.4 contains a release version of the PIC18 port. - An optional exception has been included with the GPL. See the licensing - section of www.FreeRTOS.org for details. - - + The function xPortInitMinimal() has been renamed to - xSerialPortInitMinimal() and the function xPortInit() has been renamed - to xSerialPortInit(). - + The function sSerialPutChar() has been renamed cSerialPutChar() and - the function return type chaned to portCHAR. - + The integer and flop tasks now include calls to tskYIELD(), allowing - them to be used with the cooperative scheduler. - + All the demo applications now use the integer and comtest tasks when the - cooperative scheduler is being used. Previously they were only used with - the preemptive scheduler. - + Minor changes made to operation of minimal versions of comtest.c and - integer.c. - + The ATMega port definition of portCPU_CLOSK_HZ definition changed to - 8MHz base 10, previously it base 16. - - - -Changes between V1.2.2a and V1.2.3 - - The only change of any significance is to the license, which has changed - from the Open Software License to the GNU GPL. - - The zip file also contains a pre-release version of the PIC18 port. This - has not yet completed testing and as such does not constitute part of the - V1.2.3 release. It is still however covered by the GNU GPL. - - There are minor source code changes to accommodate the PIC C compiler. - These mainly involve more explicit casting. - - + sTaskCreate() has been modified slightly to make use of the - portSTACK_GROWTH macro. This is required for the PIC port where the - stack grows in the opposite direction to the other existing ports. - + prvCheckTasksWaitingTermination() has been modified slightly to bring - the decrementing of usCurrentNumberOfTasks within the critical section, - where it should have been since the creation of an eight bit port. - -Changes between V1.2.2 and V1.2.2a - - The makefile and buildcoff.bat files included with the AVR demo application - have been modified for use with the September 2003 build of WinAVR. No - source files have changed. - -Changes between V1.2.1 and V1.2.2 - - There are only minor changes here to allow the PC and Flashlite 186 ports - to use the Borland V4.52 compiler, as supplied with the Flashlite 186 - development kit. - - + Introduced a BCC directory under source\portable. This contains all the - files specific to the Borland compiler port. - + Corrected the macro naming of portMS_PER_TICK to portTICKS_PER_MS. - + Modified comtest.c to increase the rate at which the string is - transmitted and received on the serial port. The Flashlite 186 demo - app baud rate has also been increased. - + The values of the constants used in both integer.c files have been - increased to force the Borland compiler to use 32 bit values. The - Borland optimiser placed the previous values in 16 bit registers, and in - So doing invalidated the test. - -Changes between V1.2.0 and V1.2.1 - - This version includes some minor changes to the list implementation aimed - at improving the context switch time - with is now approximately 10% faster. - Changes include the removal of some null pointer assignment checks. These - were redundant where the scheduler uses the list functions, but means any - user application choosing to use the same list functions must now check - that no NULL pointers are passed as a parameter. - - The Flashlite 186 serial port driver has also been modified to use a DMA - channel for transmissions. The serial driver is fully functional but still - under development. Flashlite users may prefer to use V1.2.0 for now. - - Details: - - + Changed the baud rate for the ATMega323 serial test from 19200 to 57600. - + Use vSerialPutString() instead of single character puts in - Demo\Full\Comtest.c. This allows the use of the flashlite DMA serial - driver. Also the check variable only stops incrementing after two - consecutive failures. - + semtest.c creates four tasks, two of which operate at the idle priority. - The tasks that operate at the idle priority now use a lower expected - count than those running at a higher priority. This prevents the low - priority tasks from signalling an error because they have not been - scheduled enough time for each of them to count the shared variable to - the higher original value. - + The flashlite 186 serial driver now uses a DMA channel for transmissions. - + Removed the volatile modifier from the list function parameters. This was - only ever included to prevent compiler warnings. Now warnings are - removed by casting parameters where the calls are made. - + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been - removed from list.c and added as macros in list.h. - + usNumberOfItems has been added to the list structure. This removes the - need for a pointer comparison when checking if a list is empty, and so - is slightly faster. - + Removed the NULL check in vListRemove(). This makes the call faster but - necessitates any application code utilising the list implementation to - ensure NULL pointers are not passed. - + Renamed portTICKS_PER_MS definition to portMS_PER_TICK (milli seconds - per tick). This is what it always should have been. - -Changes between V1.01 and V1.2.0 - - The majority of these changes were made to accommodate the 8bit AVR port. - The scheduler workings have not changed, but some of the data types used - have been made more friendly to an eight bit environment. - - Details: - - + Changed the version numbering format. - + Added AVR port. - + Split the directory demo\common into demo\common\minimal and - demo\common\full. The files in the full directory are for systems with - a display (currently PC and Flashlite 186 demo's). The files in the - minimal directory are for systems with limited RAM and no display - (currently MegaAVR). - + Minor changes to demo application function prototypes to make more use - of 8bit data types. - + Within the scheduler itself the following functions have slightly - modified declarations to make use of 8bit data types where possible: - xQueueCreate(), - sQueueReceive(), - sQUeueReceive(), - usQueueMessageWaiting(), - sQueueSendFromISR(), - sSemaphoreTake(), - sSemaphoreGive(), - sSemaphoreGiveFromISR(), - sTaskCreate(), - sTaskMoveFromEventList(). - - Where the return type has changed the function name has also changed in - accordance with the naming convention. For example - usQueueMessageWaiting() has become ucQueueMessageWaiting(). - + The definition tskMAX_PRIORITIES has been moved from task.h to - portmacro.h and renamed portMAX_PRIORITIES. This allows different - ports to allocate a different maximum number of priorities. - + By default the trace facility is off, previously USE_TRACE_FACILITY - was defined. - + comtest.c now uses a psuedo random delay between sends. This allows for - better testing as the interrupts do not arrive at regular intervals. - + Minor change to the Flashlite serial port driver. The driver is written - to demonstrate the scheduler and is not written to be efficient. - - - -Changes between V1.00 and V1.01 - - These changes improve the ports. The scheduler itself has not changed. - - Improved context switch mechanism used when performing a context - switch from an ISR (both the tick ISR and the serial comms ISR's within - the demo application). The new mechanism is faster and uses less stack. - - The assembler file portasm.asm has been replaced by a header file - portasm.h. This includes a few assembler macro definitions. - - All saving and restoring of registers onto/off of the stack is now handled - by the compiler. This means the initial stack setup for a task has to - mimic the stack used by the compiler, which is different for debug and - release builds. - - Slightly changed the operation of the demo application, details below. - - Details: - - + portSWITCH_CONTEXT() replaced by vPortFirstContext(). - + pxPortInitialiseStack() modified to replicate the stack used by the - compiler. - + portasm.asm file removed. - + portasm.h introduced. This contains macro definitions for - portSWITCH_CONTEXT() and portFIRST_CONTEXT(). - + Context switch from ISR now uses the compiler generated interrupt - mechanism. This is done simply by calling portSWITCH_CONTEXT and leaving - the save/restore to compiler generated code. - + Calls to taskYIELD() during ISR's have been replaced by calling the - simpler and faster portSWITCH_CONTEXT(). - + The Flashlite 186 port now uses 186 instruction set (used to use 80x86 - instructions only). - + The blocking queue tasks within the demo application did not operate - quite as described. This has been corrected. - + The priority of the comtest Rx task within the demo application has been - lowered. Received characters are now processed (read from the queue) at - the idle priority, allowing low priority tasks to run evenly at times of - a high communications overhead. - + Prevent the call to kbhit() in main.c for debug builds as the debugger - seems to have problems stepping over the call. This if for the PC port - only. - - - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/LICENSE b/Middlewares/Third_Party/FreeRTOS/Source/LICENSE index 2ce4711..9cf1062 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/LICENSE +++ b/Middlewares/Third_Party/FreeRTOS/Source/LICENSE @@ -1,18 +1,19 @@ -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: +MIT License + +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. - +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. diff --git a/Middlewares/Third_Party/FreeRTOS/Source/croutine.c b/Middlewares/Third_Party/FreeRTOS/Source/croutine.c index 9ce5003..559276c 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/croutine.c +++ b/Middlewares/Third_Party/FreeRTOS/Source/croutine.c @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #include "FreeRTOS.h" @@ -30,32 +31,32 @@ #include "croutine.h" /* Remove the whole file is co-routines are not being used. */ -#if( configUSE_CO_ROUTINES != 0 ) +#if ( configUSE_CO_ROUTINES != 0 ) /* * Some kernel aware debuggers require data to be viewed to be global, rather * than file scope. */ -#ifdef portREMOVE_STATIC_QUALIFIER - #define static -#endif + #ifdef portREMOVE_STATIC_QUALIFIER + #define static + #endif /* Lists for ready and blocked co-routines. --------------------*/ -static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ -static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ -static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ -static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ -static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ -static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ + static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ + static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */ + static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ + static List_t * pxDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used. */ + static List_t * pxOverflowDelayedCoRoutineList = NULL; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ + static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ /* Other file private variables. --------------------------------*/ -CRCB_t * pxCurrentCoRoutine = NULL; -static UBaseType_t uxTopCoRoutineReadyPriority = 0; -static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; + CRCB_t * pxCurrentCoRoutine = NULL; + static UBaseType_t uxTopCoRoutineReadyPriority = 0; + static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; /* The initial state of the co-routine when it is created. */ -#define corINITIAL_STATE ( 0 ) + #define corINITIAL_STATE ( 0 ) /* * Place the co-routine represented by pxCRCB into the appropriate ready queue @@ -64,20 +65,20 @@ static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0; * This macro accesses the co-routine ready lists and therefore must not be * used from within an ISR. */ -#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ -{ \ - if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ - { \ - uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ - } \ - vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ -} + #define prvAddCoRoutineToReadyQueue( pxCRCB ) \ + do { \ + if( ( pxCRCB )->uxPriority > uxTopCoRoutineReadyPriority ) \ + { \ + uxTopCoRoutineReadyPriority = ( pxCRCB )->uxPriority; \ + } \ + vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ ( pxCRCB )->uxPriority ] ), &( ( pxCRCB )->xGenericListItem ) ); \ + } while( 0 ) /* * Utility to ready all the lists used by the scheduler. This is called * automatically upon the creation of the first co-routine. */ -static void prvInitialiseCoRoutineLists( void ); + static void prvInitialiseCoRoutineLists( void ); /* * Co-routines that are readied by an interrupt cannot be placed directly into @@ -85,7 +86,7 @@ static void prvInitialiseCoRoutineLists( void ); * in the pending ready list in order that they can later be moved to the ready * list by the co-routine scheduler. */ -static void prvCheckPendingReadyList( void ); + static void prvCheckPendingReadyList( void ); /* * Macro that looks at the list of co-routines that are currently delayed to @@ -95,259 +96,268 @@ static void prvCheckPendingReadyList( void ); * meaning once one co-routine has been found whose timer has not expired * we need not look any further down the list. */ -static void prvCheckDelayedList( void ); + static void prvCheckDelayedList( void ); /*-----------------------------------------------------------*/ -BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ) -{ -BaseType_t xReturn; -CRCB_t *pxCoRoutine; + BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, + UBaseType_t uxPriority, + UBaseType_t uxIndex ) + { + BaseType_t xReturn; + CRCB_t * pxCoRoutine; - /* Allocate the memory that will store the co-routine control block. */ - pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); - if( pxCoRoutine ) - { - /* If pxCurrentCoRoutine is NULL then this is the first co-routine to - be created and the co-routine data structures need initialising. */ - if( pxCurrentCoRoutine == NULL ) - { - pxCurrentCoRoutine = pxCoRoutine; - prvInitialiseCoRoutineLists(); - } + /* Allocate the memory that will store the co-routine control block. */ + pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) ); - /* Check the priority is within limits. */ - if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) - { - uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; - } + if( pxCoRoutine ) + { + /* If pxCurrentCoRoutine is NULL then this is the first co-routine to + * be created and the co-routine data structures need initialising. */ + if( pxCurrentCoRoutine == NULL ) + { + pxCurrentCoRoutine = pxCoRoutine; + prvInitialiseCoRoutineLists(); + } - /* Fill out the co-routine control block from the function parameters. */ - pxCoRoutine->uxState = corINITIAL_STATE; - pxCoRoutine->uxPriority = uxPriority; - pxCoRoutine->uxIndex = uxIndex; - pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; + /* Check the priority is within limits. */ + if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) + { + uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; + } - /* Initialise all the other co-routine control block parameters. */ - vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); - vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); + /* Fill out the co-routine control block from the function parameters. */ + pxCoRoutine->uxState = corINITIAL_STATE; + pxCoRoutine->uxPriority = uxPriority; + pxCoRoutine->uxIndex = uxIndex; + pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; - /* Set the co-routine control block as a link back from the ListItem_t. - This is so we can get back to the containing CRCB from a generic item - in a list. */ - listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); - listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); + /* Initialise all the other co-routine control block parameters. */ + vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); + vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); - /* Event lists are always in priority order. */ - listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); + /* Set the co-routine control block as a link back from the ListItem_t. + * This is so we can get back to the containing CRCB from a generic item + * in a list. */ + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); - /* Now the co-routine has been initialised it can be added to the ready - list at the correct priority. */ - prvAddCoRoutineToReadyQueue( pxCoRoutine ); + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) ); - xReturn = pdPASS; - } - else - { - xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; - } + /* Now the co-routine has been initialised it can be added to the ready + * list at the correct priority. */ + prvAddCoRoutineToReadyQueue( pxCoRoutine ); - return xReturn; -} + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; + } /*-----------------------------------------------------------*/ -void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) -{ -TickType_t xTimeToWake; + void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, + List_t * pxEventList ) + { + TickType_t xTimeToWake; - /* Calculate the time to wake - this may overflow but this is - not a problem. */ - xTimeToWake = xCoRoutineTickCount + xTicksToDelay; + /* Calculate the time to wake - this may overflow but this is + * not a problem. */ + xTimeToWake = xCoRoutineTickCount + xTicksToDelay; - /* We must remove ourselves from the ready list before adding - ourselves to the blocked list as the same list item is used for - both lists. */ - ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + /* We must remove ourselves from the ready list before adding + * ourselves to the blocked list as the same list item is used for + * both lists. */ + ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - /* The list item will be inserted in wake time order. */ - listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); - if( xTimeToWake < xCoRoutineTickCount ) - { - /* Wake time has overflowed. Place this item in the - overflow list. */ - vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - } - else - { - /* The wake time has not overflowed, so we can use the - current block list. */ - vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); - } + if( xTimeToWake < xCoRoutineTickCount ) + { + /* Wake time has overflowed. Place this item in the + * overflow list. */ + vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + * current block list. */ + vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } - if( pxEventList ) - { - /* Also add the co-routine to an event list. If this is done then the - function must be called with interrupts disabled. */ - vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); - } -} + if( pxEventList ) + { + /* Also add the co-routine to an event list. If this is done then the + * function must be called with interrupts disabled. */ + vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); + } + } /*-----------------------------------------------------------*/ -static void prvCheckPendingReadyList( void ) -{ - /* Are there any co-routines waiting to get moved to the ready list? These - are co-routines that have been readied by an ISR. The ISR cannot access - the ready lists itself. */ - while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) - { - CRCB_t *pxUnblockedCRCB; + static void prvCheckPendingReadyList( void ) + { + /* Are there any co-routines waiting to get moved to the ready list? These + * are co-routines that have been readied by an ISR. The ISR cannot access + * the ready lists itself. */ + while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) + { + CRCB_t * pxUnblockedCRCB; - /* The pending ready list can be accessed by an ISR. */ - portDISABLE_INTERRUPTS(); - { - pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); - ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); - } - portENABLE_INTERRUPTS(); + /* The pending ready list can be accessed by an ISR. */ + portDISABLE_INTERRUPTS(); + { + pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + } + portENABLE_INTERRUPTS(); - ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); - prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); - } -} + ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); + } + } /*-----------------------------------------------------------*/ -static void prvCheckDelayedList( void ) -{ -CRCB_t *pxCRCB; + static void prvCheckDelayedList( void ) + { + CRCB_t * pxCRCB; - xPassedTicks = xTaskGetTickCount() - xLastTickCount; - while( xPassedTicks ) - { - xCoRoutineTickCount++; - xPassedTicks--; + xPassedTicks = xTaskGetTickCount() - xLastTickCount; - /* If the tick count has overflowed we need to swap the ready lists. */ - if( xCoRoutineTickCount == 0 ) - { - List_t * pxTemp; + while( xPassedTicks ) + { + xCoRoutineTickCount++; + xPassedTicks--; - /* Tick count has overflowed so we need to swap the delay lists. If there are - any items in pxDelayedCoRoutineList here then there is an error! */ - pxTemp = pxDelayedCoRoutineList; - pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; - pxOverflowDelayedCoRoutineList = pxTemp; - } + /* If the tick count has overflowed we need to swap the ready lists. */ + if( xCoRoutineTickCount == 0 ) + { + List_t * pxTemp; - /* See if this tick has made a timeout expire. */ - while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) - { - pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); + /* Tick count has overflowed so we need to swap the delay lists. If there are + * any items in pxDelayedCoRoutineList here then there is an error! */ + pxTemp = pxDelayedCoRoutineList; + pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; + pxOverflowDelayedCoRoutineList = pxTemp; + } - if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) - { - /* Timeout not yet expired. */ - break; - } + /* See if this tick has made a timeout expire. */ + while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) + { + pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); - portDISABLE_INTERRUPTS(); - { - /* The event could have occurred just before this critical - section. If this is the case then the generic list item will - have been moved to the pending ready list and the following - line is still valid. Also the pvContainer parameter will have - been set to NULL so the following lines are also valid. */ - ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); + if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) + { + /* Timeout not yet expired. */ + break; + } - /* Is the co-routine waiting on an event also? */ - if( pxCRCB->xEventListItem.pxContainer ) - { - ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); - } - } - portENABLE_INTERRUPTS(); + portDISABLE_INTERRUPTS(); + { + /* The event could have occurred just before this critical + * section. If this is the case then the generic list item will + * have been moved to the pending ready list and the following + * line is still valid. Also the pvContainer parameter will have + * been set to NULL so the following lines are also valid. */ + ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) ); - prvAddCoRoutineToReadyQueue( pxCRCB ); - } - } + /* Is the co-routine waiting on an event also? */ + if( pxCRCB->xEventListItem.pxContainer ) + { + ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); + } + } + portENABLE_INTERRUPTS(); - xLastTickCount = xCoRoutineTickCount; -} + prvAddCoRoutineToReadyQueue( pxCRCB ); + } + } + + xLastTickCount = xCoRoutineTickCount; + } /*-----------------------------------------------------------*/ -void vCoRoutineSchedule( void ) -{ - /* See if any co-routines readied by events need moving to the ready lists. */ - prvCheckPendingReadyList(); + void vCoRoutineSchedule( void ) + { + /* Only run a co-routine after prvInitialiseCoRoutineLists() has been + * called. prvInitialiseCoRoutineLists() is called automatically when a + * co-routine is created. */ + if( pxDelayedCoRoutineList != NULL ) + { + /* See if any co-routines readied by events need moving to the ready lists. */ + prvCheckPendingReadyList(); - /* See if any delayed co-routines have timed out. */ - prvCheckDelayedList(); + /* See if any delayed co-routines have timed out. */ + prvCheckDelayedList(); - /* Find the highest priority queue that contains ready co-routines. */ - while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) - { - if( uxTopCoRoutineReadyPriority == 0 ) - { - /* No more co-routines to check. */ - return; - } - --uxTopCoRoutineReadyPriority; - } + /* Find the highest priority queue that contains ready co-routines. */ + while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) + { + if( uxTopCoRoutineReadyPriority == 0 ) + { + /* No more co-routines to check. */ + return; + } - /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines - of the same priority get an equal share of the processor time. */ - listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); + --uxTopCoRoutineReadyPriority; + } - /* Call the co-routine. */ - ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines + * of the same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); - return; -} + /* Call the co-routine. */ + ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); + } + } /*-----------------------------------------------------------*/ -static void prvInitialiseCoRoutineLists( void ) -{ -UBaseType_t uxPriority; + static void prvInitialiseCoRoutineLists( void ) + { + UBaseType_t uxPriority; - for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) - { - vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); - } + for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); + } - vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); - vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); - vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); + vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 ); + vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 ); + vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList ); - /* Start with pxDelayedCoRoutineList using list1 and the - pxOverflowDelayedCoRoutineList using list2. */ - pxDelayedCoRoutineList = &xDelayedCoRoutineList1; - pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; -} + /* Start with pxDelayedCoRoutineList using list1 and the + * pxOverflowDelayedCoRoutineList using list2. */ + pxDelayedCoRoutineList = &xDelayedCoRoutineList1; + pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; + } /*-----------------------------------------------------------*/ -BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ) -{ -CRCB_t *pxUnblockedCRCB; -BaseType_t xReturn; + BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ) + { + CRCB_t * pxUnblockedCRCB; + BaseType_t xReturn; - /* This function is called from within an interrupt. It can only access - event lists and the pending ready list. This function assumes that a - check has already been made to ensure pxEventList is not empty. */ - pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); - vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); + /* This function is called from within an interrupt. It can only access + * event lists and the pending ready list. This function assumes that a + * check has already been made to ensure pxEventList is not empty. */ + pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); - if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) - { - xReturn = pdTRUE; - } - else - { - xReturn = pdFALSE; - } + if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } - return xReturn; -} + return xReturn; + } #endif /* configUSE_CO_ROUTINES == 0 */ - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c b/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c index bf4ec24..e337f13 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c +++ b/Middlewares/Third_Party/FreeRTOS/Source/event_groups.c @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,18 +21,17 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /* Standard includes. */ #include /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining -all the API functions to use the MPU wrappers. That should only be done when -task.h is included from an application file. */ + * all the API functions to use the MPU wrappers. That should only be done when + * task.h is included from an application file. */ #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE /* FreeRTOS includes. */ @@ -40,38 +41,23 @@ task.h is included from an application file. */ #include "event_groups.h" /* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified -because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined -for the header files above, but not in this file, in order to generate the -correct privileged Vs unprivileged linkage and placement. */ + * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined + * for the header files above, but not in this file, in order to generate the + * correct privileged Vs unprivileged linkage and placement. */ #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021 See comment above. */ -/* The following bit fields convey control information in a task's event list -item value. It is important they don't clash with the -taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */ -#if configUSE_16_BIT_TICKS == 1 - #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U - #define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U - #define eventWAIT_FOR_ALL_BITS 0x0400U - #define eventEVENT_BITS_CONTROL_BYTES 0xff00U -#else - #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL - #define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL - #define eventWAIT_FOR_ALL_BITS 0x04000000UL - #define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL -#endif - typedef struct EventGroupDef_t { - EventBits_t uxEventBits; - List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */ + EventBits_t uxEventBits; + List_t xTasksWaitingForBits; /**< List of tasks waiting for a bit to be set. */ - #if( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxEventGroupNumber; - #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxEventGroupNumber; + #endif - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */ - #endif + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucStaticallyAllocated; /**< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */ + #endif } EventGroup_t; /*-----------------------------------------------------------*/ @@ -84,670 +70,730 @@ typedef struct EventGroupDef_t * wait condition is met if any of the bits set in uxBitsToWait for are also set * in uxCurrentEventBits. */ -static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION; +static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION; /*-----------------------------------------------------------*/ -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) - { - EventGroup_t *pxEventBits; + EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) + { + EventGroup_t * pxEventBits; - /* A StaticEventGroup_t object must be provided. */ - configASSERT( pxEventGroupBuffer ); + /* 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 ) ); - } /*lint !e529 xSize is referenced if configASSERT() is defined. */ - #endif /* configASSERT_DEFINED */ + #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 ) ); + } /*lint !e529 xSize is referenced if configASSERT() is defined. */ + #endif /* configASSERT_DEFINED */ - /* The user has provided a statically allocated event group - use it. */ - pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */ + /* The user has provided a statically allocated event group - use it. */ + pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */ - if( pxEventBits != NULL ) - { - pxEventBits->uxEventBits = 0; - vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); + if( pxEventBits != NULL ) + { + pxEventBits->uxEventBits = 0; + vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); - #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - { - /* Both static and dynamic allocation can be used, so note that - this event group was created statically in case the event group - is later deleted. */ - pxEventBits->ucStaticallyAllocated = pdTRUE; - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Both static and dynamic allocation can be used, so note that + * this event group was created statically in case the event group + * is later deleted. */ + pxEventBits->ucStaticallyAllocated = pdTRUE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - traceEVENT_GROUP_CREATE( pxEventBits ); - } - else - { - /* xEventGroupCreateStatic should only ever be called with - pxEventGroupBuffer pointing to a pre-allocated (compile time - allocated) StaticEventGroup_t variable. */ - traceEVENT_GROUP_CREATE_FAILED(); - } + traceEVENT_GROUP_CREATE( pxEventBits ); + } + else + { + /* xEventGroupCreateStatic should only ever be called with + * pxEventGroupBuffer pointing to a pre-allocated (compile time + * allocated) StaticEventGroup_t variable. */ + traceEVENT_GROUP_CREATE_FAILED(); + } - return pxEventBits; - } + return pxEventBits; + } #endif /* configSUPPORT_STATIC_ALLOCATION */ /*-----------------------------------------------------------*/ -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreate( void ) - { - EventGroup_t *pxEventBits; + EventGroupHandle_t xEventGroupCreate( void ) + { + EventGroup_t * pxEventBits; - /* Allocate the event group. Justification for MISRA deviation as - follows: pvPortMalloc() always ensures returned memory blocks are - aligned per the requirements of the MCU stack. In this case - pvPortMalloc() must return a pointer that is guaranteed to meet the - alignment requirements of the EventGroup_t structure - which (if you - follow it through) is the alignment requirements of the TickType_t type - (EventBits_t being of TickType_t itself). Therefore, whenever the - stack alignment requirements are greater than or equal to the - TickType_t alignment requirements the cast is safe. In other cases, - where the natural word size of the architecture is less than - sizeof( TickType_t ), the TickType_t variables will be accessed in two - or more reads operations, and the alignment requirements is only that - of each individual read. */ - pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */ + /* Allocate the event group. Justification for MISRA deviation as + * follows: pvPortMalloc() always ensures returned memory blocks are + * aligned per the requirements of the MCU stack. In this case + * pvPortMalloc() must return a pointer that is guaranteed to meet the + * alignment requirements of the EventGroup_t structure - which (if you + * follow it through) is the alignment requirements of the TickType_t type + * (EventBits_t being of TickType_t itself). Therefore, whenever the + * stack alignment requirements are greater than or equal to the + * TickType_t alignment requirements the cast is safe. In other cases, + * where the natural word size of the architecture is less than + * sizeof( TickType_t ), the TickType_t variables will be accessed in two + * or more reads operations, and the alignment requirements is only that + * of each individual read. */ + pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */ - if( pxEventBits != NULL ) - { - pxEventBits->uxEventBits = 0; - vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); + if( pxEventBits != NULL ) + { + pxEventBits->uxEventBits = 0; + vListInitialise( &( pxEventBits->xTasksWaitingForBits ) ); - #if( configSUPPORT_STATIC_ALLOCATION == 1 ) - { - /* Both static and dynamic allocation can be used, so note this - event group was allocated statically in case the event group is - later deleted. */ - pxEventBits->ucStaticallyAllocated = pdFALSE; - } - #endif /* configSUPPORT_STATIC_ALLOCATION */ + #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + { + /* Both static and dynamic allocation can be used, so note this + * event group was allocated statically in case the event group is + * later deleted. */ + pxEventBits->ucStaticallyAllocated = pdFALSE; + } + #endif /* configSUPPORT_STATIC_ALLOCATION */ - traceEVENT_GROUP_CREATE( pxEventBits ); - } - else - { - traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */ - } + traceEVENT_GROUP_CREATE( pxEventBits ); + } + else + { + traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */ + } - return pxEventBits; - } + return pxEventBits; + } #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ /*-----------------------------------------------------------*/ -EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) +EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) { -EventBits_t uxOriginalBitValue, uxReturn; -EventGroup_t *pxEventBits = xEventGroup; -BaseType_t xAlreadyYielded; -BaseType_t xTimeoutOccurred = pdFALSE; + EventBits_t uxOriginalBitValue, uxReturn; + EventGroup_t * pxEventBits = xEventGroup; + BaseType_t xAlreadyYielded; + BaseType_t xTimeoutOccurred = pdFALSE; - configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); - configASSERT( uxBitsToWaitFor != 0 ); - #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - { - configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); - } - #endif + configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + configASSERT( uxBitsToWaitFor != 0 ); + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif - vTaskSuspendAll(); - { - uxOriginalBitValue = pxEventBits->uxEventBits; + vTaskSuspendAll(); + { + uxOriginalBitValue = pxEventBits->uxEventBits; - ( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet ); + ( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet ); - if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor ) - { - /* All the rendezvous bits are now set - no need to block. */ - uxReturn = ( uxOriginalBitValue | uxBitsToSet ); + if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + /* All the rendezvous bits are now set - no need to block. */ + uxReturn = ( uxOriginalBitValue | uxBitsToSet ); - /* Rendezvous always clear the bits. They will have been cleared - already unless this is the only task in the rendezvous. */ - pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + /* Rendezvous always clear the bits. They will have been cleared + * already unless this is the only task in the rendezvous. */ + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; - xTicksToWait = 0; - } - else - { - if( xTicksToWait != ( TickType_t ) 0 ) - { - traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ); + xTicksToWait = 0; + } + else + { + if( xTicksToWait != ( TickType_t ) 0 ) + { + traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ); - /* Store the bits that the calling task is waiting for in the - task's event list item so the kernel knows when a match is - found. Then enter the blocked state. */ - vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait ); + /* Store the bits that the calling task is waiting for in the + * task's event list item so the kernel knows when a match is + * found. Then enter the blocked state. */ + vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait ); - /* This assignment is obsolete as uxReturn will get set after - the task unblocks, but some compilers mistakenly generate a - warning about uxReturn being returned without being set if the - assignment is omitted. */ - uxReturn = 0; - } - else - { - /* The rendezvous bits were not set, but no block time was - specified - just return the current event bit value. */ - uxReturn = pxEventBits->uxEventBits; - xTimeoutOccurred = pdTRUE; - } - } - } - xAlreadyYielded = xTaskResumeAll(); + /* This assignment is obsolete as uxReturn will get set after + * the task unblocks, but some compilers mistakenly generate a + * warning about uxReturn being returned without being set if the + * assignment is omitted. */ + uxReturn = 0; + } + else + { + /* The rendezvous bits were not set, but no block time was + * specified - just return the current event bit value. */ + uxReturn = pxEventBits->uxEventBits; + xTimeoutOccurred = pdTRUE; + } + } + } + xAlreadyYielded = xTaskResumeAll(); - if( xTicksToWait != ( TickType_t ) 0 ) - { - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + if( xTicksToWait != ( TickType_t ) 0 ) + { + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* The task blocked to wait for its required bits to be set - at this - point either the required bits were set or the block time expired. If - the required bits were set they will have been stored in the task's - event list item, and they should now be retrieved then cleared. */ - uxReturn = uxTaskResetEventItemValue(); + /* The task blocked to wait for its required bits to be set - at this + * point either the required bits were set or the block time expired. If + * the required bits were set they will have been stored in the task's + * event list item, and they should now be retrieved then cleared. */ + uxReturn = uxTaskResetEventItemValue(); - if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) - { - /* The task timed out, just return the current event bit value. */ - taskENTER_CRITICAL(); - { - uxReturn = pxEventBits->uxEventBits; + if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) + { + /* The task timed out, just return the current event bit value. */ + taskENTER_CRITICAL(); + { + uxReturn = pxEventBits->uxEventBits; - /* Although the task got here because it timed out before the - bits it was waiting for were set, it is possible that since it - unblocked another task has set the bits. If this is the case - then it needs to clear the bits before exiting. */ - if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor ) - { - pxEventBits->uxEventBits &= ~uxBitsToWaitFor; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - taskEXIT_CRITICAL(); + /* Although the task got here because it timed out before the + * bits it was waiting for were set, it is possible that since it + * unblocked another task has set the bits. If this is the case + * then it needs to clear the bits before exiting. */ + if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + taskEXIT_CRITICAL(); - xTimeoutOccurred = pdTRUE; - } - else - { - /* The task unblocked because the bits were set. */ - } + xTimeoutOccurred = pdTRUE; + } + else + { + /* The task unblocked because the bits were set. */ + } - /* Control bits might be set as the task had blocked should not be - returned. */ - uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; - } + /* Control bits might be set as the task had blocked should not be + * returned. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + } - traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ); + traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ); - /* Prevent compiler warnings when trace macros are not used. */ - ( void ) xTimeoutOccurred; + /* Prevent compiler warnings when trace macros are not used. */ + ( void ) xTimeoutOccurred; - return uxReturn; + return uxReturn; } /*-----------------------------------------------------------*/ -EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) +EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) { -EventGroup_t *pxEventBits = xEventGroup; -EventBits_t uxReturn, uxControlBits = 0; -BaseType_t xWaitConditionMet, xAlreadyYielded; -BaseType_t xTimeoutOccurred = pdFALSE; + EventGroup_t * pxEventBits = xEventGroup; + EventBits_t uxReturn, uxControlBits = 0; + BaseType_t xWaitConditionMet, xAlreadyYielded; + BaseType_t xTimeoutOccurred = pdFALSE; - /* Check the user is not attempting to wait on the bits used by the kernel - itself, and that at least one bit is being requested. */ - configASSERT( xEventGroup ); - configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); - configASSERT( uxBitsToWaitFor != 0 ); - #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) - { - configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); - } - #endif + /* Check the user is not attempting to wait on the bits used by the kernel + * itself, and that at least one bit is being requested. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + configASSERT( uxBitsToWaitFor != 0 ); + #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) + { + configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) ); + } + #endif - vTaskSuspendAll(); - { - const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits; + vTaskSuspendAll(); + { + const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits; - /* Check to see if the wait condition is already met or not. */ - xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits ); + /* Check to see if the wait condition is already met or not. */ + xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits ); - if( xWaitConditionMet != pdFALSE ) - { - /* The wait condition has already been met so there is no need to - block. */ - uxReturn = uxCurrentEventBits; - xTicksToWait = ( TickType_t ) 0; + if( xWaitConditionMet != pdFALSE ) + { + /* The wait condition has already been met so there is no need to + * block. */ + uxReturn = uxCurrentEventBits; + xTicksToWait = ( TickType_t ) 0; - /* Clear the wait bits if requested to do so. */ - if( xClearOnExit != pdFALSE ) - { - pxEventBits->uxEventBits &= ~uxBitsToWaitFor; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else if( xTicksToWait == ( TickType_t ) 0 ) - { - /* The wait condition has not been met, but no block time was - specified, so just return the current value. */ - uxReturn = uxCurrentEventBits; - xTimeoutOccurred = pdTRUE; - } - else - { - /* The task is going to block to wait for its required bits to be - set. uxControlBits are used to remember the specified behaviour of - this call to xEventGroupWaitBits() - for use when the event bits - unblock the task. */ - if( xClearOnExit != pdFALSE ) - { - uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + /* Clear the wait bits if requested to do so. */ + if( xClearOnExit != pdFALSE ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( xTicksToWait == ( TickType_t ) 0 ) + { + /* The wait condition has not been met, but no block time was + * specified, so just return the current value. */ + uxReturn = uxCurrentEventBits; + xTimeoutOccurred = pdTRUE; + } + else + { + /* The task is going to block to wait for its required bits to be + * set. uxControlBits are used to remember the specified behaviour of + * this call to xEventGroupWaitBits() - for use when the event bits + * unblock the task. */ + if( xClearOnExit != pdFALSE ) + { + uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - if( xWaitForAllBits != pdFALSE ) - { - uxControlBits |= eventWAIT_FOR_ALL_BITS; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + if( xWaitForAllBits != pdFALSE ) + { + uxControlBits |= eventWAIT_FOR_ALL_BITS; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* Store the bits that the calling task is waiting for in the - task's event list item so the kernel knows when a match is - found. Then enter the blocked state. */ - vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait ); + /* Store the bits that the calling task is waiting for in the + * task's event list item so the kernel knows when a match is + * found. Then enter the blocked state. */ + vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait ); - /* This is obsolete as it will get set after the task unblocks, but - some compilers mistakenly generate a warning about the variable - being returned without being set if it is not done. */ - uxReturn = 0; + /* This is obsolete as it will get set after the task unblocks, but + * some compilers mistakenly generate a warning about the variable + * being returned without being set if it is not done. */ + uxReturn = 0; - traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ); - } - } - xAlreadyYielded = xTaskResumeAll(); + traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ); + } + } + xAlreadyYielded = xTaskResumeAll(); - if( xTicksToWait != ( TickType_t ) 0 ) - { - if( xAlreadyYielded == pdFALSE ) - { - portYIELD_WITHIN_API(); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + if( xTicksToWait != ( TickType_t ) 0 ) + { + if( xAlreadyYielded == pdFALSE ) + { + portYIELD_WITHIN_API(); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* The task blocked to wait for its required bits to be set - at this - point either the required bits were set or the block time expired. If - the required bits were set they will have been stored in the task's - event list item, and they should now be retrieved then cleared. */ - uxReturn = uxTaskResetEventItemValue(); + /* The task blocked to wait for its required bits to be set - at this + * point either the required bits were set or the block time expired. If + * the required bits were set they will have been stored in the task's + * event list item, and they should now be retrieved then cleared. */ + uxReturn = uxTaskResetEventItemValue(); - if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) - { - taskENTER_CRITICAL(); - { - /* The task timed out, just return the current event bit value. */ - uxReturn = pxEventBits->uxEventBits; + if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 ) + { + taskENTER_CRITICAL(); + { + /* The task timed out, just return the current event bit value. */ + uxReturn = pxEventBits->uxEventBits; - /* It is possible that the event bits were updated between this - task leaving the Blocked state and running again. */ - if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE ) - { - if( xClearOnExit != pdFALSE ) - { - pxEventBits->uxEventBits &= ~uxBitsToWaitFor; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - xTimeoutOccurred = pdTRUE; - } - taskEXIT_CRITICAL(); - } - else - { - /* The task unblocked because the bits were set. */ - } + /* It is possible that the event bits were updated between this + * task leaving the Blocked state and running again. */ + if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE ) + { + if( xClearOnExit != pdFALSE ) + { + pxEventBits->uxEventBits &= ~uxBitsToWaitFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* The task blocked so control bits may have been set. */ - uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; - } - traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ); + xTimeoutOccurred = pdTRUE; + } + taskEXIT_CRITICAL(); + } + else + { + /* The task unblocked because the bits were set. */ + } - /* Prevent compiler warnings when trace macros are not used. */ - ( void ) xTimeoutOccurred; + /* The task blocked so control bits may have been set. */ + uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES; + } - return uxReturn; + traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ); + + /* Prevent compiler warnings when trace macros are not used. */ + ( void ) xTimeoutOccurred; + + return uxReturn; } /*-----------------------------------------------------------*/ -EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) +EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) { -EventGroup_t *pxEventBits = xEventGroup; -EventBits_t uxReturn; + EventGroup_t * pxEventBits = xEventGroup; + EventBits_t uxReturn; - /* Check the user is not attempting to clear the bits used by the kernel - itself. */ - configASSERT( xEventGroup ); - configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + /* Check the user is not attempting to clear the bits used by the kernel + * itself. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); - taskENTER_CRITICAL(); - { - traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ); + taskENTER_CRITICAL(); + { + traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ); - /* The value returned is the event group value prior to the bits being - cleared. */ - uxReturn = pxEventBits->uxEventBits; + /* The value returned is the event group value prior to the bits being + * cleared. */ + uxReturn = pxEventBits->uxEventBits; - /* Clear the bits. */ - pxEventBits->uxEventBits &= ~uxBitsToClear; - } - taskEXIT_CRITICAL(); + /* Clear the bits. */ + pxEventBits->uxEventBits &= ~uxBitsToClear; + } + taskEXIT_CRITICAL(); - return uxReturn; + return uxReturn; } /*-----------------------------------------------------------*/ #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) - BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) - { - BaseType_t xReturn; + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) + { + BaseType_t xReturn; - traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ); - xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ + traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ); + xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ - return xReturn; - } + return xReturn; + } -#endif +#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */ /*-----------------------------------------------------------*/ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) { -UBaseType_t uxSavedInterruptStatus; -EventGroup_t const * const pxEventBits = xEventGroup; -EventBits_t uxReturn; + UBaseType_t uxSavedInterruptStatus; + EventGroup_t const * const pxEventBits = xEventGroup; + EventBits_t uxReturn; - uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); - { - uxReturn = pxEventBits->uxEventBits; - } - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); + uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR(); + { + uxReturn = pxEventBits->uxEventBits; + } + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); - return uxReturn; + return uxReturn; } /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */ /*-----------------------------------------------------------*/ -EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) +EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) { -ListItem_t *pxListItem, *pxNext; -ListItem_t const *pxListEnd; -List_t const * pxList; -EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits; -EventGroup_t *pxEventBits = xEventGroup; -BaseType_t xMatchFound = pdFALSE; + ListItem_t * pxListItem; + ListItem_t * pxNext; + ListItem_t const * pxListEnd; + List_t const * pxList; + EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits; + EventGroup_t * pxEventBits = xEventGroup; + BaseType_t xMatchFound = pdFALSE; - /* Check the user is not attempting to set the bits used by the kernel - itself. */ - configASSERT( xEventGroup ); - configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); + /* Check the user is not attempting to set the bits used by the kernel + * itself. */ + configASSERT( xEventGroup ); + configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 ); - pxList = &( pxEventBits->xTasksWaitingForBits ); - pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ - vTaskSuspendAll(); - { - traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ); + pxList = &( pxEventBits->xTasksWaitingForBits ); + pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */ + vTaskSuspendAll(); + { + traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ); - pxListItem = listGET_HEAD_ENTRY( pxList ); + pxListItem = listGET_HEAD_ENTRY( pxList ); - /* Set the bits. */ - pxEventBits->uxEventBits |= uxBitsToSet; + /* Set the bits. */ + pxEventBits->uxEventBits |= uxBitsToSet; - /* See if the new bit value should unblock any tasks. */ - while( pxListItem != pxListEnd ) - { - pxNext = listGET_NEXT( pxListItem ); - uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem ); - xMatchFound = pdFALSE; + /* See if the new bit value should unblock any tasks. */ + while( pxListItem != pxListEnd ) + { + pxNext = listGET_NEXT( pxListItem ); + uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem ); + xMatchFound = pdFALSE; - /* Split the bits waited for from the control bits. */ - uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES; - uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES; + /* Split the bits waited for from the control bits. */ + uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES; + uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES; - if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 ) - { - /* Just looking for single bit being set. */ - if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 ) - { - xMatchFound = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor ) - { - /* All bits are set. */ - xMatchFound = pdTRUE; - } - else - { - /* Need all bits to be set, but not all the bits were set. */ - } + if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 ) + { + /* Just looking for single bit being set. */ + if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 ) + { + xMatchFound = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor ) + { + /* All bits are set. */ + xMatchFound = pdTRUE; + } + else + { + /* Need all bits to be set, but not all the bits were set. */ + } - if( xMatchFound != pdFALSE ) - { - /* The bits match. Should the bits be cleared on exit? */ - if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 ) - { - uxBitsToClear |= uxBitsWaitedFor; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } + if( xMatchFound != pdFALSE ) + { + /* The bits match. Should the bits be cleared on exit? */ + if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 ) + { + uxBitsToClear |= uxBitsWaitedFor; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } - /* Store the actual event flag value in the task's event list - item before removing the task from the event list. The - eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows - that is was unblocked due to its required bits matching, rather - than because it timed out. */ - vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET ); - } + /* Store the actual event flag value in the task's event list + * item before removing the task from the event list. The + * eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows + * that is was unblocked due to its required bits matching, rather + * than because it timed out. */ + vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET ); + } - /* Move onto the next list item. Note pxListItem->pxNext is not - used here as the list item may have been removed from the event list - and inserted into the ready/pending reading list. */ - pxListItem = pxNext; - } + /* Move onto the next list item. Note pxListItem->pxNext is not + * used here as the list item may have been removed from the event list + * and inserted into the ready/pending reading list. */ + pxListItem = pxNext; + } - /* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT - bit was set in the control word. */ - pxEventBits->uxEventBits &= ~uxBitsToClear; - } - ( void ) xTaskResumeAll(); + /* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT + * bit was set in the control word. */ + pxEventBits->uxEventBits &= ~uxBitsToClear; + } + ( void ) xTaskResumeAll(); - return pxEventBits->uxEventBits; + return pxEventBits->uxEventBits; } /*-----------------------------------------------------------*/ void vEventGroupDelete( EventGroupHandle_t xEventGroup ) { -EventGroup_t *pxEventBits = xEventGroup; -const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits ); + EventGroup_t * pxEventBits = xEventGroup; + const List_t * pxTasksWaitingForBits; - vTaskSuspendAll(); - { - traceEVENT_GROUP_DELETE( xEventGroup ); + configASSERT( pxEventBits ); - while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 ) - { - /* Unblock the task, returning 0 as the event list is being deleted - and cannot therefore have any bits set. */ - configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) ); - vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET ); - } + pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits ); - #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) - { - /* The event group can only have been allocated dynamically - free - it again. */ - vPortFree( pxEventBits ); - } - #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) - { - /* The event group could have been allocated statically or - dynamically, so check before attempting to free the memory. */ - if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) - { - vPortFree( pxEventBits ); - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ - } - ( void ) xTaskResumeAll(); + vTaskSuspendAll(); + { + traceEVENT_GROUP_DELETE( xEventGroup ); + + while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 ) + { + /* Unblock the task, returning 0 as the event list is being deleted + * and cannot therefore have any bits set. */ + configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) ); + vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET ); + } + } + ( void ) xTaskResumeAll(); + + #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) + { + /* The event group can only have been allocated dynamically - free + * it again. */ + vPortFree( pxEventBits ); + } + #elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) + { + /* The event group could have been allocated statically or + * dynamically, so check before attempting to free the memory. */ + if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE ) + { + vPortFree( pxEventBits ); + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ } /*-----------------------------------------------------------*/ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + BaseType_t xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup, + StaticEventGroup_t ** ppxEventGroupBuffer ) + { + BaseType_t xReturn; + EventGroup_t * pxEventBits = xEventGroup; + + configASSERT( pxEventBits ); + configASSERT( ppxEventGroupBuffer ); + + #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + { + /* Check if the event group was statically allocated. */ + if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdTRUE ) + { + *ppxEventGroupBuffer = ( StaticEventGroup_t * ) pxEventBits; + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + } + #else /* configSUPPORT_DYNAMIC_ALLOCATION */ + { + /* Event group must have been statically allocated. */ + *ppxEventGroupBuffer = ( StaticEventGroup_t * ) pxEventBits; + xReturn = pdTRUE; + } + #endif /* configSUPPORT_DYNAMIC_ALLOCATION */ + + return xReturn; + } +#endif /* configSUPPORT_STATIC_ALLOCATION */ +/*-----------------------------------------------------------*/ + /* For internal use only - execute a 'set bits' command that was pended from -an interrupt. */ -void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) + * an interrupt. */ +void vEventGroupSetBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToSet ) { - ( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ + ( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ } /*-----------------------------------------------------------*/ /* For internal use only - execute a 'clear bits' command that was pended from -an interrupt. */ -void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) + * an interrupt. */ +void vEventGroupClearBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToClear ) { - ( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ + ( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */ } /*-----------------------------------------------------------*/ -static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) +static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xWaitForAllBits ) { -BaseType_t xWaitConditionMet = pdFALSE; + BaseType_t xWaitConditionMet = pdFALSE; - if( xWaitForAllBits == pdFALSE ) - { - /* Task only has to wait for one bit within uxBitsToWaitFor to be - set. Is one already set? */ - if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 ) - { - xWaitConditionMet = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } - else - { - /* Task has to wait for all the bits in uxBitsToWaitFor to be set. - Are they set already? */ - if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor ) - { - xWaitConditionMet = pdTRUE; - } - else - { - mtCOVERAGE_TEST_MARKER(); - } - } + if( xWaitForAllBits == pdFALSE ) + { + /* Task only has to wait for one bit within uxBitsToWaitFor to be + * set. Is one already set? */ + if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 ) + { + xWaitConditionMet = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } + else + { + /* Task has to wait for all the bits in uxBitsToWaitFor to be set. + * Are they set already? */ + if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor ) + { + xWaitConditionMet = pdTRUE; + } + else + { + mtCOVERAGE_TEST_MARKER(); + } + } - return xWaitConditionMet; + return xWaitConditionMet; } /*-----------------------------------------------------------*/ #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) - BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) - { - BaseType_t xReturn; + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + BaseType_t * pxHigherPriorityTaskWoken ) + { + BaseType_t xReturn; - traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ); - xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ + traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ); + xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */ - return xReturn; - } + return xReturn; + } -#endif +#endif /* if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */ /*-----------------------------------------------------------*/ -#if (configUSE_TRACE_FACILITY == 1) +#if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) - { - UBaseType_t xReturn; - EventGroup_t const *pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ + UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) + { + UBaseType_t xReturn; + EventGroup_t const * pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ - if( xEventGroup == NULL ) - { - xReturn = 0; - } - else - { - xReturn = pxEventBits->uxEventGroupNumber; - } + if( xEventGroup == NULL ) + { + xReturn = 0; + } + else + { + xReturn = pxEventBits->uxEventGroupNumber; + } - return xReturn; - } + return xReturn; + } #endif /* configUSE_TRACE_FACILITY */ /*-----------------------------------------------------------*/ #if ( configUSE_TRACE_FACILITY == 1 ) - void vEventGroupSetNumber( void * xEventGroup, UBaseType_t uxEventGroupNumber ) - { - ( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ - } + void vEventGroupSetNumber( void * xEventGroup, + UBaseType_t uxEventGroupNumber ) + { + ( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */ + } #endif /* configUSE_TRACE_FACILITY */ /*-----------------------------------------------------------*/ - - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h b/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h index ceb469a..4a19f93 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef INC_FREERTOS_H @@ -48,13 +49,48 @@ */ #include /* READ COMMENT ABOVE. */ +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ + +/* Acceptable values for configTICK_TYPE_WIDTH_IN_BITS. */ +#define TICK_TYPE_WIDTH_16_BITS 0 +#define TICK_TYPE_WIDTH_32_BITS 1 +#define TICK_TYPE_WIDTH_64_BITS 2 /* Application specific configuration options. */ #include "FreeRTOSConfig.h" +#if !defined( configUSE_16_BIT_TICKS ) && !defined( configTICK_TYPE_WIDTH_IN_BITS ) + #error Missing definition: One of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#if defined( configUSE_16_BIT_TICKS ) && defined( configTICK_TYPE_WIDTH_IN_BITS ) + #error Only one of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +/* Define configTICK_TYPE_WIDTH_IN_BITS according to the + * value of configUSE_16_BIT_TICKS for backward compatibility. */ +#ifndef configTICK_TYPE_WIDTH_IN_BITS + #if ( configUSE_16_BIT_TICKS == 1 ) + #define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_16_BITS + #else + #define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS + #endif +#endif + +/* Set configUSE_MPU_WRAPPERS_V1 to 1 to use MPU wrappers v1. */ +#ifndef configUSE_MPU_WRAPPERS_V1 + #define configUSE_MPU_WRAPPERS_V1 0 +#endif + +/* Set configENABLE_ACCESS_CONTROL_LIST to 1 to enable access control list support. */ +#ifndef configENABLE_ACCESS_CONTROL_LIST + #define configENABLE_ACCESS_CONTROL_LIST 0 +#endif + /* Basic FreeRTOS definitions. */ #include "projdefs.h" @@ -63,13 +99,50 @@ extern "C" { /* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */ #ifndef configUSE_NEWLIB_REENTRANT - #define configUSE_NEWLIB_REENTRANT 0 + #define configUSE_NEWLIB_REENTRANT 0 #endif /* Required if struct _reent is used. */ #if ( configUSE_NEWLIB_REENTRANT == 1 ) - #include + + #include "newlib-freertos.h" + +#endif /* if ( configUSE_NEWLIB_REENTRANT == 1 ) */ + +/* Must be defaulted before configUSE_PICOLIBC_TLS is used below. */ +#ifndef configUSE_PICOLIBC_TLS + #define configUSE_PICOLIBC_TLS 0 #endif + +#if ( configUSE_PICOLIBC_TLS == 1 ) + + #include "picolibc-freertos.h" + +#endif /* if ( configUSE_PICOLIBC_TLS == 1 ) */ + +#ifndef configUSE_C_RUNTIME_TLS_SUPPORT + #define configUSE_C_RUNTIME_TLS_SUPPORT 0 +#endif + +#if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 ) + + #ifndef configTLS_BLOCK_TYPE + #error Missing definition: configTLS_BLOCK_TYPE must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1. + #endif + + #ifndef configINIT_TLS_BLOCK + #error Missing definition: configINIT_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1. + #endif + + #ifndef configSET_TLS_BLOCK + #error Missing definition: configSET_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1. + #endif + + #ifndef configDEINIT_TLS_BLOCK + #error Missing definition: configDEINIT_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1. + #endif +#endif /* if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 ) */ + /* * Check all the required application specific macros have been defined. * These macros are application specific and (as downloaded) are defined @@ -77,495 +150,537 @@ extern "C" { */ #ifndef configMINIMAL_STACK_SIZE - #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value. + #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value. #endif #ifndef configMAX_PRIORITIES - #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. #endif #if configMAX_PRIORITIES < 1 - #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. + #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. #endif #ifndef configUSE_PREEMPTION - #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_IDLE_HOOK - #error Missing definition: configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_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 #ifndef configUSE_TICK_HOOK - #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif -#ifndef configUSE_16_BIT_TICKS - #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#if ( ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_16_BITS ) && \ + ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_32_BITS ) && \ + ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_64_BITS ) ) + #error Macro configTICK_TYPE_WIDTH_IN_BITS is defined to incorrect value. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_CO_ROUTINES - #define configUSE_CO_ROUTINES 0 + #define configUSE_CO_ROUTINES 0 #endif #ifndef INCLUDE_vTaskPrioritySet - #define INCLUDE_vTaskPrioritySet 0 + #define INCLUDE_vTaskPrioritySet 0 #endif #ifndef INCLUDE_uxTaskPriorityGet - #define INCLUDE_uxTaskPriorityGet 0 + #define INCLUDE_uxTaskPriorityGet 0 #endif #ifndef INCLUDE_vTaskDelete - #define INCLUDE_vTaskDelete 0 + #define INCLUDE_vTaskDelete 0 #endif #ifndef INCLUDE_vTaskSuspend - #define INCLUDE_vTaskSuspend 0 + #define INCLUDE_vTaskSuspend 0 #endif -#ifndef INCLUDE_vTaskDelayUntil - #define INCLUDE_vTaskDelayUntil 0 +#ifdef INCLUDE_xTaskDelayUntil + #ifdef INCLUDE_vTaskDelayUntil + +/* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil. Backward + * compatibility is maintained if only one or the other is defined, but + * there is a conflict if both are defined. */ + #error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined. INCLUDE_vTaskDelayUntil is no longer required and should be removed + #endif +#endif + +#ifndef INCLUDE_xTaskDelayUntil + #ifdef INCLUDE_vTaskDelayUntil + +/* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then + * the project's FreeRTOSConfig.h probably pre-dates the introduction of + * xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever + * INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility. + */ + #define INCLUDE_xTaskDelayUntil INCLUDE_vTaskDelayUntil + #endif +#endif + +#ifndef INCLUDE_xTaskDelayUntil + #define INCLUDE_xTaskDelayUntil 0 #endif #ifndef INCLUDE_vTaskDelay - #define INCLUDE_vTaskDelay 0 + #define INCLUDE_vTaskDelay 0 #endif #ifndef INCLUDE_xTaskGetIdleTaskHandle - #define INCLUDE_xTaskGetIdleTaskHandle 0 + #define INCLUDE_xTaskGetIdleTaskHandle 0 #endif #ifndef INCLUDE_xTaskAbortDelay - #define INCLUDE_xTaskAbortDelay 0 + #define INCLUDE_xTaskAbortDelay 0 #endif #ifndef INCLUDE_xQueueGetMutexHolder - #define INCLUDE_xQueueGetMutexHolder 0 + #define INCLUDE_xQueueGetMutexHolder 0 #endif #ifndef INCLUDE_xSemaphoreGetMutexHolder - #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder #endif #ifndef INCLUDE_xTaskGetHandle - #define INCLUDE_xTaskGetHandle 0 + #define INCLUDE_xTaskGetHandle 0 #endif #ifndef INCLUDE_uxTaskGetStackHighWaterMark - #define INCLUDE_uxTaskGetStackHighWaterMark 0 + #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif #ifndef INCLUDE_uxTaskGetStackHighWaterMark2 - #define INCLUDE_uxTaskGetStackHighWaterMark2 0 + #define INCLUDE_uxTaskGetStackHighWaterMark2 0 #endif #ifndef INCLUDE_eTaskGetState - #define INCLUDE_eTaskGetState 0 + #define INCLUDE_eTaskGetState 0 #endif #ifndef INCLUDE_xTaskResumeFromISR - #define INCLUDE_xTaskResumeFromISR 1 + #define INCLUDE_xTaskResumeFromISR 1 #endif #ifndef INCLUDE_xTimerPendFunctionCall - #define INCLUDE_xTimerPendFunctionCall 0 + #define INCLUDE_xTimerPendFunctionCall 0 #endif #ifndef INCLUDE_xTaskGetSchedulerState - #define INCLUDE_xTaskGetSchedulerState 0 + #define INCLUDE_xTaskGetSchedulerState 0 #endif #ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 + #define INCLUDE_xTaskGetCurrentTaskHandle 1 #endif #if configUSE_CO_ROUTINES != 0 - #ifndef configMAX_CO_ROUTINE_PRIORITIES - #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. - #endif + #ifndef configMAX_CO_ROUTINE_PRIORITIES + #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. + #endif #endif #ifndef configUSE_DAEMON_TASK_STARTUP_HOOK - #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 #endif #ifndef configUSE_APPLICATION_TASK_TAG - #define configUSE_APPLICATION_TASK_TAG 0 + #define configUSE_APPLICATION_TASK_TAG 0 #endif #ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS - #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 + #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 #endif #ifndef configUSE_RECURSIVE_MUTEXES - #define configUSE_RECURSIVE_MUTEXES 0 + #define configUSE_RECURSIVE_MUTEXES 0 #endif #ifndef configUSE_MUTEXES - #define configUSE_MUTEXES 0 + #define configUSE_MUTEXES 0 #endif #ifndef configUSE_TIMERS - #define configUSE_TIMERS 0 + #define configUSE_TIMERS 0 #endif #ifndef configUSE_COUNTING_SEMAPHORES - #define configUSE_COUNTING_SEMAPHORES 0 + #define configUSE_COUNTING_SEMAPHORES 0 #endif #ifndef configUSE_ALTERNATIVE_API - #define configUSE_ALTERNATIVE_API 0 + #define configUSE_ALTERNATIVE_API 0 #endif #ifndef portCRITICAL_NESTING_IN_TCB - #define portCRITICAL_NESTING_IN_TCB 0 + #define portCRITICAL_NESTING_IN_TCB 0 #endif #ifndef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 16 + #define configMAX_TASK_NAME_LEN 16 #endif #ifndef configIDLE_SHOULD_YIELD - #define configIDLE_SHOULD_YIELD 1 + #define configIDLE_SHOULD_YIELD 1 #endif #if configMAX_TASK_NAME_LEN < 1 - #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h + #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h #endif #ifndef configASSERT - #define configASSERT( x ) - #define configASSERT_DEFINED 0 + #define configASSERT( x ) + #define configASSERT_DEFINED 0 #else - #define configASSERT_DEFINED 1 + #define configASSERT_DEFINED 1 #endif /* configPRECONDITION should be defined as configASSERT. -The CBMC proofs need a way to track assumptions and assertions. -A configPRECONDITION statement should express an implicit invariant or -assumption made. A configASSERT statement should express an invariant that must -hold explicit before calling the code. */ + * The CBMC proofs need a way to track assumptions and assertions. + * A configPRECONDITION statement should express an implicit invariant or + * assumption made. A configASSERT statement should express an invariant that must + * hold explicit before calling the code. */ #ifndef configPRECONDITION - #define configPRECONDITION( X ) configASSERT(X) - #define configPRECONDITION_DEFINED 0 + #define configPRECONDITION( X ) configASSERT( X ) + #define configPRECONDITION_DEFINED 0 #else - #define configPRECONDITION_DEFINED 1 + #define configPRECONDITION_DEFINED 1 #endif #ifndef portMEMORY_BARRIER - #define portMEMORY_BARRIER() + #define portMEMORY_BARRIER() #endif #ifndef portSOFTWARE_BARRIER - #define portSOFTWARE_BARRIER() + #define portSOFTWARE_BARRIER() #endif /* The timers module relies on xTaskGetSchedulerState(). */ #if configUSE_TIMERS == 1 - #ifndef configTIMER_TASK_PRIORITY - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. - #endif /* configTIMER_TASK_PRIORITY */ + #ifndef configTIMER_TASK_PRIORITY + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. + #endif /* configTIMER_TASK_PRIORITY */ - #ifndef configTIMER_QUEUE_LENGTH - #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. - #endif /* configTIMER_QUEUE_LENGTH */ + #ifndef configTIMER_QUEUE_LENGTH + #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. + #endif /* configTIMER_QUEUE_LENGTH */ - #ifndef configTIMER_TASK_STACK_DEPTH - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. - #endif /* configTIMER_TASK_STACK_DEPTH */ + #ifndef configTIMER_TASK_STACK_DEPTH + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. + #endif /* configTIMER_TASK_STACK_DEPTH */ #endif /* configUSE_TIMERS */ #ifndef portSET_INTERRUPT_MASK_FROM_ISR - #define portSET_INTERRUPT_MASK_FROM_ISR() 0 + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 #endif #ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR - #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) ( uxSavedStatusValue ) #endif #ifndef portCLEAN_UP_TCB - #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) ( pxTCB ) #endif #ifndef portPRE_TASK_DELETE_HOOK - #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) + #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) #endif #ifndef portSETUP_TCB - #define portSETUP_TCB( pxTCB ) ( void ) pxTCB + #define portSETUP_TCB( pxTCB ) ( void ) ( pxTCB ) #endif #ifndef configQUEUE_REGISTRY_SIZE - #define configQUEUE_REGISTRY_SIZE 0U + #define configQUEUE_REGISTRY_SIZE 0U #endif #if ( configQUEUE_REGISTRY_SIZE < 1 ) - #define vQueueAddToRegistry( xQueue, pcName ) - #define vQueueUnregisterQueue( xQueue ) - #define pcQueueGetName( xQueue ) + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) + #define pcQueueGetName( xQueue ) +#endif + +#ifndef configUSE_MINI_LIST_ITEM + #define configUSE_MINI_LIST_ITEM 1 #endif #ifndef portPOINTER_SIZE_TYPE - #define portPOINTER_SIZE_TYPE uint32_t + #define portPOINTER_SIZE_TYPE uint32_t #endif /* Remove any unused trace macros. */ #ifndef traceSTART - /* Used to perform any necessary initialisation - for example, open a file - into which trace is to be written. */ - #define traceSTART() + +/* Used to perform any necessary initialisation - for example, open a file + * into which trace is to be written. */ + #define traceSTART() #endif #ifndef traceEND - /* Use to close a trace, for example close a file into which trace has been - written. */ - #define traceEND() + +/* Use to close a trace, for example close a file into which trace has been + * written. */ + #define traceEND() #endif #ifndef traceTASK_SWITCHED_IN - /* Called after a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the selected task. */ - #define traceTASK_SWITCHED_IN() + +/* Called after a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the selected task. */ + #define traceTASK_SWITCHED_IN() #endif #ifndef traceINCREASE_TICK_COUNT - /* Called before stepping the tick count after waking from tickless idle - sleep. */ - #define traceINCREASE_TICK_COUNT( x ) + +/* Called before stepping the tick count after waking from tickless idle + * sleep. */ + #define traceINCREASE_TICK_COUNT( x ) #endif #ifndef traceLOW_POWER_IDLE_BEGIN - /* Called immediately before entering tickless idle. */ - #define traceLOW_POWER_IDLE_BEGIN() + /* Called immediately before entering tickless idle. */ + #define traceLOW_POWER_IDLE_BEGIN() #endif -#ifndef traceLOW_POWER_IDLE_END - /* Called when returning to the Idle task after a tickless idle. */ - #define traceLOW_POWER_IDLE_END() +#ifndef traceLOW_POWER_IDLE_END + /* Called when returning to the Idle task after a tickless idle. */ + #define traceLOW_POWER_IDLE_END() #endif #ifndef traceTASK_SWITCHED_OUT - /* Called before a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the task being switched out. */ - #define traceTASK_SWITCHED_OUT() + +/* Called before a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the task being switched out. */ + #define traceTASK_SWITCHED_OUT() #endif #ifndef traceTASK_PRIORITY_INHERIT - /* Called when a task attempts to take a mutex that is already held by a - lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task - that holds the mutex. uxInheritedPriority is the priority the mutex holder - will inherit (the priority of the task that is attempting to obtain the - muted. */ - #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) + +/* Called when a task attempts to take a mutex that is already held by a + * lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task + * that holds the mutex. uxInheritedPriority is the priority the mutex holder + * will inherit (the priority of the task that is attempting to obtain the + * muted. */ + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) #endif #ifndef traceTASK_PRIORITY_DISINHERIT - /* Called when a task releases a mutex, the holding of which had resulted in - the task inheriting the priority of a higher priority task. - pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the - mutex. uxOriginalPriority is the task's configured (base) priority. */ - #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) + +/* Called when a task releases a mutex, the holding of which had resulted in + * the task inheriting the priority of a higher priority task. + * pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the + * mutex. uxOriginalPriority is the task's configured (base) priority. */ + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) #endif #ifndef traceBLOCKING_ON_QUEUE_RECEIVE - /* Task is about to block because it cannot read from a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the - task that attempted the read. */ - #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) #endif #ifndef traceBLOCKING_ON_QUEUE_PEEK - /* Task is about to block because it cannot read from a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the - task that attempted the read. */ - #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) #endif #ifndef traceBLOCKING_ON_QUEUE_SEND - /* Task is about to block because it cannot write to a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the write was attempted. pxCurrentTCB points to the TCB of the - task that attempted the write. */ - #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) + +/* Task is about to block because it cannot write to a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the write was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the write. */ + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) #endif #ifndef configCHECK_FOR_STACK_OVERFLOW - #define configCHECK_FOR_STACK_OVERFLOW 0 + #define configCHECK_FOR_STACK_OVERFLOW 0 #endif #ifndef configRECORD_STACK_HIGH_ADDRESS - #define configRECORD_STACK_HIGH_ADDRESS 0 + #define configRECORD_STACK_HIGH_ADDRESS 0 #endif #ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H - #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 + #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 #endif /* The following event macros are embedded in the kernel API calls. */ #ifndef traceMOVED_TASK_TO_READY_STATE - #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) #endif #ifndef tracePOST_MOVED_TASK_TO_READY_STATE - #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) + #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) #endif #ifndef traceQUEUE_CREATE - #define traceQUEUE_CREATE( pxNewQueue ) + #define traceQUEUE_CREATE( pxNewQueue ) #endif #ifndef traceQUEUE_CREATE_FAILED - #define traceQUEUE_CREATE_FAILED( ucQueueType ) + #define traceQUEUE_CREATE_FAILED( ucQueueType ) #endif #ifndef traceCREATE_MUTEX - #define traceCREATE_MUTEX( pxNewQueue ) + #define traceCREATE_MUTEX( pxNewQueue ) #endif #ifndef traceCREATE_MUTEX_FAILED - #define traceCREATE_MUTEX_FAILED() + #define traceCREATE_MUTEX_FAILED() #endif #ifndef traceGIVE_MUTEX_RECURSIVE - #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) #endif #ifndef traceGIVE_MUTEX_RECURSIVE_FAILED - #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) #endif #ifndef traceTAKE_MUTEX_RECURSIVE - #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) #endif #ifndef traceTAKE_MUTEX_RECURSIVE_FAILED - #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) #endif #ifndef traceCREATE_COUNTING_SEMAPHORE - #define traceCREATE_COUNTING_SEMAPHORE() + #define traceCREATE_COUNTING_SEMAPHORE() #endif #ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED - #define traceCREATE_COUNTING_SEMAPHORE_FAILED() + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() +#endif + +#ifndef traceQUEUE_SET_SEND + #define traceQUEUE_SET_SEND traceQUEUE_SEND #endif #ifndef traceQUEUE_SEND - #define traceQUEUE_SEND( pxQueue ) + #define traceQUEUE_SEND( pxQueue ) #endif #ifndef traceQUEUE_SEND_FAILED - #define traceQUEUE_SEND_FAILED( pxQueue ) + #define traceQUEUE_SEND_FAILED( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE - #define traceQUEUE_RECEIVE( pxQueue ) + #define traceQUEUE_RECEIVE( pxQueue ) #endif #ifndef traceQUEUE_PEEK - #define traceQUEUE_PEEK( pxQueue ) + #define traceQUEUE_PEEK( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FAILED - #define traceQUEUE_PEEK_FAILED( pxQueue ) + #define traceQUEUE_PEEK_FAILED( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FROM_ISR - #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FAILED - #define traceQUEUE_RECEIVE_FAILED( pxQueue ) + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) #endif #ifndef traceQUEUE_SEND_FROM_ISR - #define traceQUEUE_SEND_FROM_ISR( pxQueue ) + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_SEND_FROM_ISR_FAILED - #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FROM_ISR - #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED - #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FROM_ISR_FAILED - #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_DELETE - #define traceQUEUE_DELETE( pxQueue ) + #define traceQUEUE_DELETE( pxQueue ) #endif #ifndef traceTASK_CREATE - #define traceTASK_CREATE( pxNewTCB ) + #define traceTASK_CREATE( pxNewTCB ) #endif #ifndef traceTASK_CREATE_FAILED - #define traceTASK_CREATE_FAILED() + #define traceTASK_CREATE_FAILED() #endif #ifndef traceTASK_DELETE - #define traceTASK_DELETE( pxTaskToDelete ) + #define traceTASK_DELETE( pxTaskToDelete ) #endif #ifndef traceTASK_DELAY_UNTIL - #define traceTASK_DELAY_UNTIL( x ) + #define traceTASK_DELAY_UNTIL( x ) #endif #ifndef traceTASK_DELAY - #define traceTASK_DELAY() + #define traceTASK_DELAY() #endif #ifndef traceTASK_PRIORITY_SET - #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) #endif #ifndef traceTASK_SUSPEND - #define traceTASK_SUSPEND( pxTaskToSuspend ) + #define traceTASK_SUSPEND( pxTaskToSuspend ) #endif #ifndef traceTASK_RESUME - #define traceTASK_RESUME( pxTaskToResume ) + #define traceTASK_RESUME( pxTaskToResume ) #endif #ifndef traceTASK_RESUME_FROM_ISR - #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) #endif #ifndef traceTASK_INCREMENT_TICK - #define traceTASK_INCREMENT_TICK( xTickCount ) + #define traceTASK_INCREMENT_TICK( xTickCount ) #endif #ifndef traceTIMER_CREATE - #define traceTIMER_CREATE( pxNewTimer ) + #define traceTIMER_CREATE( pxNewTimer ) #endif #ifndef traceTIMER_CREATE_FAILED - #define traceTIMER_CREATE_FAILED() + #define traceTIMER_CREATE_FAILED() #endif #ifndef traceTIMER_COMMAND_SEND - #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) #endif #ifndef traceTIMER_EXPIRED - #define traceTIMER_EXPIRED( pxTimer ) + #define traceTIMER_EXPIRED( pxTimer ) #endif #ifndef traceTIMER_COMMAND_RECEIVED - #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) #endif #ifndef traceMALLOC @@ -577,432 +692,476 @@ hold explicit before calling the code. */ #endif #ifndef traceEVENT_GROUP_CREATE - #define traceEVENT_GROUP_CREATE( xEventGroup ) + #define traceEVENT_GROUP_CREATE( xEventGroup ) #endif #ifndef traceEVENT_GROUP_CREATE_FAILED - #define traceEVENT_GROUP_CREATE_FAILED() + #define traceEVENT_GROUP_CREATE_FAILED() #endif #ifndef traceEVENT_GROUP_SYNC_BLOCK - #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) + #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) #endif #ifndef traceEVENT_GROUP_SYNC_END - #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred + #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) ( xTimeoutOccurred ) #endif #ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK - #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ) + #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ) #endif #ifndef traceEVENT_GROUP_WAIT_BITS_END - #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred + #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) ( xTimeoutOccurred ) #endif #ifndef traceEVENT_GROUP_CLEAR_BITS - #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) + #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) #endif #ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR - #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) + #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) #endif #ifndef traceEVENT_GROUP_SET_BITS - #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) + #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) #endif #ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR - #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) + #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) #endif #ifndef traceEVENT_GROUP_DELETE - #define traceEVENT_GROUP_DELETE( xEventGroup ) + #define traceEVENT_GROUP_DELETE( xEventGroup ) #endif #ifndef tracePEND_FUNC_CALL - #define tracePEND_FUNC_CALL(xFunctionToPend, pvParameter1, ulParameter2, ret) + #define tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, ret ) #endif #ifndef tracePEND_FUNC_CALL_FROM_ISR - #define tracePEND_FUNC_CALL_FROM_ISR(xFunctionToPend, pvParameter1, ulParameter2, ret) + #define tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, ret ) #endif #ifndef traceQUEUE_REGISTRY_ADD - #define traceQUEUE_REGISTRY_ADD(xQueue, pcQueueName) + #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ) #endif #ifndef traceTASK_NOTIFY_TAKE_BLOCK - #define traceTASK_NOTIFY_TAKE_BLOCK() + #define traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait ) #endif #ifndef traceTASK_NOTIFY_TAKE - #define traceTASK_NOTIFY_TAKE() + #define traceTASK_NOTIFY_TAKE( uxIndexToWait ) #endif #ifndef traceTASK_NOTIFY_WAIT_BLOCK - #define traceTASK_NOTIFY_WAIT_BLOCK() + #define traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait ) #endif #ifndef traceTASK_NOTIFY_WAIT - #define traceTASK_NOTIFY_WAIT() + #define traceTASK_NOTIFY_WAIT( uxIndexToWait ) #endif #ifndef traceTASK_NOTIFY - #define traceTASK_NOTIFY() + #define traceTASK_NOTIFY( uxIndexToNotify ) #endif #ifndef traceTASK_NOTIFY_FROM_ISR - #define traceTASK_NOTIFY_FROM_ISR() + #define traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify ) #endif #ifndef traceTASK_NOTIFY_GIVE_FROM_ISR - #define traceTASK_NOTIFY_GIVE_FROM_ISR() + #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify ) #endif #ifndef traceSTREAM_BUFFER_CREATE_FAILED - #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED - #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_CREATE - #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_DELETE - #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) + #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RESET - #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) + #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) #endif #ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND - #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) + #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_SEND - #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) + #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) #endif #ifndef traceSTREAM_BUFFER_SEND_FAILED - #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) + #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_SEND_FROM_ISR - #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) + #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) #endif #ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE - #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) + #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE - #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) + #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE_FAILED - #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) + #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR - #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) + #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) #endif #ifndef configGENERATE_RUN_TIME_STATS - #define configGENERATE_RUN_TIME_STATS 0 + #define configGENERATE_RUN_TIME_STATS 0 #endif #if ( configGENERATE_RUN_TIME_STATS == 1 ) - #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. - #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ + #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. + #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ - #ifndef portGET_RUN_TIME_COUNTER_VALUE - #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE - #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. - #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ - #endif /* portGET_RUN_TIME_COUNTER_VALUE */ + #ifndef portGET_RUN_TIME_COUNTER_VALUE + #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE + #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. + #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ + #endif /* portGET_RUN_TIME_COUNTER_VALUE */ #endif /* configGENERATE_RUN_TIME_STATS */ #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() #endif #ifndef configUSE_MALLOC_FAILED_HOOK - #define configUSE_MALLOC_FAILED_HOOK 0 + #define configUSE_MALLOC_FAILED_HOOK 0 #endif #ifndef portPRIVILEGE_BIT - #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) + #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) #endif #ifndef portYIELD_WITHIN_API - #define portYIELD_WITHIN_API portYIELD + #define portYIELD_WITHIN_API portYIELD #endif #ifndef portSUPPRESS_TICKS_AND_SLEEP - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) #endif #ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP - #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 + #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 #endif #if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 - #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 + #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 #endif #ifndef configUSE_TICKLESS_IDLE - #define configUSE_TICKLESS_IDLE 0 + #define configUSE_TICKLESS_IDLE 0 #endif #ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING - #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) + #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) #endif #ifndef configPRE_SLEEP_PROCESSING - #define configPRE_SLEEP_PROCESSING( x ) + #define configPRE_SLEEP_PROCESSING( x ) #endif #ifndef configPOST_SLEEP_PROCESSING - #define configPOST_SLEEP_PROCESSING( x ) + #define configPOST_SLEEP_PROCESSING( x ) #endif #ifndef configUSE_QUEUE_SETS - #define configUSE_QUEUE_SETS 0 + #define configUSE_QUEUE_SETS 0 #endif #ifndef portTASK_USES_FLOATING_POINT - #define portTASK_USES_FLOATING_POINT() + #define portTASK_USES_FLOATING_POINT() #endif #ifndef portALLOCATE_SECURE_CONTEXT - #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) #endif #ifndef portDONT_DISCARD - #define portDONT_DISCARD + #define portDONT_DISCARD #endif #ifndef configUSE_TIME_SLICING - #define configUSE_TIME_SLICING 1 + #define configUSE_TIME_SLICING 1 #endif #ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 + #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 #endif #ifndef configUSE_STATS_FORMATTING_FUNCTIONS - #define configUSE_STATS_FORMATTING_FUNCTIONS 0 + #define configUSE_STATS_FORMATTING_FUNCTIONS 0 #endif #ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() #endif #ifndef configUSE_TRACE_FACILITY - #define configUSE_TRACE_FACILITY 0 + #define configUSE_TRACE_FACILITY 0 #endif #ifndef mtCOVERAGE_TEST_MARKER - #define mtCOVERAGE_TEST_MARKER() + #define mtCOVERAGE_TEST_MARKER() #endif #ifndef mtCOVERAGE_TEST_DELAY - #define mtCOVERAGE_TEST_DELAY() + #define mtCOVERAGE_TEST_DELAY() #endif #ifndef portASSERT_IF_IN_ISR - #define portASSERT_IF_IN_ISR() + #define portASSERT_IF_IN_ISR() #endif #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 #endif #ifndef configAPPLICATION_ALLOCATED_HEAP - #define configAPPLICATION_ALLOCATED_HEAP 0 + #define configAPPLICATION_ALLOCATED_HEAP 0 #endif #ifndef configUSE_TASK_NOTIFICATIONS - #define configUSE_TASK_NOTIFICATIONS 1 + #define configUSE_TASK_NOTIFICATIONS 1 +#endif + +#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES + #define configTASK_NOTIFICATION_ARRAY_ENTRIES 1 +#endif + +#if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1 + #error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1 #endif #ifndef configUSE_POSIX_ERRNO - #define configUSE_POSIX_ERRNO 0 + #define configUSE_POSIX_ERRNO 0 +#endif + +#ifndef configUSE_SB_COMPLETED_CALLBACK + +/* By default per-instance callbacks are not enabled for stream buffer or message buffer. */ + #define configUSE_SB_COMPLETED_CALLBACK 0 #endif #ifndef portTICK_TYPE_IS_ATOMIC - #define portTICK_TYPE_IS_ATOMIC 0 + #define portTICK_TYPE_IS_ATOMIC 0 #endif #ifndef configSUPPORT_STATIC_ALLOCATION - /* Defaults to 0 for backward compatibility. */ - #define configSUPPORT_STATIC_ALLOCATION 0 + /* Defaults to 0 for backward compatibility. */ + #define configSUPPORT_STATIC_ALLOCATION 0 #endif #ifndef configSUPPORT_DYNAMIC_ALLOCATION - /* Defaults to 1 for backward compatibility. */ - #define configSUPPORT_DYNAMIC_ALLOCATION 1 + /* Defaults to 1 for backward compatibility. */ + #define configSUPPORT_DYNAMIC_ALLOCATION 1 +#endif + +#if ( ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION != 1 ) ) + #error configUSE_STATS_FORMATTING_FUNCTIONS cannot be used without dynamic allocation, but configSUPPORT_DYNAMIC_ALLOCATION is not set to 1. +#endif + +#if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) + #if ( ( configUSE_TRACE_FACILITY != 1 ) && ( configGENERATE_RUN_TIME_STATS != 1 ) ) + #error configUSE_STATS_FORMATTING_FUNCTIONS is 1 but the functions it enables are not used because neither configUSE_TRACE_FACILITY or configGENERATE_RUN_TIME_STATS are 1. Set configUSE_STATS_FORMATTING_FUNCTIONS to 0 in FreeRTOSConfig.h. + #endif #endif #ifndef configSTACK_DEPTH_TYPE - /* Defaults to uint16_t for backward compatibility, but can be overridden - in FreeRTOSConfig.h if uint16_t is too restrictive. */ - #define configSTACK_DEPTH_TYPE uint16_t + +/* Defaults to uint16_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if uint16_t is too restrictive. */ + #define configSTACK_DEPTH_TYPE uint16_t +#endif + +#ifndef configRUN_TIME_COUNTER_TYPE + +/* Defaults to uint32_t for backward compatibility, but can be overridden in + * FreeRTOSConfig.h if uint32_t is too restrictive. */ + + #define configRUN_TIME_COUNTER_TYPE uint32_t #endif #ifndef configMESSAGE_BUFFER_LENGTH_TYPE - /* Defaults to size_t for backward compatibility, but can be overridden - in FreeRTOSConfig.h if lengths will always be less than the number of bytes - in a size_t. */ - #define configMESSAGE_BUFFER_LENGTH_TYPE size_t + +/* Defaults to size_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if lengths will always be less than the number of bytes + * in a size_t. */ + #define configMESSAGE_BUFFER_LENGTH_TYPE size_t #endif /* Sanity check the configuration. */ -#if( configUSE_TICKLESS_IDLE != 0 ) - #if( INCLUDE_vTaskSuspend != 1 ) - #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 - #endif /* INCLUDE_vTaskSuspend */ -#endif /* configUSE_TICKLESS_IDLE */ - -#if( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) - #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. +#if ( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) + #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. #endif -#if( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) - #error configUSE_MUTEXES must be set to 1 to use recursive mutexes +#if ( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) + #error configUSE_MUTEXES must be set to 1 to use recursive mutexes #endif #ifndef configINITIAL_TICK_COUNT - #define configINITIAL_TICK_COUNT 0 + #define configINITIAL_TICK_COUNT 0 #endif -#if( portTICK_TYPE_IS_ATOMIC == 0 ) - /* Either variables of tick type cannot be read atomically, or - portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when - the tick count is returned to the standard critical section macros. */ - #define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL() - #define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL() - #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() - #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) +#if ( portTICK_TYPE_IS_ATOMIC == 0 ) + +/* Either variables of tick type cannot be read atomically, or + * portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when + * the tick count is returned to the standard critical section macros. */ + #define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) #else - /* The tick type can be read atomically, so critical sections used when the - tick count is returned can be defined away. */ - #define portTICK_TYPE_ENTER_CRITICAL() - #define portTICK_TYPE_EXIT_CRITICAL() - #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 - #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x -#endif + +/* The tick type can be read atomically, so critical sections used when the + * tick count is returned can be defined away. */ + #define portTICK_TYPE_ENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) ( x ) +#endif /* if ( portTICK_TYPE_IS_ATOMIC == 0 ) */ /* Definitions to allow backward compatibility with FreeRTOS versions prior to -V8 if desired. */ + * V8 if desired. */ #ifndef configENABLE_BACKWARD_COMPATIBILITY - #define configENABLE_BACKWARD_COMPATIBILITY 1 + #define configENABLE_BACKWARD_COMPATIBILITY 1 #endif #ifndef configPRINTF - /* configPRINTF() was not defined, so define it away to nothing. To use - configPRINTF() then define it as follows (where MyPrintFunction() is - provided by the application writer): - void MyPrintFunction(const char *pcFormat, ... ); - #define configPRINTF( X ) MyPrintFunction X - - Then call like a standard printf() function, but placing brackets around - all parameters so they are passed as a single parameter. For example: - configPRINTF( ("Value = %d", MyVariable) ); */ - #define configPRINTF( X ) +/* configPRINTF() was not defined, so define it away to nothing. To use + * configPRINTF() then define it as follows (where MyPrintFunction() is + * provided by the application writer): + * + * void MyPrintFunction(const char *pcFormat, ... ); + #define configPRINTF( X ) MyPrintFunction X + * + * Then call like a standard printf() function, but placing brackets around + * all parameters so they are passed as a single parameter. For example: + * configPRINTF( ("Value = %d", MyVariable) ); */ + #define configPRINTF( X ) #endif #ifndef configMAX - /* The application writer has not provided their own MAX macro, so define - the following generic implementation. */ - #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) + +/* The application writer has not provided their own MAX macro, so define + * the following generic implementation. */ + #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) #endif #ifndef configMIN - /* The application writer has not provided their own MAX macro, so define - the following generic implementation. */ - #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) ) + +/* The application writer has not provided their own MIN macro, so define + * the following generic implementation. */ + #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) ) #endif #if configENABLE_BACKWARD_COMPATIBILITY == 1 - #define eTaskStateGet eTaskGetState - #define portTickType TickType_t - #define xTaskHandle TaskHandle_t - #define xQueueHandle QueueHandle_t - #define xSemaphoreHandle SemaphoreHandle_t - #define xQueueSetHandle QueueSetHandle_t - #define xQueueSetMemberHandle QueueSetMemberHandle_t - #define xTimeOutType TimeOut_t - #define xMemoryRegion MemoryRegion_t - #define xTaskParameters TaskParameters_t - #define xTaskStatusType TaskStatus_t - #define xTimerHandle TimerHandle_t - #define xCoRoutineHandle CoRoutineHandle_t - #define pdTASK_HOOK_CODE TaskHookFunction_t - #define portTICK_RATE_MS portTICK_PERIOD_MS - #define pcTaskGetTaskName pcTaskGetName - #define pcTimerGetTimerName pcTimerGetName - #define pcQueueGetQueueName pcQueueGetName - #define vTaskGetTaskInfo vTaskGetInfo - #define xTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter + #define eTaskStateGet eTaskGetState + #define portTickType TickType_t + #define xTaskHandle TaskHandle_t + #define xQueueHandle QueueHandle_t + #define xSemaphoreHandle SemaphoreHandle_t + #define xQueueSetHandle QueueSetHandle_t + #define xQueueSetMemberHandle QueueSetMemberHandle_t + #define xTimeOutType TimeOut_t + #define xMemoryRegion MemoryRegion_t + #define xTaskParameters TaskParameters_t + #define xTaskStatusType TaskStatus_t + #define xTimerHandle TimerHandle_t + #define xCoRoutineHandle CoRoutineHandle_t + #define pdTASK_HOOK_CODE TaskHookFunction_t + #define portTICK_RATE_MS portTICK_PERIOD_MS + #define pcTaskGetTaskName pcTaskGetName + #define pcTimerGetTimerName pcTimerGetName + #define pcQueueGetQueueName pcQueueGetName + #define vTaskGetTaskInfo vTaskGetInfo + #define xTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter - /* Backward compatibility within the scheduler code only - these definitions - are not really required but are included for completeness. */ - #define tmrTIMER_CALLBACK TimerCallbackFunction_t - #define pdTASK_CODE TaskFunction_t - #define xListItem ListItem_t - #define xList List_t +/* Backward compatibility within the scheduler code only - these definitions + * are not really required but are included for completeness. */ + #define tmrTIMER_CALLBACK TimerCallbackFunction_t + #define pdTASK_CODE TaskFunction_t + #define xListItem ListItem_t + #define xList List_t - /* For libraries that break the list data hiding, and access list structure - members directly (which is not supposed to be done). */ - #define pxContainer pvContainer +/* For libraries that break the list data hiding, and access list structure + * members directly (which is not supposed to be done). */ + #define pxContainer pvContainer #endif /* configENABLE_BACKWARD_COMPATIBILITY */ -#if( configUSE_ALTERNATIVE_API != 0 ) - #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0 +#if ( configUSE_ALTERNATIVE_API != 0 ) + #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0 #endif /* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even -if floating point hardware is otherwise supported by the FreeRTOS port in use. -This constant is not supported by all FreeRTOS ports that include floating -point support. */ + * if floating point hardware is otherwise supported by the FreeRTOS port in use. + * This constant is not supported by all FreeRTOS ports that include floating + * point support. */ #ifndef configUSE_TASK_FPU_SUPPORT - #define configUSE_TASK_FPU_SUPPORT 1 + #define configUSE_TASK_FPU_SUPPORT 1 #endif /* Set configENABLE_MPU to 1 to enable MPU support and 0 to disable it. This is -currently used in ARMv8M ports. */ + * currently used in ARMv8M ports. */ #ifndef configENABLE_MPU - #define configENABLE_MPU 0 + #define configENABLE_MPU 0 #endif /* Set configENABLE_FPU to 1 to enable FPU support and 0 to disable it. This is -currently used in ARMv8M ports. */ + * currently used in ARMv8M ports. */ #ifndef configENABLE_FPU - #define configENABLE_FPU 1 + #define configENABLE_FPU 1 +#endif + +/* Set configENABLE_MVE to 1 to enable MVE support and 0 to disable it. This is + * currently used in ARMv8M ports. */ +#ifndef configENABLE_MVE + #define configENABLE_MVE 0 #endif /* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it. -This is currently used in ARMv8M ports. */ + * This is currently used in ARMv8M ports. */ #ifndef configENABLE_TRUSTZONE - #define configENABLE_TRUSTZONE 1 + #define configENABLE_TRUSTZONE 1 #endif /* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on -the Secure Side only. */ + * the Secure Side only. */ #ifndef configRUN_FREERTOS_SECURE_ONLY - #define configRUN_FREERTOS_SECURE_ONLY 0 + #define configRUN_FREERTOS_SECURE_ONLY 0 #endif +#ifndef configRUN_ADDITIONAL_TESTS + #define configRUN_ADDITIONAL_TESTS 0 +#endif + + /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using * dynamically allocated RAM, in which case when any task is deleted it is known * that both the task's stack and TCB need to be freed. Sometimes the @@ -1045,55 +1204,60 @@ the Secure Side only. */ * | | | | xTaskCreateRestrictedStatic | | | | * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ */ -#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \ - ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) ) +#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE \ + ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \ + ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) ) /* * In line with software engineering best practice, FreeRTOS implements a strict * data hiding policy, so the real structures used by FreeRTOS to maintain the * state of tasks, queues, semaphores, etc. are not accessible to the application * code. However, if the application writer wants to statically allocate such - * an object then the size of the object needs to be know. Dummy structures + * an object then the size of the object needs to be known. Dummy structures * that are guaranteed to have the same size and alignment requirements of the * real objects are used for this purpose. The dummy list and list item * structures below are used for inclusion in such a dummy structure. */ struct xSTATIC_LIST_ITEM { - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - TickType_t xDummy2; - void *pvDummy3[ 4 ]; - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy4; - #endif + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 4 ]; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy4; + #endif }; typedef struct xSTATIC_LIST_ITEM StaticListItem_t; -/* See the comments above the struct xSTATIC_LIST_ITEM definition. */ -struct xSTATIC_MINI_LIST_ITEM -{ - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - TickType_t xDummy2; - void *pvDummy3[ 2 ]; -}; -typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t; +#if ( configUSE_MINI_LIST_ITEM == 1 ) + /* See the comments above the struct xSTATIC_LIST_ITEM definition. */ + struct xSTATIC_MINI_LIST_ITEM + { + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 2 ]; + }; + typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t; +#else /* if ( configUSE_MINI_LIST_ITEM == 1 ) */ + typedef struct xSTATIC_LIST_ITEM StaticMiniListItem_t; +#endif /* if ( configUSE_MINI_LIST_ITEM == 1 ) */ /* See the comments above the struct xSTATIC_LIST_ITEM definition. */ typedef struct xSTATIC_LIST { - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - UBaseType_t uxDummy2; - void *pvDummy3; - StaticMiniListItem_t xDummy4; - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy5; - #endif + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + UBaseType_t uxDummy2; + void * pvDummy3; + StaticMiniListItem_t xDummy4; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy5; + #endif } StaticList_t; /* @@ -1102,7 +1266,7 @@ typedef struct xSTATIC_LIST * strict data hiding policy. This means the Task structure used internally by * FreeRTOS is not accessible to application code. However, if the application * writer wants to statically allocate the memory required to create a task then - * the size of the task object needs to be know. The StaticTask_t structure + * the size of the task object needs to be known. The StaticTask_t structure * below is provided for this purpose. Its sizes and alignment requirements are * guaranteed to match those of the genuine structure, no matter which * architecture is being used, and no matter how the values in FreeRTOSConfig.h @@ -1111,52 +1275,52 @@ typedef struct xSTATIC_LIST */ typedef struct xSTATIC_TCB { - void *pxDummy1; - #if ( portUSING_MPU_WRAPPERS == 1 ) - xMPU_SETTINGS xDummy2; - #endif - StaticListItem_t xDummy3[ 2 ]; - UBaseType_t uxDummy5; - void *pxDummy6; - uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ]; - #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) - void *pxDummy8; - #endif - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - UBaseType_t uxDummy9; - #endif - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy10[ 2 ]; - #endif - #if ( configUSE_MUTEXES == 1 ) - UBaseType_t uxDummy12[ 2 ]; - #endif - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - void *pxDummy14; - #endif - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) - void *pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #endif - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t ulDummy16; - #endif - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - struct _reent xDummy17; - #endif - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - uint32_t ulDummy18; - uint8_t ucDummy19; - #endif - #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - uint8_t uxDummy20; - #endif + void * pxDummy1; + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xDummy2; + #endif + StaticListItem_t xDummy3[ 2 ]; + UBaseType_t uxDummy5; + void * pxDummy6; + uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ]; + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + void * pxDummy8; + #endif + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxDummy9; + #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy10[ 2 ]; + #endif + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxDummy12[ 2 ]; + #endif + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + void * pxDummy14; + #endif + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + configRUN_TIME_COUNTER_TYPE ulDummy16; + #endif + #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 ) + configTLS_BLOCK_TYPE xDummy17; + #endif + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + uint32_t ulDummy18[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + uint8_t ucDummy19[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; + #endif + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + uint8_t uxDummy20; + #endif - #if( INCLUDE_xTaskAbortDelay == 1 ) - uint8_t ucDummy21; - #endif - #if ( configUSE_POSIX_ERRNO == 1 ) - int iDummy22; - #endif + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDummy21; + #endif + #if ( configUSE_POSIX_ERRNO == 1 ) + int iDummy22; + #endif } StaticTask_t; /* @@ -1165,7 +1329,7 @@ typedef struct xSTATIC_TCB * strict data hiding policy. This means the Queue structure used internally by * FreeRTOS is not accessible to application code. However, if the application * writer wants to statically allocate the memory required to create a queue - * then the size of the queue object needs to be know. The StaticQueue_t + * then the size of the queue object needs to be known. The StaticQueue_t * structure below is provided for this purpose. Its sizes and alignment * requirements are guaranteed to match those of the genuine structure, no * matter which architecture is being used, and no matter how the values in @@ -1175,31 +1339,30 @@ typedef struct xSTATIC_TCB */ typedef struct xSTATIC_QUEUE { - void *pvDummy1[ 3 ]; + void * pvDummy1[ 3 ]; - union - { - void *pvDummy2; - UBaseType_t uxDummy2; - } u; + union + { + void * pvDummy2; + UBaseType_t uxDummy2; + } u; - StaticList_t xDummy3[ 2 ]; - UBaseType_t uxDummy4[ 3 ]; - uint8_t ucDummy5[ 2 ]; + StaticList_t xDummy3[ 2 ]; + UBaseType_t uxDummy4[ 3 ]; + uint8_t ucDummy5[ 2 ]; - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucDummy6; - #endif + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy6; + #endif - #if ( configUSE_QUEUE_SETS == 1 ) - void *pvDummy7; - #endif - - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy8; - uint8_t ucDummy9; - #endif + #if ( configUSE_QUEUE_SETS == 1 ) + void * pvDummy7; + #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy8; + uint8_t ucDummy9; + #endif } StaticQueue_t; typedef StaticQueue_t StaticSemaphore_t; @@ -1219,17 +1382,16 @@ typedef StaticQueue_t StaticSemaphore_t; */ typedef struct xSTATIC_EVENT_GROUP { - TickType_t xDummy1; - StaticList_t xDummy2; + TickType_t xDummy1; + StaticList_t xDummy2; - #if( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy3; - #endif - - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucDummy4; - #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy3; + #endif + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy4; + #endif } StaticEventGroup_t; /* @@ -1238,7 +1400,7 @@ typedef struct xSTATIC_EVENT_GROUP * strict data hiding policy. This means the software timer structure used * internally by FreeRTOS is not accessible to application code. However, if * the application writer wants to statically allocate the memory required to - * create a software timer then the size of the queue object needs to be know. + * create a software timer then the size of the queue object needs to be known. * The StaticTimer_t structure below is provided for this purpose. Its sizes * and alignment requirements are guaranteed to match those of the genuine * structure, no matter which architecture is being used, and no matter how the @@ -1248,48 +1410,51 @@ typedef struct xSTATIC_EVENT_GROUP */ typedef struct xSTATIC_TIMER { - void *pvDummy1; - StaticListItem_t xDummy2; - TickType_t xDummy3; - void *pvDummy5; - TaskFunction_t pvDummy6; - #if( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy7; - #endif - uint8_t ucDummy8; - + void * pvDummy1; + StaticListItem_t xDummy2; + TickType_t xDummy3; + void * pvDummy5; + TaskFunction_t pvDummy6; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy7; + #endif + uint8_t ucDummy8; } StaticTimer_t; /* -* In line with software engineering best practice, especially when supplying a -* library that is likely to change in future versions, FreeRTOS implements a -* strict data hiding policy. This means the stream buffer structure used -* internally by FreeRTOS is not accessible to application code. However, if -* the application writer wants to statically allocate the memory required to -* create a stream buffer then the size of the stream buffer object needs to be -* know. The StaticStreamBuffer_t structure below is provided for this purpose. -* Its size and alignment requirements are guaranteed to match those of the -* genuine structure, no matter which architecture is being used, and no matter -* how the values in FreeRTOSConfig.h are set. Its contents are somewhat -* obfuscated in the hope users will recognise that it would be unwise to make -* direct use of the structure members. -*/ + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the stream buffer structure used + * internally by FreeRTOS is not accessible to application code. However, if + * the application writer wants to statically allocate the memory required to + * create a stream buffer then the size of the stream buffer object needs to be + * known. The StaticStreamBuffer_t structure below is provided for this + * purpose. Its size and alignment requirements are guaranteed to match those + * of the genuine structure, no matter which architecture is being used, and + * no matter how the values in FreeRTOSConfig.h are set. Its contents are + * somewhat obfuscated in the hope users will recognise that it would be unwise + * to make direct use of the structure members. + */ typedef struct xSTATIC_STREAM_BUFFER { - size_t uxDummy1[ 4 ]; - void * pvDummy2[ 3 ]; - uint8_t ucDummy3; - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy4; - #endif + size_t uxDummy1[ 4 ]; + void * pvDummy2[ 3 ]; + uint8_t ucDummy3; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy4; + #endif + #if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) + void * pvDummy5[ 2 ]; + #endif } StaticStreamBuffer_t; /* Message buffers are built on stream buffers. */ typedef StaticStreamBuffer_t StaticMessageBuffer_t; +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* INC_FREERTOS_H */ - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h b/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h deleted file mode 100644 index e0dff5c..0000000 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOSConfig_template.h +++ /dev/null @@ -1,162 +0,0 @@ -/* - * FreeRTOS Kernel V10.2.1 - * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos - * - * 1 tab == 4 spaces! - */ - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * this is a template configuration files - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * These parameters and more are described within the 'configuration' section of the - * FreeRTOS API documentation available on the FreeRTOS.org web site. - * - * See http://www.freertos.org/a00110.html - *----------------------------------------------------------*/ - -/* Ensure stdint is only used by the compiler, and not the assembler. */ -#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__) - #include - extern uint32_t SystemCoreClock; -#endif - -/* CMSIS-RTOSv2 defines 56 levels of priorities. To be able to use them - * all and avoid application misbehavior, configUSE_PORT_OPTIMISED_TASK_SELECTION - * must be set to 0 and configMAX_PRIORITIES to 56 - * - */ -/* #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0*/ -/* #define configMAX_PRIORITIES ( 56 ) */ -#define configUSE_PREEMPTION 1 -#define configUSE_IDLE_HOOK 0 -#define configUSE_TICK_HOOK 0 -#define configMAX_PRIORITIES (7) -#define configSUPPORT_STATIC_ALLOCATION 0 -#define configCPU_CLOCK_HZ (SystemCoreClock) -#define configTICK_RATE_HZ ((TickType_t)1000) -#define configMINIMAL_STACK_SIZE ((uint16_t)128) -#define configTOTAL_HEAP_SIZE ((size_t)(15 * 1024)) -#define configMAX_TASK_NAME_LEN (16) -#define configUSE_TRACE_FACILITY 1 -#define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configUSE_MUTEXES 1 -#define configQUEUE_REGISTRY_SIZE 8 -#define configCHECK_FOR_STACK_OVERFLOW 0 -#define configUSE_RECURSIVE_MUTEXES 1 -#define configUSE_MALLOC_FAILED_HOOK 0 -#define configUSE_APPLICATION_TASK_TAG 0 -#define configUSE_COUNTING_SEMAPHORES 1 -#define configGENERATE_RUN_TIME_STATS 0 - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 0 -#define configMAX_CO_ROUTINE_PRIORITIES (2) - -/* Software timer definitions. */ -#define configUSE_TIMERS 0 -#define configTIMER_TASK_PRIORITY (2) -#define configTIMER_QUEUE_LENGTH 10 -#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2) - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 0 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 0 -#define INCLUDE_vTaskDelay 1 -#define INCLUDE_xTaskGetSchedulerState 1 - -/*------------- CMSIS-RTOS V2 specific defines -----------*/ -/* When using CMSIS-RTOSv2 set configSUPPORT_STATIC_ALLOCATION to 1 - * is mandatory to avoid compile errors. - * CMSIS-RTOS V2 implmentation requires the following defines - * -#define configSUPPORT_STATIC_ALLOCATION 1 <-- cmsis_os threads are created using xTaskCreateStatic() API -#define configMAX_PRIORITIES (56) <-- Priority range in CMSIS-RTOS V2 is [0 .. 56] -#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 <-- when set to 1, configMAX_PRIORITIES can't be more than 32 which is not suitable for the new CMSIS-RTOS v2 priority range -*/ - -/* the CMSIS-RTOS V2 FreeRTOS wrapper is dependent on the heap implementation used - * by the application thus the correct define need to be enabled from the list - * below - * -//define USE_FreeRTOS_HEAP_1 -//define USE_FreeRTOS_HEAP_2 -//define USE_FreeRTOS_HEAP_3 -//define USE_FreeRTOS_HEAP_4 -//define USE_FreeRTOS_HEAP_5 - -*/ - - -/* Cortex-M specific definitions. */ -#ifdef __NVIC_PRIO_BITS - /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */ - #define configPRIO_BITS __NVIC_PRIO_BITS -#else - #define configPRIO_BITS 4 /* 15 priority levels */ -#endif - -/* The lowest interrupt priority that can be used in a call to a "set priority" -function. */ -#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0xf - -/* The highest interrupt priority that can be used by any interrupt service -routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL -INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER -PRIORITY THAN THIS! (higher priorities are lower numeric values. */ -#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 - -/* Interrupt priorities used by the kernel port layer itself. These are generic -to all Cortex-M ports, and do not rely on any particular library functions. */ -#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) -/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!! -See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */ -#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) ) - -/* Normal assert() semantics without relying on the provision of an assert.h -header file. */ -#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); } - -/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS - standard names. */ -#define vPortSVCHandler SVC_Handler -#define xPortPendSVHandler PendSV_Handler - -/* IMPORTANT: FreeRTOS is using the SysTick as internal time base, thus make sure the system and peripherials are - using a different time base (TIM based for example). - */ -#define xPortSysTickHandler SysTick_Handler - -#endif /* FREERTOS_CONFIG_H */ - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h b/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h index 5643991..006068c 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,115 +21,14 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ -#ifndef STACK_MACROS_H -#define STACK_MACROS_H #ifndef _MSC_VER /* Visual Studio doesn't support #warning. */ - #warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in future released. + #warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in a future release. #endif -/* - * Call the stack overflow hook function if the stack of the task being swapped - * out is currently overflowed, or looks like it might have overflowed in the - * past. - * - * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check - * the current stack state only - comparing the current top of stack value to - * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1 - * will also cause the last few stack bytes to be checked to ensure the value - * to which the bytes were set when the task was created have not been - * overwritten. Note this second test does not guarantee that an overflowed - * stack will always be recognised. - */ - -/*-----------------------------------------------------------*/ - -#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) ) - - /* Only the current stack state is to be checked. */ - #define taskCHECK_FOR_STACK_OVERFLOW() \ - { \ - /* Is the currently saved stack pointer within the stack limit? */ \ - if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ - { \ - vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ - } - -#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ -/*-----------------------------------------------------------*/ - -#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) ) - - /* Only the current stack state is to be checked. */ - #define taskCHECK_FOR_STACK_OVERFLOW() \ - { \ - \ - /* Is the currently saved stack pointer within the stack limit? */ \ - if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ - { \ - vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ - } - -#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */ -/*-----------------------------------------------------------*/ - -#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) - - #define taskCHECK_FOR_STACK_OVERFLOW() \ - { \ - const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \ - const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \ - \ - if( ( pulStack[ 0 ] != ulCheckValue ) || \ - ( pulStack[ 1 ] != ulCheckValue ) || \ - ( pulStack[ 2 ] != ulCheckValue ) || \ - ( pulStack[ 3 ] != ulCheckValue ) ) \ - { \ - vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ - } - -#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ -/*-----------------------------------------------------------*/ - -#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) - - #define taskCHECK_FOR_STACK_OVERFLOW() \ - { \ - int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \ - static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \ - tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \ - \ - \ - pcEndOfStack -= sizeof( ucExpectedStackBytes ); \ - \ - /* Has the extremity of the task stack ever been written over? */ \ - if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ - { \ - vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ - } - -#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ -/*-----------------------------------------------------------*/ - -/* Remove stack overflow macro if not being used. */ -#ifndef taskCHECK_FOR_STACK_OVERFLOW - #define taskCHECK_FOR_STACK_OVERFLOW() -#endif - - - -#endif /* STACK_MACROS_H */ - +#include "stack_macros.h" diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h b/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h index ceca696..033edce 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /** @@ -38,15 +39,17 @@ #define ATOMIC_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include atomic.h" + #error "include FreeRTOS.h must appear in source files before include atomic.h" #endif /* Standard includes. */ #include +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /* * Port specific definitions -- entering/exiting critical section. @@ -58,18 +61,18 @@ extern "C" { */ #if defined( portSET_INTERRUPT_MASK_FROM_ISR ) - /* Nested interrupt scheme is supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() \ - UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() +/* Nested interrupt scheme is supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() \ + UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() - #define ATOMIC_EXIT_CRITICAL() \ - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) + #define ATOMIC_EXIT_CRITICAL() \ + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) #else - /* Nested interrupt scheme is NOT supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() - #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() +/* Nested interrupt scheme is NOT supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() + #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() #endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ @@ -81,11 +84,11 @@ extern "C" { * instead of resulting error, simply define it away. */ #ifndef portFORCE_INLINE - #define portFORCE_INLINE + #define portFORCE_INLINE #endif -#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ -#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ +#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ +#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ /*----------------------------- Swap && CAS ------------------------------*/ @@ -105,26 +108,26 @@ extern "C" { * *pulDestination value equals ulComparand. */ static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, - uint32_t ulExchange, - uint32_t ulComparand ) + uint32_t ulExchange, + uint32_t ulComparand ) { -uint32_t ulReturnValue; + uint32_t ulReturnValue; - ATOMIC_ENTER_CRITICAL(); - { - if( *pulDestination == ulComparand ) - { - *pulDestination = ulExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; - } - else - { - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; - } - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + if( *pulDestination == ulComparand ) + { + *pulDestination = ulExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + else + { + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + } + } + ATOMIC_EXIT_CRITICAL(); - return ulReturnValue; + return ulReturnValue; } /*-----------------------------------------------------------*/ @@ -141,18 +144,18 @@ uint32_t ulReturnValue; * @return The initial value of *ppvDestination. */ static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, - void * pvExchange ) + void * pvExchange ) { -void * pReturnValue; + void * pReturnValue; - ATOMIC_ENTER_CRITICAL(); - { - pReturnValue = *ppvDestination; - *ppvDestination = pvExchange; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + pReturnValue = *ppvDestination; + *ppvDestination = pvExchange; + } + ATOMIC_EXIT_CRITICAL(); - return pReturnValue; + return pReturnValue; } /*-----------------------------------------------------------*/ @@ -173,22 +176,22 @@ void * pReturnValue; * *ppvDestination value equals pvComparand. */ static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, - void * pvExchange, - void * pvComparand ) + void * pvExchange, + void * pvComparand ) { -uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; - ATOMIC_ENTER_CRITICAL(); - { - if( *ppvDestination == pvComparand ) - { - *ppvDestination = pvExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; - } - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + if( *ppvDestination == pvComparand ) + { + *ppvDestination = pvExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + } + ATOMIC_EXIT_CRITICAL(); - return ulReturnValue; + return ulReturnValue; } @@ -206,18 +209,18 @@ uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; * @return previous *pulAddend value. */ static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, - uint32_t ulCount ) + uint32_t ulCount ) { - uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend += ulCount; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend += ulCount; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -234,18 +237,18 @@ static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, * @return previous *pulAddend value. */ static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, - uint32_t ulCount ) + uint32_t ulCount ) { - uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend -= ulCount; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend -= ulCount; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -261,16 +264,16 @@ static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAdd */ static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend += 1; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend += 1; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -286,16 +289,16 @@ uint32_t ulCurrent; */ static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend -= 1; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulAddend; + *pulAddend -= 1; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*----------------------------- Bitwise Logical ------------------------------*/ @@ -312,18 +315,18 @@ uint32_t ulCurrent; * @return The original value of *pulDestination. */ static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) + uint32_t ulValue ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination |= ulValue; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination |= ulValue; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -339,18 +342,18 @@ uint32_t ulCurrent; * @return The original value of *pulDestination. */ static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) + uint32_t ulValue ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination &= ulValue; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination &= ulValue; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -366,18 +369,18 @@ uint32_t ulCurrent; * @return The original value of *pulDestination. */ static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) + uint32_t ulValue ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination = ~( ulCurrent & ulValue ); - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination = ~( ulCurrent & ulValue ); + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } /*-----------------------------------------------------------*/ @@ -393,22 +396,24 @@ uint32_t ulCurrent; * @return The original value of *pulDestination. */ static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) + uint32_t ulValue ) { -uint32_t ulCurrent; + uint32_t ulCurrent; - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination ^= ulValue; - } - ATOMIC_EXIT_CRITICAL(); + ATOMIC_ENTER_CRITICAL(); + { + ulCurrent = *pulDestination; + *pulDestination ^= ulValue; + } + ATOMIC_EXIT_CRITICAL(); - return ulCurrent; + return ulCurrent; } +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* ATOMIC_H */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h b/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h index 8d7069c..df50f87 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,51 +21,54 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef CO_ROUTINE_H #define CO_ROUTINE_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include croutine.h" + #error "include FreeRTOS.h must appear in source files before include croutine.h" #endif #include "list.h" +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /* Used to hide the implementation of the co-routine control block. The -control block structure however has to be included in the header due to -the macro implementation of the co-routine functionality. */ + * control block structure however has to be included in the header due to + * the macro implementation of the co-routine functionality. */ typedef void * CoRoutineHandle_t; /* Defines the prototype to which co-routine functions must conform. */ -typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t ); +typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t, + UBaseType_t ); typedef struct corCoRoutineControlBlock { - crCOROUTINE_CODE pxCoRoutineFunction; - ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ - ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */ - UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ - UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ - uint16_t uxState; /*< Used internally by the co-routine implementation. */ -} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ + crCOROUTINE_CODE pxCoRoutineFunction; + ListItem_t xGenericListItem; /**< List item used to place the CRCB in ready and blocked queues. */ + ListItem_t xEventListItem; /**< List item used to place the CRCB in event lists. */ + UBaseType_t uxPriority; /**< The priority of the co-routine in relation to other co-routines. */ + UBaseType_t uxIndex; /**< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + uint16_t uxState; /**< Used internally by the co-routine implementation. */ +} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ /** * croutine. h - *
- BaseType_t xCoRoutineCreate(
-                                 crCOROUTINE_CODE pxCoRoutineCode,
-                                 UBaseType_t uxPriority,
-                                 UBaseType_t uxIndex
-                               );
+ * @code{c} + * BaseType_t xCoRoutineCreate( + * crCOROUTINE_CODE pxCoRoutineCode, + * UBaseType_t uxPriority, + * UBaseType_t uxIndex + * ); + * @endcode * * Create a new co-routine and add it to the list of co-routines that are * ready to run. @@ -83,58 +88,61 @@ typedef struct corCoRoutineControlBlock * list, otherwise an error code defined with ProjDefs.h. * * Example usage: - 
- // Co-routine to be created.
- void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // This co-routine just delays for a fixed period, then toggles
-         // an LED.  Two co-routines are created using this function, so
-         // the uxIndex parameter is used to tell the co-routine which
-         // LED to flash and how int32_t to delay.  This assumes xQueue has
-         // already been created.
-         vParTestToggleLED( cLedToFlash[ uxIndex ] );
-         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
-
- // Function that creates two co-routines.
- void vOtherFunction( void )
- {
- uint8_t ucParameterToPass;
- TaskHandle_t xHandle;
-
-     // Create two co-routines at priority 0.  The first is given index 0
-     // so (from the code above) toggles LED 5 every 200 ticks.  The second
-     // is given index 1 so toggles LED 6 every 400 ticks.
-     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
-     {
-         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
-     }
- }
-
+ * @code{c} + * // Co-routine to be created. + * void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * // This may not be necessary for const variables. + * static const char cLedToFlash[ 2 ] = { 5, 6 }; + * static const TickType_t uxFlashRates[ 2 ] = { 200, 400 }; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // This co-routine just delays for a fixed period, then toggles + * // an LED. Two co-routines are created using this function, so + * // the uxIndex parameter is used to tell the co-routine which + * // LED to flash and how int32_t to delay. This assumes xQueue has + * // already been created. + * vParTestToggleLED( cLedToFlash[ uxIndex ] ); + * crDELAY( xHandle, uxFlashRates[ uxIndex ] ); + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * + * // Function that creates two co-routines. + * void vOtherFunction( void ) + * { + * uint8_t ucParameterToPass; + * TaskHandle_t xHandle; + * + * // Create two co-routines at priority 0. The first is given index 0 + * // so (from the code above) toggles LED 5 every 200 ticks. The second + * // is given index 1 so toggles LED 6 every 400 ticks. + * for( uxIndex = 0; uxIndex < 2; uxIndex++ ) + * { + * xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex ); + * } + * } + * @endcode * \defgroup xCoRoutineCreate xCoRoutineCreate * \ingroup Tasks */ -BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ); +BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, + UBaseType_t uxPriority, + UBaseType_t uxIndex ); /** * croutine. h - *
- void vCoRoutineSchedule( void );
+ * @code{c} + * void vCoRoutineSchedule( void ); + * @endcode * * Run a co-routine. * @@ -148,25 +156,25 @@ BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPri * hook). * * Example usage: - 
- // This idle task hook will schedule a co-routine each time it is called.
- // The rest of the idle task will execute between co-routine calls.
- void vApplicationIdleHook( void )
- {
-	vCoRoutineSchedule();
- }
-
- // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineSchedule() within an
- // infinite loop.
- void vApplicationIdleHook( void )
- {
-    for( ;; )
-    {
-        vCoRoutineSchedule();
-    }
- }
-
+ * @code{c} + * // This idle task hook will schedule a co-routine each time it is called. + * // The rest of the idle task will execute between co-routine calls. + * void vApplicationIdleHook( void ) + * { + * vCoRoutineSchedule(); + * } + * + * // Alternatively, if you do not require any other part of the idle task to + * // execute, the idle task hook can call vCoRoutineSchedule() within an + * // infinite loop. + * void vApplicationIdleHook( void ) + * { + * for( ;; ) + * { + * vCoRoutineSchedule(); + * } + * } + * @endcode * \defgroup vCoRoutineSchedule vCoRoutineSchedule * \ingroup Tasks */ @@ -174,77 +182,88 @@ void vCoRoutineSchedule( void ); /** * croutine. h - * 
- crSTART( CoRoutineHandle_t xHandle );
+ * @code{c} + * crSTART( CoRoutineHandle_t xHandle ); + * @endcode * * This macro MUST always be called at the start of a co-routine function. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static int32_t ulAVariable; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Co-routine functionality goes here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode * \defgroup crSTART crSTART * \ingroup Tasks */ -#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0: +#define crSTART( pxCRCB ) \ + switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \ + case 0: /** * croutine. h - * 
- crEND();
+ * @code{c} + * crEND(); + * @endcode * * This macro MUST always be called at the end of a co-routine function. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static int32_t ulAVariable; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Co-routine functionality goes here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode * \defgroup crSTART crSTART * \ingroup Tasks */ -#define crEND() } +#define crEND() } /* * These macros are intended for internal use by the co-routine implementation * only. The macros should not be used directly by application writers. */ -#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): -#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): +#define crSET_STATE0( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \ + case ( __LINE__ * 2 ): +#define crSET_STATE1( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \ + case ( ( __LINE__ * 2 ) + 1 ): /** * croutine. h - *
- crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
+ * @code{c} + * crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay ); + * @endcode * * Delay a co-routine for a fixed period of time. * @@ -261,48 +280,52 @@ void vCoRoutineSchedule( void ); * can be used to convert ticks to milliseconds. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- // We are to delay for 200ms.
- static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-        // Delay for 200ms.
-        crDELAY( xHandle, xDelayTime );
-
-        // Do something here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * // This may not be necessary for const variables. + * // We are to delay for 200ms. + * static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Delay for 200ms. + * crDELAY( xHandle, xDelayTime ); + * + * // Do something here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode * \defgroup crDELAY crDELAY * \ingroup Tasks */ -#define crDELAY( xHandle, xTicksToDelay ) \ - if( ( xTicksToDelay ) > 0 ) \ - { \ - vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ - } \ - crSET_STATE0( ( xHandle ) ); +#define crDELAY( xHandle, xTicksToDelay ) \ + do { \ + if( ( xTicksToDelay ) > 0 ) \ + { \ + vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ + } \ + crSET_STATE0( ( xHandle ) ); \ + } while( 0 ) /** - * 
- crQUEUE_SEND(
-                  CoRoutineHandle_t xHandle,
-                  QueueHandle_t pxQueue,
-                  void *pvItemToQueue,
-                  TickType_t xTicksToWait,
-                  BaseType_t *pxResult
-             )
+ * @code{c} + * crQUEUE_SEND( + * CoRoutineHandle_t xHandle, + * QueueHandle_t pxQueue, + * void *pvItemToQueue, + * TickType_t xTicksToWait, + * BaseType_t *pxResult + * ) + * @endcode * * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. @@ -342,66 +365,68 @@ void vCoRoutineSchedule( void ); * error defined within ProjDefs.h. * * Example usage: - 
- // Co-routine function that blocks for a fixed period then posts a number onto
- // a queue.
- static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xNumberToPost = 0;
- static BaseType_t xResult;
-
-    // Co-routines must begin with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // This assumes the queue has already been created.
-        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
-
-        if( xResult != pdPASS )
-        {
-            // The message was not posted!
-        }
-
-        // Increment the number to be posted onto the queue.
-        xNumberToPost++;
-
-        // Delay for 100 ticks.
-        crDELAY( xHandle, 100 );
-    }
-
-    // Co-routines must end with a call to crEND().
-    crEND();
- }
+ * @code{c} + * // Co-routine function that blocks for a fixed period then posts a number onto + * // a queue. + * static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static BaseType_t xNumberToPost = 0; + * static BaseType_t xResult; + * + * // Co-routines must begin with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // This assumes the queue has already been created. + * crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult ); + * + * if( xResult != pdPASS ) + * { + * // The message was not posted! + * } + * + * // Increment the number to be posted onto the queue. + * xNumberToPost++; + * + * // Delay for 100 ticks. + * crDELAY( xHandle, 100 ); + * } + * + * // Co-routines must end with a call to crEND(). + * crEND(); + * } + * @endcode * \defgroup crQUEUE_SEND crQUEUE_SEND * \ingroup Tasks */ -#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ -{ \ - *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \ - if( *( pxResult ) == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( ( xHandle ) ); \ - *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ - } \ - if( *pxResult == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( ( xHandle ) ); \ - *pxResult = pdPASS; \ - } \ -} +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ + do { \ + *( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *pxResult = pdPASS; \ + } \ + } while( 0 ) /** * croutine. h - * 
-  crQUEUE_RECEIVE(
-                     CoRoutineHandle_t xHandle,
-                     QueueHandle_t pxQueue,
-                     void *pvBuffer,
-                     TickType_t xTicksToWait,
-                     BaseType_t *pxResult
-                 )
+ * @code{c} + * crQUEUE_RECEIVE( + * CoRoutineHandle_t xHandle, + * QueueHandle_t pxQueue, + * void *pvBuffer, + * TickType_t xTicksToWait, + * BaseType_t *pxResult + * ) + * @endcode * * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. @@ -440,58 +465,60 @@ void vCoRoutineSchedule( void ); * an error code as defined within ProjDefs.h. * * Example usage: - 
- // A co-routine receives the number of an LED to flash from a queue.  It
- // blocks on the queue until the number is received.
- static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xResult;
- static UBaseType_t uxLEDToFlash;
-
-    // All co-routines must start with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // Wait for data to become available on the queue.
-        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-        if( xResult == pdPASS )
-        {
-            // We received the LED to flash - flash it!
-            vParTestToggleLED( uxLEDToFlash );
-        }
-    }
-
-    crEND();
- }
+ * @code{c} + * // A co-routine receives the number of an LED to flash from a queue. It + * // blocks on the queue until the number is received. + * static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static BaseType_t xResult; + * static UBaseType_t uxLEDToFlash; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Wait for data to become available on the queue. + * crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + * + * if( xResult == pdPASS ) + * { + * // We received the LED to flash - flash it! + * vParTestToggleLED( uxLEDToFlash ); + * } + * } + * + * crEND(); + * } + * @endcode * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE * \ingroup Tasks */ -#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ -{ \ - *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \ - if( *( pxResult ) == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( ( xHandle ) ); \ - *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \ - } \ - if( *( pxResult ) == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( ( xHandle ) ); \ - *( pxResult ) = pdPASS; \ - } \ -} +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ + do { \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \ + } \ + if( *( pxResult ) == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *( pxResult ) = pdPASS; \ + } \ + } while( 0 ) /** * croutine. h - * 
-  crQUEUE_SEND_FROM_ISR(
-                            QueueHandle_t pxQueue,
-                            void *pvItemToQueue,
-                            BaseType_t xCoRoutinePreviouslyWoken
-                       )
+ * @code{c} + * crQUEUE_SEND_FROM_ISR( + * QueueHandle_t pxQueue, + * void *pvItemToQueue, + * BaseType_t xCoRoutinePreviouslyWoken + * ) + * @endcode * * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() @@ -526,69 +553,72 @@ void vCoRoutineSchedule( void ); * the ISR. * * Example usage: - 
- // A co-routine that blocks on a queue waiting for characters to be received.
- static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- char cRxedChar;
- BaseType_t xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Wait for data to become available on the queue.  This assumes the
-         // queue xCommsRxQueue has already been created!
-         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-         // Was a character received?
-         if( xResult == pdPASS )
-         {
-             // Process the character here.
-         }
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to send characters received on a serial port to
- // a co-routine.
- void vUART_ISR( void )
- {
- char cRxedChar;
- BaseType_t xCRWokenByPost = pdFALSE;
-
-     // We loop around reading characters until there are none left in the UART.
-     while( UART_RX_REG_NOT_EMPTY() )
-     {
-         // Obtain the character from the UART.
-         cRxedChar = UART_RX_REG;
-
-         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
-         // the first time around the loop.  If the post causes a co-routine
-         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
-         // In this manner we can ensure that if more than one co-routine is
-         // blocked on the queue only one is woken by this ISR no matter how
-         // many characters are posted to the queue.
-         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
-     }
- }
+ * @code{c} + * // A co-routine that blocks on a queue waiting for characters to be received. + * static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * char cRxedChar; + * BaseType_t xResult; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Wait for data to become available on the queue. This assumes the + * // queue xCommsRxQueue has already been created! + * crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + * + * // Was a character received? + * if( xResult == pdPASS ) + * { + * // Process the character here. + * } + * } + * + * // All co-routines must end with a call to crEND(). + * crEND(); + * } + * + * // An ISR that uses a queue to send characters received on a serial port to + * // a co-routine. + * void vUART_ISR( void ) + * { + * char cRxedChar; + * BaseType_t xCRWokenByPost = pdFALSE; + * + * // We loop around reading characters until there are none left in the UART. + * while( UART_RX_REG_NOT_EMPTY() ) + * { + * // Obtain the character from the UART. + * cRxedChar = UART_RX_REG; + * + * // Post the character onto a queue. xCRWokenByPost will be pdFALSE + * // the first time around the loop. If the post causes a co-routine + * // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE. + * // In this manner we can ensure that if more than one co-routine is + * // blocked on the queue only one is woken by this ISR no matter how + * // many characters are posted to the queue. + * xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost ); + * } + * } + * @endcode * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR * \ingroup Tasks */ -#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) ) +#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) \ + xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) ) /** * croutine. h - * 
-  crQUEUE_SEND_FROM_ISR(
-                            QueueHandle_t pxQueue,
-                            void *pvBuffer,
-                            BaseType_t * pxCoRoutineWoken
-                       )
+ * @code{c} + * crQUEUE_SEND_FROM_ISR( + * QueueHandle_t pxQueue, + * void *pvBuffer, + * BaseType_t * pxCoRoutineWoken + * ) + * @endcode * * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() @@ -623,75 +653,77 @@ void vCoRoutineSchedule( void ); * pdFALSE. * * Example usage: - 
- // A co-routine that posts a character to a queue then blocks for a fixed
- // period.  The character is incremented each time.
- static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // cChar holds its value while this co-routine is blocked and must therefore
- // be declared static.
- static char cCharToTx = 'a';
- BaseType_t xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Send the next character to the queue.
-         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
-
-         if( xResult == pdPASS )
-         {
-             // The character was successfully posted to the queue.
-         }
-		 else
-		 {
-			// Could not post the character to the queue.
-		 }
-
-         // Enable the UART Tx interrupt to cause an interrupt in this
-		 // hypothetical UART.  The interrupt will obtain the character
-		 // from the queue and send it.
-		 ENABLE_RX_INTERRUPT();
-
-		 // Increment to the next character then block for a fixed period.
-		 // cCharToTx will maintain its value across the delay as it is
-		 // declared static.
-		 cCharToTx++;
-		 if( cCharToTx > 'x' )
-		 {
-			cCharToTx = 'a';
-		 }
-		 crDELAY( 100 );
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to receive characters to send on a UART.
- void vUART_ISR( void )
- {
- char cCharToTx;
- BaseType_t xCRWokenByPost = pdFALSE;
-
-     while( UART_TX_REG_EMPTY() )
-     {
-         // Are there any characters in the queue waiting to be sent?
-		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
-		 // is woken by the post - ensuring that only a single co-routine is
-		 // woken no matter how many times we go around this loop.
-         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
-		 {
-			 SEND_CHARACTER( cCharToTx );
-		 }
-     }
- }
+ * @code{c} + * // A co-routine that posts a character to a queue then blocks for a fixed + * // period. The character is incremented each time. + * static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // cChar holds its value while this co-routine is blocked and must therefore + * // be declared static. + * static char cCharToTx = 'a'; + * BaseType_t xResult; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Send the next character to the queue. + * crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult ); + * + * if( xResult == pdPASS ) + * { + * // The character was successfully posted to the queue. + * } + * else + * { + * // Could not post the character to the queue. + * } + * + * // Enable the UART Tx interrupt to cause an interrupt in this + * // hypothetical UART. The interrupt will obtain the character + * // from the queue and send it. + * ENABLE_RX_INTERRUPT(); + * + * // Increment to the next character then block for a fixed period. + * // cCharToTx will maintain its value across the delay as it is + * // declared static. + * cCharToTx++; + * if( cCharToTx > 'x' ) + * { + * cCharToTx = 'a'; + * } + * crDELAY( 100 ); + * } + * + * // All co-routines must end with a call to crEND(). + * crEND(); + * } + * + * // An ISR that uses a queue to receive characters to send on a UART. + * void vUART_ISR( void ) + * { + * char cCharToTx; + * BaseType_t xCRWokenByPost = pdFALSE; + * + * while( UART_TX_REG_EMPTY() ) + * { + * // Are there any characters in the queue waiting to be sent? + * // xCRWokenByPost will automatically be set to pdTRUE if a co-routine + * // is woken by the post - ensuring that only a single co-routine is + * // woken no matter how many times we go around this loop. + * if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) ) + * { + * SEND_CHARACTER( cCharToTx ); + * } + * } + * } + * @endcode * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR * \ingroup Tasks */ -#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \ + xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) /* * This function is intended for internal use by the co-routine macros only. @@ -702,7 +734,8 @@ void vCoRoutineSchedule( void ); * Removes the current co-routine from its ready list and places it in the * appropriate delayed list. */ -void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ); +void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, + List_t * pxEventList ); /* * This function is intended for internal use by the queue implementation only. @@ -711,10 +744,12 @@ void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) * Removes the highest priority co-routine from the event list and places it in * the pending ready list. */ -BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ); +BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ); +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* CO_ROUTINE_H */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h b/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h index 21657b9..6a25d06 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef DEPRECATED_DEFINITIONS_H @@ -30,158 +31,158 @@ /* Each FreeRTOS port has a unique portmacro.h header file. Originally a -pre-processor definition was used to ensure the pre-processor found the correct -portmacro.h file for the port being used. That scheme was deprecated in favour -of setting the compiler's include path such that it found the correct -portmacro.h file - removing the need for the constant and allowing the -portmacro.h file to be located anywhere in relation to the port being used. The -definitions below remain in the code for backward compatibility only. New -projects should not use them. */ + * pre-processor definition was used to ensure the pre-processor found the correct + * portmacro.h file for the port being used. That scheme was deprecated in favour + * of setting the compiler's include path such that it found the correct + * portmacro.h file - removing the need for the constant and allowing the + * portmacro.h file to be located anywhere in relation to the port being used. The + * definitions below remain in the code for backward compatibility only. New + * projects should not use them. */ #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT - #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); + #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef OPEN_WATCOM_FLASH_LITE_186_PORT - #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); + #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef GCC_MEGA_AVR - #include "../portable/GCC/ATMega323/portmacro.h" + #include "../portable/GCC/ATMega323/portmacro.h" #endif #ifdef IAR_MEGA_AVR - #include "../portable/IAR/ATMega323/portmacro.h" + #include "../portable/IAR/ATMega323/portmacro.h" #endif #ifdef MPLAB_PIC24_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #endif #ifdef MPLAB_DSPIC_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #endif #ifdef MPLAB_PIC18F_PORT - #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" + #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" #endif #ifdef MPLAB_PIC32MX_PORT - #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" + #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" #endif #ifdef _FEDPICC - #include "libFreeRTOS/Include/portmacro.h" + #include "libFreeRTOS/Include/portmacro.h" #endif #ifdef SDCC_CYGNAL - #include "../../Source/portable/SDCC/Cygnal/portmacro.h" + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" #endif #ifdef GCC_ARM7 - #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" #endif #ifdef GCC_ARM7_ECLIPSE - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef ROWLEY_LPC23xx - #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" #endif #ifdef IAR_MSP430 - #include "..\..\Source\portable\IAR\MSP430\portmacro.h" + #include "..\..\Source\portable\IAR\MSP430\portmacro.h" #endif #ifdef GCC_MSP430 - #include "../../Source/portable/GCC/MSP430F449/portmacro.h" + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" #endif #ifdef ROWLEY_MSP430 - #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" #endif #ifdef ARM7_LPC21xx_KEIL_RVDS - #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" + #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" #endif #ifdef SAM7_GCC - #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" #endif #ifdef SAM7_IAR - #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" #endif #ifdef SAM9XE_IAR - #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" + #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" #endif #ifdef LPC2000_IAR - #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" #endif #ifdef STR71X_IAR - #include "..\..\Source\portable\IAR\STR71x\portmacro.h" + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" #endif #ifdef STR75X_IAR - #include "..\..\Source\portable\IAR\STR75x\portmacro.h" + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" #endif #ifdef STR75X_GCC - #include "..\..\Source\portable\GCC\STR75x\portmacro.h" + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" #endif #ifdef STR91X_IAR - #include "..\..\Source\portable\IAR\STR91x\portmacro.h" + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" #endif #ifdef GCC_H8S - #include "../../Source/portable/GCC/H8S2329/portmacro.h" + #include "../../Source/portable/GCC/H8S2329/portmacro.h" #endif #ifdef GCC_AT91FR40008 - #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" #endif #ifdef RVDS_ARMCM3_LM3S102 - #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" #endif #ifdef GCC_ARMCM3_LM3S102 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #endif #ifdef GCC_ARMCM3 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #endif #ifdef IAR_ARM_CM3 - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #endif #ifdef IAR_ARMCM3_LM - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #endif #ifdef HCS12_CODE_WARRIOR - #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" #endif #ifdef MICROBLAZE_GCC - #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" #endif #ifdef TERN_EE - #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" #endif #ifdef GCC_HCS12 - #include "../../Source/portable/GCC/HCS12/portmacro.h" + #include "../../Source/portable/GCC/HCS12/portmacro.h" #endif #ifdef GCC_MCF5235 @@ -189,91 +190,92 @@ projects should not use them. */ #endif #ifdef COLDFIRE_V2_GCC - #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" + #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" #endif #ifdef COLDFIRE_V2_CODEWARRIOR - #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" + #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" #endif #ifdef GCC_PPC405 - #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" + #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" #endif #ifdef GCC_PPC440 - #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" + #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" #endif #ifdef _16FX_SOFTUNE - #include "..\..\Source\portable\Softune\MB96340\portmacro.h" + #include "..\..\Source\portable\Softune\MB96340\portmacro.h" #endif #ifdef BCC_INDUSTRIAL_PC_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef BCC_FLASH_LITE_186_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef __GNUC__ - #ifdef __AVR32_AVR32A__ - #include "portmacro.h" - #endif + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif #endif #ifdef __ICCAVR32__ - #ifdef __CORE__ - #if __CORE__ == __AVR32A__ - #include "portmacro.h" - #endif - #endif + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif #endif #ifdef __91467D - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef __96340 - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef __IAR_V850ES_Fx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx3_L__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Hx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_78K0R_Kx3__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" + #include "../../Source/portable/IAR/78K0R/portmacro.h" #endif #ifdef __IAR_78K0R_Kx3L__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" + #include "../../Source/portable/IAR/78K0R/portmacro.h" #endif #endif /* DEPRECATED_DEFINITIONS_H */ - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h b/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h index a87fdf3..a5c723d 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,25 +21,46 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef EVENT_GROUPS_H #define EVENT_GROUPS_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h" must appear in source files before "include event_groups.h" + #error "include FreeRTOS.h" must appear in source files before "include event_groups.h" #endif /* FreeRTOS includes. */ #include "timers.h" +/* The following bit fields convey control information in a task's event list + * item value. It is important they don't clash with the + * taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */ +#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) + #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U + #define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U + #define eventWAIT_FOR_ALL_BITS 0x0400U + #define eventEVENT_BITS_CONTROL_BYTES 0xff00U +#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS ) + #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL + #define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL + #define eventWAIT_FOR_ALL_BITS 0x04000000UL + #define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL +#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS ) + #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100000000000000ULL + #define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200000000000000ULL + #define eventWAIT_FOR_ALL_BITS 0x0400000000000000ULL + #define eventEVENT_BITS_CONTROL_BYTES 0xff00000000000000ULL +#endif /* if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS ) */ + +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /** * An event group is a collection of bits to which an application can assign a @@ -62,8 +85,6 @@ extern "C" { * be set and then tested atomically - as is the case where event groups are * used to create a synchronisation point between multiple tasks (a * 'rendezvous'). - * - * \defgroup EventGroup */ @@ -79,99 +100,101 @@ extern "C" { * \ingroup EventGroup */ struct EventGroupDef_t; -typedef struct EventGroupDef_t * EventGroupHandle_t; +typedef struct EventGroupDef_t * EventGroupHandle_t; /* * The type that holds event bits always matches TickType_t - therefore the - * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1, - * 32 bits if set to 0. + * number of bits it holds is set by configTICK_TYPE_WIDTH_IN_BITS (16 bits if set to 0, + * 32 bits if set to 1, 64 bits if set to 2. * * \defgroup EventBits_t EventBits_t * \ingroup EventGroup */ -typedef TickType_t EventBits_t; +typedef TickType_t EventBits_t; /** * event_groups.h - *
- EventGroupHandle_t xEventGroupCreate( void );
-
+ * @code{c} + * EventGroupHandle_t xEventGroupCreate( void ); + * @endcode * * Create a new event group. * * Internally, within the FreeRTOS implementation, event groups use a [small] * block of memory, in which the event group's structure is stored. If an event - * groups is created using xEventGropuCreate() then the required memory is + * groups is created using xEventGroupCreate() then the required memory is * automatically dynamically allocated inside the xEventGroupCreate() function. - * (see http://www.freertos.org/a00111.html). If an event group is created - * using xEventGropuCreateStatic() then the application writer must instead + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created + * using xEventGroupCreateStatic() then the application writer must instead * provide the memory that will get used by the event group. * xEventGroupCreateStatic() therefore allows an event group to be created * without using any dynamic memory allocation. * * Although event groups are not related to ticks, for internal implementation * reasons the number of bits available for use in an event group is dependent - * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If - * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit - * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has - * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store - * event bits within an event group. + * on the configTICK_TYPE_WIDTH_IN_BITS setting in FreeRTOSConfig.h. If + * configTICK_TYPE_WIDTH_IN_BITS is 0 then each event group contains 8 usable bits (bit + * 0 to bit 7). If configTICK_TYPE_WIDTH_IN_BITS is set to 1 then each event group has + * 24 usable bits (bit 0 to bit 23). If configTICK_TYPE_WIDTH_IN_BITS is set to 2 then + * each event group has 56 usable bits (bit 0 to bit 53). The EventBits_t type + * is used to store event bits within an event group. * * @return If the event group was created then a handle to the event group is * returned. If there was insufficient FreeRTOS heap available to create the - * event group then NULL is returned. See http://www.freertos.org/a00111.html + * event group then NULL is returned. See https://www.FreeRTOS.org/a00111.html * * Example usage: - 
-	// Declare a variable to hold the created event group.
-	EventGroupHandle_t xCreatedEventGroup;
-
-	// Attempt to create the event group.
-	xCreatedEventGroup = xEventGroupCreate();
-
-	// Was the event group created successfully?
-	if( xCreatedEventGroup == NULL )
-	{
-		// The event group was not created because there was insufficient
-		// FreeRTOS heap available.
-	}
-	else
-	{
-		// The event group was created.
-	}
-
+ * @code{c} + * // Declare a variable to hold the created event group. + * EventGroupHandle_t xCreatedEventGroup; + * + * // Attempt to create the event group. + * xCreatedEventGroup = xEventGroupCreate(); + * + * // Was the event group created successfully? + * if( xCreatedEventGroup == NULL ) + * { + * // The event group was not created because there was insufficient + * // FreeRTOS heap available. + * } + * else + * { + * // The event group was created. + * } + * @endcode * \defgroup xEventGroupCreate xEventGroupCreate * \ingroup EventGroup */ -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; #endif /** * event_groups.h - *
- EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
-
+ * @code{c} + * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer ); + * @endcode * * Create a new event group. * * Internally, within the FreeRTOS implementation, event groups use a [small] * block of memory, in which the event group's structure is stored. If an event - * groups is created using xEventGropuCreate() then the required memory is + * groups is created using xEventGroupCreate() then the required memory is * automatically dynamically allocated inside the xEventGroupCreate() function. - * (see http://www.freertos.org/a00111.html). If an event group is created - * using xEventGropuCreateStatic() then the application writer must instead + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created + * using xEventGroupCreateStatic() then the application writer must instead * provide the memory that will get used by the event group. * xEventGroupCreateStatic() therefore allows an event group to be created * without using any dynamic memory allocation. * * Although event groups are not related to ticks, for internal implementation * reasons the number of bits available for use in an event group is dependent - * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If - * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit - * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has - * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store - * event bits within an event group. + * on the configTICK_TYPE_WIDTH_IN_BITS setting in FreeRTOSConfig.h. If + * configTICK_TYPE_WIDTH_IN_BITS is 0 then each event group contains 8 usable bits (bit + * 0 to bit 7). If configTICK_TYPE_WIDTH_IN_BITS is set to 1 then each event group has + * 24 usable bits (bit 0 to bit 23). If configTICK_TYPE_WIDTH_IN_BITS is set to 2 then + * each event group has 56 usable bits (bit 0 to bit 53). The EventBits_t type + * is used to store event bits within an event group. * * @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type * StaticEventGroup_t, which will be then be used to hold the event group's data @@ -181,34 +204,34 @@ typedef TickType_t EventBits_t; * returned. If pxEventGroupBuffer was NULL then NULL is returned. * * Example usage: - 
-	// StaticEventGroup_t is a publicly accessible structure that has the same
-	// size and alignment requirements as the real event group structure.  It is
-	// provided as a mechanism for applications to know the size of the event
-	// group (which is dependent on the architecture and configuration file
-	// settings) without breaking the strict data hiding policy by exposing the
-	// real event group internals.  This StaticEventGroup_t variable is passed
-	// into the xSemaphoreCreateEventGroupStatic() function and is used to store
-	// the event group's data structures
-	StaticEventGroup_t xEventGroupBuffer;
-
-	// Create the event group without dynamically allocating any memory.
-	xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
-
+ * @code{c} + * // StaticEventGroup_t is a publicly accessible structure that has the same + * // size and alignment requirements as the real event group structure. It is + * // provided as a mechanism for applications to know the size of the event + * // group (which is dependent on the architecture and configuration file + * // settings) without breaking the strict data hiding policy by exposing the + * // real event group internals. This StaticEventGroup_t variable is passed + * // into the xSemaphoreCreateEventGroupStatic() function and is used to store + * // the event group's data structures + * StaticEventGroup_t xEventGroupBuffer; + * + * // Create the event group without dynamically allocating any memory. + * xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer ); + * @endcode */ -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION; +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION; #endif /** * event_groups.h - *
-	EventBits_t xEventGroupWaitBits( 	EventGroupHandle_t xEventGroup,
-										const EventBits_t uxBitsToWaitFor,
-										const BaseType_t xClearOnExit,
-										const BaseType_t xWaitForAllBits,
-										const TickType_t xTicksToWait );
-
+ * @code{c} + * EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + * const EventBits_t uxBitsToWaitFor, + * const BaseType_t xClearOnExit, + * const BaseType_t xWaitForAllBits, + * const TickType_t xTicksToWait ); + * @endcode * * [Potentially] block to wait for one or more bits to be set within a * previously created event group. @@ -240,7 +263,8 @@ typedef TickType_t EventBits_t; * * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait * for one/all (depending on the xWaitForAllBits value) of the bits specified by - * uxBitsToWaitFor to become set. + * uxBitsToWaitFor to become set. A value of portMAX_DELAY can be used to block + * indefinitely (provided INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h). * * @return The value of the event group at the time either the bits being waited * for became set, or the block time expired. Test the return value to know @@ -252,53 +276,57 @@ typedef TickType_t EventBits_t; * pdTRUE. * * Example usage: - 
-   #define BIT_0	( 1 << 0 )
-   #define BIT_4	( 1 << 4 )
-
-   void aFunction( EventGroupHandle_t xEventGroup )
-   {
-   EventBits_t uxBits;
-   const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
-
-		// Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
-		// the event group.  Clear the bits before exiting.
-		uxBits = xEventGroupWaitBits(
-					xEventGroup,	// The event group being tested.
-					BIT_0 | BIT_4,	// The bits within the event group to wait for.
-					pdTRUE,			// BIT_0 and BIT_4 should be cleared before returning.
-					pdFALSE,		// Don't wait for both bits, either bit will do.
-					xTicksToWait );	// Wait a maximum of 100ms for either bit to be set.
-
-		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
-		{
-			// xEventGroupWaitBits() returned because both bits were set.
-		}
-		else if( ( uxBits & BIT_0 ) != 0 )
-		{
-			// xEventGroupWaitBits() returned because just BIT_0 was set.
-		}
-		else if( ( uxBits & BIT_4 ) != 0 )
-		{
-			// xEventGroupWaitBits() returned because just BIT_4 was set.
-		}
-		else
-		{
-			// xEventGroupWaitBits() returned because xTicksToWait ticks passed
-			// without either BIT_0 or BIT_4 becoming set.
-		}
-   }
-
+ * @code{c} + * #define BIT_0 ( 1 << 0 ) + * #define BIT_4 ( 1 << 4 ) + * + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; + * const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; + * + * // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within + * // the event group. Clear the bits before exiting. + * uxBits = xEventGroupWaitBits( + * xEventGroup, // The event group being tested. + * BIT_0 | BIT_4, // The bits within the event group to wait for. + * pdTRUE, // BIT_0 and BIT_4 should be cleared before returning. + * pdFALSE, // Don't wait for both bits, either bit will do. + * xTicksToWait ); // Wait a maximum of 100ms for either bit to be set. + * + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // xEventGroupWaitBits() returned because both bits were set. + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // xEventGroupWaitBits() returned because just BIT_0 was set. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // xEventGroupWaitBits() returned because just BIT_4 was set. + * } + * else + * { + * // xEventGroupWaitBits() returned because xTicksToWait ticks passed + * // without either BIT_0 or BIT_4 becoming set. + * } + * } + * @endcode * \defgroup xEventGroupWaitBits xEventGroupWaitBits * \ingroup EventGroup */ -EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * event_groups.h - *
-	EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
-
+ * @code{c} + * EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ); + * @endcode * * Clear bits within an event group. This function cannot be called from an * interrupt. @@ -312,50 +340,51 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits * @return The value of the event group before the specified bits were cleared. * * Example usage: - 
-   #define BIT_0	( 1 << 0 )
-   #define BIT_4	( 1 << 4 )
-
-   void aFunction( EventGroupHandle_t xEventGroup )
-   {
-   EventBits_t uxBits;
-
-		// Clear bit 0 and bit 4 in xEventGroup.
-		uxBits = xEventGroupClearBits(
-								xEventGroup,	// The event group being updated.
-								BIT_0 | BIT_4 );// The bits being cleared.
-
-		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
-		{
-			// Both bit 0 and bit 4 were set before xEventGroupClearBits() was
-			// called.  Both will now be clear (not set).
-		}
-		else if( ( uxBits & BIT_0 ) != 0 )
-		{
-			// Bit 0 was set before xEventGroupClearBits() was called.  It will
-			// now be clear.
-		}
-		else if( ( uxBits & BIT_4 ) != 0 )
-		{
-			// Bit 4 was set before xEventGroupClearBits() was called.  It will
-			// now be clear.
-		}
-		else
-		{
-			// Neither bit 0 nor bit 4 were set in the first place.
-		}
-   }
-
+ * @code{c} + * #define BIT_0 ( 1 << 0 ) + * #define BIT_4 ( 1 << 4 ) + * + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; + * + * // Clear bit 0 and bit 4 in xEventGroup. + * uxBits = xEventGroupClearBits( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 );// The bits being cleared. + * + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // Both bit 0 and bit 4 were set before xEventGroupClearBits() was + * // called. Both will now be clear (not set). + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // Bit 0 was set before xEventGroupClearBits() was called. It will + * // now be clear. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // Bit 4 was set before xEventGroupClearBits() was called. It will + * // now be clear. + * } + * else + * { + * // Neither bit 0 nor bit 4 were set in the first place. + * } + * } + * @endcode * \defgroup xEventGroupClearBits xEventGroupClearBits * \ingroup EventGroup */ -EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; /** * event_groups.h - *
-	BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
-
+ * @code{c} + * BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); + * @endcode * * A version of xEventGroupClearBits() that can be called from an interrupt. * @@ -369,6 +398,12 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit * timer task to have the clear operation performed in the context of the timer * task. * + * @note If this function returns pdPASS then the timer task is ready to run + * and a portYIELD_FROM_ISR(pdTRUE) should be executed to perform the needed + * clear on the event group. This behavior is different from + * xEventGroupSetBitsFromISR because the parameter xHigherPriorityTaskWoken is + * not present. + * * @param xEventGroup The event group in which the bits are to be cleared. * * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear. @@ -380,41 +415,44 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit * if the timer service queue was full. * * Example usage: - 
-   #define BIT_0	( 1 << 0 )
-   #define BIT_4	( 1 << 4 )
-
-   // An event group which it is assumed has already been created by a call to
-   // xEventGroupCreate().
-   EventGroupHandle_t xEventGroup;
-
-   void anInterruptHandler( void )
-   {
-		// Clear bit 0 and bit 4 in xEventGroup.
-		xResult = xEventGroupClearBitsFromISR(
-							xEventGroup,	 // The event group being updated.
-							BIT_0 | BIT_4 ); // The bits being set.
-
-		if( xResult == pdPASS )
-		{
-			// The message was posted successfully.
-		}
-  }
-
+ * @code{c} + * #define BIT_0 ( 1 << 0 ) + * #define BIT_4 ( 1 << 4 ) + * + * // An event group which it is assumed has already been created by a call to + * // xEventGroupCreate(). + * EventGroupHandle_t xEventGroup; + * + * void anInterruptHandler( void ) + * { + * // Clear bit 0 and bit 4 in xEventGroup. + * xResult = xEventGroupClearBitsFromISR( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 ); // The bits being set. + * + * if( xResult == pdPASS ) + * { + * // The message was posted successfully. + * portYIELD_FROM_ISR(pdTRUE); + * } + * } + * @endcode * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR * \ingroup EventGroup */ -#if( configUSE_TRACE_FACILITY == 1 ) - BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; #else - #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) + #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) \ + xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) ( xEventGroup ), ( uint32_t ) ( uxBitsToClear ), NULL ) #endif /** * event_groups.h - *
-	EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
-
+ * @code{c} + * EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); + * @endcode * * Set bits within an event group. * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() @@ -440,55 +478,56 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit * event group value before the call to xEventGroupSetBits() returns. * * Example usage: - 
-   #define BIT_0	( 1 << 0 )
-   #define BIT_4	( 1 << 4 )
-
-   void aFunction( EventGroupHandle_t xEventGroup )
-   {
-   EventBits_t uxBits;
-
-		// Set bit 0 and bit 4 in xEventGroup.
-		uxBits = xEventGroupSetBits(
-							xEventGroup,	// The event group being updated.
-							BIT_0 | BIT_4 );// The bits being set.
-
-		if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
-		{
-			// Both bit 0 and bit 4 remained set when the function returned.
-		}
-		else if( ( uxBits & BIT_0 ) != 0 )
-		{
-			// Bit 0 remained set when the function returned, but bit 4 was
-			// cleared.  It might be that bit 4 was cleared automatically as a
-			// task that was waiting for bit 4 was removed from the Blocked
-			// state.
-		}
-		else if( ( uxBits & BIT_4 ) != 0 )
-		{
-			// Bit 4 remained set when the function returned, but bit 0 was
-			// cleared.  It might be that bit 0 was cleared automatically as a
-			// task that was waiting for bit 0 was removed from the Blocked
-			// state.
-		}
-		else
-		{
-			// Neither bit 0 nor bit 4 remained set.  It might be that a task
-			// was waiting for both of the bits to be set, and the bits were
-			// cleared as the task left the Blocked state.
-		}
-   }
-
+ * @code{c} + * #define BIT_0 ( 1 << 0 ) + * #define BIT_4 ( 1 << 4 ) + * + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; + * + * // Set bit 0 and bit 4 in xEventGroup. + * uxBits = xEventGroupSetBits( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 );// The bits being set. + * + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // Both bit 0 and bit 4 remained set when the function returned. + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // Bit 0 remained set when the function returned, but bit 4 was + * // cleared. It might be that bit 4 was cleared automatically as a + * // task that was waiting for bit 4 was removed from the Blocked + * // state. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // Bit 4 remained set when the function returned, but bit 0 was + * // cleared. It might be that bit 0 was cleared automatically as a + * // task that was waiting for bit 0 was removed from the Blocked + * // state. + * } + * else + * { + * // Neither bit 0 nor bit 4 remained set. It might be that a task + * // was waiting for both of the bits to be set, and the bits were + * // cleared as the task left the Blocked state. + * } + * } + * @endcode * \defgroup xEventGroupSetBits xEventGroupSetBits * \ingroup EventGroup */ -EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; /** * event_groups.h - *
-	BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
-
+ * @code{c} + * BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ); + * @endcode * * A version of xEventGroupSetBits() that can be called from an interrupt. * @@ -521,55 +560,58 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_ * if the timer service queue was full. * * Example usage: - 
-   #define BIT_0	( 1 << 0 )
-   #define BIT_4	( 1 << 4 )
-
-   // An event group which it is assumed has already been created by a call to
-   // xEventGroupCreate().
-   EventGroupHandle_t xEventGroup;
-
-   void anInterruptHandler( void )
-   {
-   BaseType_t xHigherPriorityTaskWoken, xResult;
-
-		// xHigherPriorityTaskWoken must be initialised to pdFALSE.
-		xHigherPriorityTaskWoken = pdFALSE;
-
-		// Set bit 0 and bit 4 in xEventGroup.
-		xResult = xEventGroupSetBitsFromISR(
-							xEventGroup,	// The event group being updated.
-							BIT_0 | BIT_4   // The bits being set.
-							&xHigherPriorityTaskWoken );
-
-		// Was the message posted successfully?
-		if( xResult == pdPASS )
-		{
-			// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
-			// switch should be requested.  The macro used is port specific and
-			// will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
-			// refer to the documentation page for the port being used.
-			portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-		}
-  }
-
+ * @code{c} + * #define BIT_0 ( 1 << 0 ) + * #define BIT_4 ( 1 << 4 ) + * + * // An event group which it is assumed has already been created by a call to + * // xEventGroupCreate(). + * EventGroupHandle_t xEventGroup; + * + * void anInterruptHandler( void ) + * { + * BaseType_t xHigherPriorityTaskWoken, xResult; + * + * // xHigherPriorityTaskWoken must be initialised to pdFALSE. + * xHigherPriorityTaskWoken = pdFALSE; + * + * // Set bit 0 and bit 4 in xEventGroup. + * xResult = xEventGroupSetBitsFromISR( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 // The bits being set. + * &xHigherPriorityTaskWoken ); + * + * // Was the message posted successfully? + * if( xResult == pdPASS ) + * { + * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context + * // switch should be requested. The macro used is port specific and + * // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - + * // refer to the documentation page for the port being used. + * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); + * } + * } + * @endcode * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR * \ingroup EventGroup */ -#if( configUSE_TRACE_FACILITY == 1 ) - BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; #else - #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) + #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) \ + xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) ( xEventGroup ), ( uint32_t ) ( uxBitsToSet ), ( pxHigherPriorityTaskWoken ) ) #endif /** * event_groups.h - *
-	EventBits_t xEventGroupSync(	EventGroupHandle_t xEventGroup,
-									const EventBits_t uxBitsToSet,
-									const EventBits_t uxBitsToWaitFor,
-									TickType_t xTicksToWait );
-
+ * @code{c} + * EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + * const EventBits_t uxBitsToSet, + * const EventBits_t uxBitsToWaitFor, + * TickType_t xTicksToWait ); + * @endcode * * Atomically set bits within an event group, then wait for a combination of * bits to be set within the same event group. This functionality is typically @@ -608,92 +650,95 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_ * automatically cleared. * * Example usage: - 
- // Bits used by the three tasks.
- #define TASK_0_BIT		( 1 << 0 )
- #define TASK_1_BIT		( 1 << 1 )
- #define TASK_2_BIT		( 1 << 2 )
-
- #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
-
- // Use an event group to synchronise three tasks.  It is assumed this event
- // group has already been created elsewhere.
- EventGroupHandle_t xEventBits;
-
- void vTask0( void *pvParameters )
- {
- EventBits_t uxReturn;
- TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
-
-	 for( ;; )
-	 {
-		// Perform task functionality here.
-
-		// Set bit 0 in the event flag to note this task has reached the
-		// sync point.  The other two tasks will set the other two bits defined
-		// by ALL_SYNC_BITS.  All three tasks have reached the synchronisation
-		// point when all the ALL_SYNC_BITS are set.  Wait a maximum of 100ms
-		// for this to happen.
-		uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
-
-		if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
-		{
-			// All three tasks reached the synchronisation point before the call
-			// to xEventGroupSync() timed out.
-		}
-	}
- }
-
- void vTask1( void *pvParameters )
- {
-	 for( ;; )
-	 {
-		// Perform task functionality here.
-
-		// Set bit 1 in the event flag to note this task has reached the
-		// synchronisation point.  The other two tasks will set the other two
-		// bits defined by ALL_SYNC_BITS.  All three tasks have reached the
-		// synchronisation point when all the ALL_SYNC_BITS are set.  Wait
-		// indefinitely for this to happen.
-		xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
-
-		// xEventGroupSync() was called with an indefinite block time, so
-		// this task will only reach here if the syncrhonisation was made by all
-		// three tasks, so there is no need to test the return value.
-	 }
- }
-
- void vTask2( void *pvParameters )
- {
-	 for( ;; )
-	 {
-		// Perform task functionality here.
-
-		// Set bit 2 in the event flag to note this task has reached the
-		// synchronisation point.  The other two tasks will set the other two
-		// bits defined by ALL_SYNC_BITS.  All three tasks have reached the
-		// synchronisation point when all the ALL_SYNC_BITS are set.  Wait
-		// indefinitely for this to happen.
-		xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
-
-		// xEventGroupSync() was called with an indefinite block time, so
-		// this task will only reach here if the syncrhonisation was made by all
-		// three tasks, so there is no need to test the return value.
-	}
- }
-
-
+ * @code{c} + * // Bits used by the three tasks. + * #define TASK_0_BIT ( 1 << 0 ) + * #define TASK_1_BIT ( 1 << 1 ) + * #define TASK_2_BIT ( 1 << 2 ) + * + * #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT ) + * + * // Use an event group to synchronise three tasks. It is assumed this event + * // group has already been created elsewhere. + * EventGroupHandle_t xEventBits; + * + * void vTask0( void *pvParameters ) + * { + * EventBits_t uxReturn; + * TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; + * + * for( ;; ) + * { + * // Perform task functionality here. + * + * // Set bit 0 in the event flag to note this task has reached the + * // sync point. The other two tasks will set the other two bits defined + * // by ALL_SYNC_BITS. All three tasks have reached the synchronisation + * // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms + * // for this to happen. + * uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait ); + * + * if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS ) + * { + * // All three tasks reached the synchronisation point before the call + * // to xEventGroupSync() timed out. + * } + * } + * } + * + * void vTask1( void *pvParameters ) + * { + * for( ;; ) + * { + * // Perform task functionality here. + * + * // Set bit 1 in the event flag to note this task has reached the + * // synchronisation point. The other two tasks will set the other two + * // bits defined by ALL_SYNC_BITS. All three tasks have reached the + * // synchronisation point when all the ALL_SYNC_BITS are set. Wait + * // indefinitely for this to happen. + * xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY ); + * + * // xEventGroupSync() was called with an indefinite block time, so + * // this task will only reach here if the synchronisation was made by all + * // three tasks, so there is no need to test the return value. + * } + * } + * + * void vTask2( void *pvParameters ) + * { + * for( ;; ) + * { + * // Perform task functionality here. + * + * // Set bit 2 in the event flag to note this task has reached the + * // synchronisation point. The other two tasks will set the other two + * // bits defined by ALL_SYNC_BITS. All three tasks have reached the + * // synchronisation point when all the ALL_SYNC_BITS are set. Wait + * // indefinitely for this to happen. + * xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY ); + * + * // xEventGroupSync() was called with an indefinite block time, so + * // this task will only reach here if the synchronisation was made by all + * // three tasks, so there is no need to test the return value. + * } + * } + * + * @endcode * \defgroup xEventGroupSync xEventGroupSync * \ingroup EventGroup */ -EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * event_groups.h - *
-	EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
-
+ * @code{c} + * EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup ); + * @endcode * * Returns the current value of the bits in an event group. This function * cannot be used from an interrupt. @@ -705,13 +750,13 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u * \defgroup xEventGroupGetBits xEventGroupGetBits * \ingroup EventGroup */ -#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) +#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( ( xEventGroup ), 0 ) /** * event_groups.h - *
-	EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
-
+ * @code{c} + * EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ); + * @endcode * * A version of xEventGroupGetBits() that can be called from an ISR. * @@ -726,9 +771,9 @@ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEG /** * event_groups.h - *
-	void xEventGroupDelete( EventGroupHandle_t xEventGroup );
-
+ * @code{c} + * void xEventGroupDelete( EventGroupHandle_t xEventGroup ); + * @endcode * * Delete an event group that was previously created by a call to * xEventGroupCreate(). Tasks that are blocked on the event group will be @@ -738,20 +783,45 @@ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEG */ void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; +/** + * event_groups.h + * @code{c} + * BaseType_t xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup, + * StaticEventGroup_t ** ppxEventGroupBuffer ); + * @endcode + * + * Retrieve a pointer to a statically created event groups's data structure + * buffer. It is the same buffer that is supplied at the time of creation. + * + * @param xEventGroup The event group for which to retrieve the buffer. + * + * @param ppxEventGroupBuffer Used to return a pointer to the event groups's + * data structure buffer. + * + * @return pdTRUE if the buffer was retrieved, pdFALSE otherwise. + */ +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + BaseType_t xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup, + StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION; +#endif /* configSUPPORT_STATIC_ALLOCATION */ + /* For internal use only. */ -void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; -void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; +void vEventGroupSetBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; +void vEventGroupClearBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; -#if (configUSE_TRACE_FACILITY == 1) - UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION; - void vEventGroupSetNumber( void* xEventGroup, UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION; + void vEventGroupSetNumber( void * xEventGroup, + UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; #endif +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* EVENT_GROUPS_H */ - - diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/list.h b/Middlewares/Third_Party/FreeRTOS/Source/include/list.h index a3e3024..62c6238 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/list.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/list.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /* @@ -32,7 +33,7 @@ * * list_ts can only store pointers to list_item_ts. Each ListItem_t contains a * numeric value (xItemValue). Most of the time the lists are sorted in - * descending item value order. + * ascending item value order. * * Lists are created already containing one list item. The value of this * item is the maximum possible that can be stored, it is therefore always at @@ -53,13 +54,14 @@ * \ingroup FreeRTOSIntro */ -#ifndef INC_FREERTOS_H - #error FreeRTOS.h must be included before list.h -#endif #ifndef LIST_H #define LIST_H +#ifndef INC_FREERTOS_H + #error "FreeRTOS.h must be included before list.h" +#endif + /* * The list structure members are modified from within interrupts, and therefore * by rights should be declared volatile. However, they are only modified in a @@ -89,47 +91,49 @@ * "#define configLIST_VOLATILE volatile" */ #ifndef configLIST_VOLATILE - #define configLIST_VOLATILE + #define configLIST_VOLATILE #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /* Macros that can be used to place known values within the list structures, -then check that the known values do not get corrupted during the execution of -the application. These may catch the list data structures being overwritten in -memory. They will not catch data errors caused by incorrect configuration or -use of FreeRTOS.*/ -#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) - /* Define the macros to do nothing. */ - #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE - #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE - #define listFIRST_LIST_INTEGRITY_CHECK_VALUE - #define listSECOND_LIST_INTEGRITY_CHECK_VALUE - #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) - #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) - #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) - #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) - #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) - #define listTEST_LIST_INTEGRITY( pxList ) -#else - /* Define macros that add new members into the list structures. */ - #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; - #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; - #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; - #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; + * then check that the known values do not get corrupted during the execution of + * the application. These may catch the list data structures being overwritten in + * memory. They will not catch data errors caused by incorrect configuration or + * use of FreeRTOS.*/ +#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) + /* Define the macros to do nothing. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) + #define listTEST_LIST_INTEGRITY( pxList ) +#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */ + /* Define macros that add new members into the list structures. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; - /* Define macros that set the new structure members to known values. */ - #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE - #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE - #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE - #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE +/* Define macros that set the new structure members to known values. */ + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE - /* Define macros that will assert if one of the structure members does not - contain its expected value. */ - #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) - #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) +/* Define macros that will assert if one of the structure members does not + * contain its expected value. */ + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) + #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ @@ -139,35 +143,39 @@ use of FreeRTOS.*/ struct xLIST; struct xLIST_ITEM { - listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ - struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ - struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ - void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ - struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */ - listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; /**< The value being listed. In most cases this is used to sort the list in ascending order. */ + struct xLIST_ITEM * configLIST_VOLATILE pxNext; /**< Pointer to the next ListItem_t in the list. */ + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /**< Pointer to the previous ListItem_t in the list. */ + void * pvOwner; /**< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + struct xLIST * configLIST_VOLATILE pxContainer; /**< Pointer to the list in which this list item is placed (if any). */ + listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ }; -typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ +typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ -struct xMINI_LIST_ITEM -{ - listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - configLIST_VOLATILE TickType_t xItemValue; - struct xLIST_ITEM * configLIST_VOLATILE pxNext; - struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; -}; -typedef struct xMINI_LIST_ITEM MiniListItem_t; +#if ( configUSE_MINI_LIST_ITEM == 1 ) + struct xMINI_LIST_ITEM + { + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; + struct xLIST_ITEM * configLIST_VOLATILE pxNext; + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; + }; + typedef struct xMINI_LIST_ITEM MiniListItem_t; +#else + typedef struct xLIST_ITEM MiniListItem_t; +#endif /* * Definition of the type of queue used by the scheduler. */ typedef struct xLIST { - listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - volatile UBaseType_t uxNumberOfItems; - ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ - MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ - listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listFIRST_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + volatile UBaseType_t uxNumberOfItems; + ListItem_t * configLIST_VOLATILE pxIndex; /**< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ + MiniListItem_t xListEnd; /**< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + listSECOND_LIST_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ } List_t; /* @@ -177,7 +185,7 @@ typedef struct xLIST * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \ingroup LinkedList */ -#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) /* * Access macro to get the owner of a list item. The owner of a list item @@ -186,16 +194,16 @@ typedef struct xLIST * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \ingroup LinkedList */ -#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) +#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) /* * Access macro to set the value of the list item. In most cases the value is - * used to sort the list in descending order. + * used to sort the list in ascending order. * * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) /* * Access macro to retrieve the value of the list item. The value can @@ -205,7 +213,7 @@ typedef struct xLIST * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) /* * Access macro to retrieve the value of the list item at the head of a given @@ -214,7 +222,7 @@ typedef struct xLIST * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) +#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) /* * Return the list item at the head of the list. @@ -222,7 +230,7 @@ typedef struct xLIST * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY * \ingroup LinkedList */ -#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) +#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) /* * Return the next list item. @@ -230,7 +238,7 @@ typedef struct xLIST * \page listGET_NEXT listGET_NEXT * \ingroup LinkedList */ -#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) +#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) /* * Return the list item that marks the end of the list @@ -238,7 +246,7 @@ typedef struct xLIST * \page listGET_END_MARKER listGET_END_MARKER * \ingroup LinkedList */ -#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) +#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) /* * Access macro to determine if a list contains any items. The macro will @@ -247,12 +255,12 @@ typedef struct xLIST * \page listLIST_IS_EMPTY listLIST_IS_EMPTY * \ingroup LinkedList */ -#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) +#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) /* * Access macro to return the number of items in the list. */ -#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) /* * Access function to obtain the owner of the next entry in a list. @@ -274,19 +282,99 @@ typedef struct xLIST * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY * \ingroup LinkedList */ -#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ -{ \ -List_t * const pxConstList = ( pxList ); \ - /* Increment the index to the next item and return the item, ensuring */ \ - /* we don't return the marker used at the end of the list. */ \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ - { \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - } \ - ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ -} +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ + do { \ + List_t * const pxConstList = ( pxList ); \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->xListEnd.pxNext; \ + } \ + ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ + } while( 0 ) +/* + * Version of uxListRemove() that does not return a value. Provided as a slight + * optimisation for xTaskIncrementTick() by being inline. + * + * Remove an item from a list. The list item has a pointer to the list that + * it is in, so only the list item need be passed into the function. + * + * @param uxListRemove The item to be removed. The item will remove itself from + * the list pointed to by it's pxContainer parameter. + * + * @return The number of items that remain in the list after the list item has + * been removed. + * + * \page listREMOVE_ITEM listREMOVE_ITEM + * \ingroup LinkedList + */ +#define listREMOVE_ITEM( pxItemToRemove ) \ + do { \ + /* The list item knows which list it is in. Obtain the list from the list \ + * item. */ \ + List_t * const pxList = ( pxItemToRemove )->pxContainer; \ + \ + ( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious; \ + ( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext; \ + /* Make sure the index is left pointing to a valid item. */ \ + if( pxList->pxIndex == ( pxItemToRemove ) ) \ + { \ + pxList->pxIndex = ( pxItemToRemove )->pxPrevious; \ + } \ + \ + ( pxItemToRemove )->pxContainer = NULL; \ + ( pxList->uxNumberOfItems )--; \ + } while( 0 ) + +/* + * Inline version of vListInsertEnd() to provide slight optimisation for + * xTaskIncrementTick(). + * + * Insert a list item into a list. The item will be inserted in a position + * such that it will be the last item within the list returned by multiple + * calls to listGET_OWNER_OF_NEXT_ENTRY. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list. + * Placing an item in a list using vListInsertEnd effectively places the item + * in the list position pointed to by pxIndex. This means that every other + * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before + * the pxIndex parameter again points to the item being inserted. + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The list item to be inserted into the list. + * + * \page listINSERT_END listINSERT_END + * \ingroup LinkedList + */ +#define listINSERT_END( pxList, pxNewListItem ) \ + do { \ + ListItem_t * const pxIndex = ( pxList )->pxIndex; \ + \ + /* Only effective when configASSERT() is also defined, these tests may catch \ + * the list data structures being overwritten in memory. They will not catch \ + * data errors caused by incorrect configuration or use of FreeRTOS. */ \ + listTEST_LIST_INTEGRITY( ( pxList ) ); \ + listTEST_LIST_ITEM_INTEGRITY( ( pxNewListItem ) ); \ + \ + /* Insert a new list item into ( pxList ), but rather than sort the list, \ + * makes the new list item the last item to be removed by a call to \ + * listGET_OWNER_OF_NEXT_ENTRY(). */ \ + ( pxNewListItem )->pxNext = pxIndex; \ + ( pxNewListItem )->pxPrevious = pxIndex->pxPrevious; \ + \ + pxIndex->pxPrevious->pxNext = ( pxNewListItem ); \ + pxIndex->pxPrevious = ( pxNewListItem ); \ + \ + /* Remember which list the item is in. */ \ + ( pxNewListItem )->pxContainer = ( pxList ); \ + \ + ( ( pxList )->uxNumberOfItems )++; \ + } while( 0 ) /* * Access function to obtain the owner of the first entry in a list. Lists @@ -304,7 +392,7 @@ List_t * const pxConstList = ( pxList ); \ * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY * \ingroup LinkedList */ -#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner ) +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner ) /* * Check to see if a list item is within a list. The list item maintains a @@ -315,7 +403,7 @@ List_t * const pxConstList = ( pxList ); \ * @param pxListItem The list item we want to know if is in the list. * @return pdTRUE if the list item is in the list, otherwise pdFALSE. */ -#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) /* * Return the list a list item is contained within (referenced from). @@ -323,14 +411,14 @@ List_t * const pxConstList = ( pxList ); \ * @param pxListItem The list item being queried. * @return A pointer to the List_t object that references the pxListItem */ -#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) +#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) /* * This provides a crude means of knowing if a list has been initialised, as * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() * function. */ -#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) +#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) /* * Must be called before a list is used! This initialises all the members @@ -357,7 +445,7 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted into the list in - * a position determined by its item value (descending item value order). + * a position determined by its item value (ascending item value order). * * @param pxList The list into which the item is to be inserted. * @@ -366,7 +454,8 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; * \page vListInsert vListInsert * \ingroup LinkedList */ -void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; +void vListInsert( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted in a position @@ -387,7 +476,8 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIV * \page vListInsertEnd vListInsertEnd * \ingroup LinkedList */ -void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; +void vListInsertEnd( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Remove an item from a list. The list item has a pointer to the list that @@ -404,9 +494,10 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) P */ UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; +/* *INDENT-OFF* */ #ifdef __cplusplus -} -#endif - + } #endif +/* *INDENT-ON* */ +#endif /* ifndef LIST_H */ diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h b/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h index 0c3edb9..136445d 100644 --- a/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h +++ b/Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h @@ -1,6 +1,8 @@ /* - * FreeRTOS Kernel V10.3.1 - * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * FreeRTOS Kernel V10.6.2 + * 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 @@ -19,10 +21,9 @@ * 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://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ @@ -63,32 +64,35 @@ #define FREERTOS_MESSAGE_BUFFER_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include message_buffer.h" + #error "include FreeRTOS.h must appear in source files before include message_buffer.h" #endif /* Message buffers are built onto of stream buffers. */ #include "stream_buffer.h" +/* *INDENT-OFF* */ #if defined( __cplusplus ) -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /** * Type by which message buffers are referenced. For example, a call to * xMessageBufferCreate() returns an MessageBufferHandle_t variable that can * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(), - * etc. + * etc. Message buffer is essentially built as a stream buffer hence its handle + * is also set to same type as a stream buffer handle. */ -typedef void * MessageBufferHandle_t; +typedef StreamBufferHandle_t MessageBufferHandle_t; /*-----------------------------------------------------------*/ /** * message_buffer.h * -
-MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
-
+ * @code{c} + * MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes ); + * @endcode * * Creates a new message buffer using dynamically allocated memory. See * xMessageBufferCreateStatic() for a version that uses statically allocated @@ -104,6 +108,18 @@ MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes ); * 32-bit architecture, so on most 32-bit architectures a 10 byte message will * take up 14 bytes of message buffer space. * + * @param pxSendCompletedCallback Callback invoked when a send operation to the + * message buffer is complete. If the parameter is NULL or xMessageBufferCreate() + * is called without the parameter, then it will use the default implementation + * provided by sbSEND_COMPLETED macro. To enable the callback, + * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h. + * + * @param pxReceiveCompletedCallback Callback invoked when a receive operation from + * the message buffer is complete. If the parameter is NULL or xMessageBufferCreate() + * is called without the parameter, it will use the default implementation provided + * by sbRECEIVE_COMPLETED macro. To enable the callback, + * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h. + * * @return If NULL is returned, then the message buffer cannot be created * because there is insufficient heap memory available for FreeRTOS to allocate * the message buffer data structures and storage area. A non-NULL value being @@ -112,43 +128,49 @@ MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes ); * buffer. * * Example use: -
-
-void vAFunction( void )
-{
-MessageBufferHandle_t xMessageBuffer;
-const size_t xMessageBufferSizeBytes = 100;
-
-    // Create a message buffer that can hold 100 bytes.  The memory used to hold
-    // both the message buffer structure and the messages themselves is allocated
-    // dynamically.  Each message added to the buffer consumes an additional 4
-    // bytes which are used to hold the lengh of the message.
-    xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
-
-    if( xMessageBuffer == NULL )
-    {
-        // There was not enough heap memory space available to create the
-        // message buffer.
-    }
-    else
-    {
-        // The message buffer was created successfully and can now be used.
-    }
-
-
+ * @code{c} + * + * void vAFunction( void ) + * { + * MessageBufferHandle_t xMessageBuffer; + * const size_t xMessageBufferSizeBytes = 100; + * + * // Create a message buffer that can hold 100 bytes. The memory used to hold + * // both the message buffer structure and the messages themselves is allocated + * // dynamically. Each message added to the buffer consumes an additional 4 + * // bytes which are used to hold the length of the message. + * xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes ); + * + * if( xMessageBuffer == NULL ) + * { + * // There was not enough heap memory space available to create the + * // message buffer. + * } + * else + * { + * // The message buffer was created successfully and can now be used. + * } + * + * @endcode * \defgroup xMessageBufferCreate xMessageBufferCreate * \ingroup MessageBufferManagement */ -#define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) +#define xMessageBufferCreate( xBufferSizeBytes ) \ + xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, pdTRUE, NULL, NULL ) + +#if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) + #define xMessageBufferCreateWithCallback( xBufferSizeBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \ + xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, pdTRUE, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) ) +#endif /** * message_buffer.h * -
-MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
-                                                  uint8_t *pucMessageBufferStorageArea,
-                                                  StaticMessageBuffer_t *pxStaticMessageBuffer );
-
+ * @code{c} + * MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes, + * uint8_t *pucMessageBufferStorageArea, + * StaticMessageBuffer_t *pxStaticMessageBuffer ); + * @endcode * Creates a new message buffer using statically allocated memory. See * xMessageBufferCreate() for a version that uses dynamically allocated memory. * @@ -161,61 +183,108 @@ MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes, * stored in the message buffer is actually (xBufferSizeBytes - 1). * * @param pucMessageBufferStorageArea Must point to a uint8_t array that is at - * least xBufferSizeBytes + 1 big. This is the array to which messages are + * least xBufferSizeBytes big. This is the array to which messages are * copied when they are written to the message buffer. * * @param pxStaticMessageBuffer Must point to a variable of type * StaticMessageBuffer_t, which will be used to hold the message buffer's data * structure. * + * @param pxSendCompletedCallback Callback invoked when a new message is sent to the message buffer. + * If the parameter is NULL or xMessageBufferCreate() is called without the parameter, then it will use the default + * implementation provided by sbSEND_COMPLETED macro. To enable the callback, + * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h. + * + * @param pxReceiveCompletedCallback Callback invoked when a message is read from a + * message buffer. If the parameter is NULL or xMessageBufferCreate() is called without the parameter, it will + * use the default implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback, + * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h. + * * @return If the message buffer is created successfully then a handle to the * created message buffer is returned. If either pucMessageBufferStorageArea or * pxStaticmessageBuffer are NULL then NULL is returned. * * Example use: -
-
-// Used to dimension the array used to hold the messages.  The available space
-// will actually be one less than this, so 999.
-#define STORAGE_SIZE_BYTES 1000
-
-// Defines the memory that will actually hold the messages within the message
-// buffer.
-static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
-
-// The variable used to hold the message buffer structure.
-StaticMessageBuffer_t xMessageBufferStruct;
-
-void MyFunction( void )
-{
-MessageBufferHandle_t xMessageBuffer;
-
-    xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ),
-                                                 ucBufferStorage,
-                                                 &xMessageBufferStruct );
-
-    // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
-    // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
-    // reference the created message buffer in other message buffer API calls.
-
-    // Other code that uses the message buffer can go here.
-}
-
-
+ * @code{c} + * + * // Used to dimension the array used to hold the messages. The available space + * // will actually be one less than this, so 999. + #define STORAGE_SIZE_BYTES 1000 + * + * // Defines the memory that will actually hold the messages within the message + * // buffer. + * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ]; + * + * // The variable used to hold the message buffer structure. + * StaticMessageBuffer_t xMessageBufferStruct; + * + * void MyFunction( void ) + * { + * MessageBufferHandle_t xMessageBuffer; + * + * xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucStorageBuffer ), + * ucStorageBuffer, + * &xMessageBufferStruct ); + * + * // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer + * // parameters were NULL, xMessageBuffer will not be NULL, and can be used to + * // reference the created message buffer in other message buffer API calls. + * + * // Other code that uses the message buffer can go here. + * } + * + * @endcode * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic * \ingroup MessageBufferManagement */ -#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) +#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \ + xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, pdTRUE, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), NULL, NULL ) + +#if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) + #define xMessageBufferCreateStaticWithCallback( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \ + xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, pdTRUE, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) ) +#endif /** * message_buffer.h * -
-size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
-                           const void *pvTxData,
-                           size_t xDataLengthBytes,
-                           TickType_t xTicksToWait );
-
+ * @code{c}
+ * BaseType_t xMessageBufferGetStaticBuffers( MessageBufferHandle_t xMessageBuffer,
+ *                                            uint8_t ** ppucMessageBufferStorageArea,
+ *                                            StaticMessageBuffer_t ** ppxStaticMessageBuffer );
+ * @endcode
+ *
+ * Retrieve pointers to a statically created message buffer's data structure
+ * buffer and storage area buffer. These are the same buffers that are supplied
+ * at the time of creation.
+ *
+ * @param xMessageBuffer The message buffer for which to retrieve the buffers.
+ *
+ * @param ppucMessageBufferStorageArea Used to return a pointer to the
+ * message buffer's storage area buffer.
+ *
+ * @param ppxStaticMessageBuffer Used to return a pointer to the message
+ * buffer's data structure buffer.
+ *
+ * @return pdTRUE if buffers were retrieved, pdFALSE otherwise..
+ *
+ * \defgroup xMessageBufferGetStaticBuffers xMessageBufferGetStaticBuffers
+ * \ingroup MessageBufferManagement
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xMessageBufferGetStaticBuffers( xMessageBuffer, ppucMessageBufferStorageArea, ppxStaticMessageBuffer ) \
+    xStreamBufferGetStaticBuffers( ( xMessageBuffer ), ( ppucMessageBufferStorageArea ), ( ppxStaticMessageBuffer ) )
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
+ *                         const void *pvTxData,
+ *                         size_t xDataLengthBytes,
+ *                         TickType_t xTicksToWait );
+ * @endcode
  *
  * Sends a discrete message to the message buffer.  The message can be any
  * length that fits within the buffer's free space, and is copied into the
@@ -272,49 +341,50 @@ size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
  * time out then xDataLengthBytes is returned.
  *
  * Example use:
-
-void vAFunction( MessageBufferHandle_t xMessageBuffer )
-{
-size_t xBytesSent;
-uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
-char *pcStringToSend = "String to send";
-const TickType_t x100ms = pdMS_TO_TICKS( 100 );
-
-    // Send an array to the message buffer, blocking for a maximum of 100ms to
-    // wait for enough space to be available in the message buffer.
-    xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
-
-    if( xBytesSent != sizeof( ucArrayToSend ) )
-    {
-        // The call to xMessageBufferSend() times out before there was enough
-        // space in the buffer for the data to be written.
-    }
-
-    // Send the string to the message buffer.  Return immediately if there is
-    // not enough space in the buffer.
-    xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
-
-    if( xBytesSent != strlen( pcStringToSend ) )
-    {
-        // The string could not be added to the message buffer because there was
-        // not enough free space in the buffer.
-    }
-}
-

+ * @code{c}
+ * void vAFunction( MessageBufferHandle_t xMessageBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ *
+ *  // Send an array to the message buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the message buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xMessageBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written.
+ *  }
+ *
+ *  // Send the string to the message buffer.  Return immediately if there is
+ *  // not enough space in the buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ * }
+ * @endcode
  * \defgroup xMessageBufferSend xMessageBufferSend
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait )
+#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \
+    xStreamBufferSend( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( xTicksToWait ) )
 
 /**
  * message_buffer.h
  *
-
-size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
-                                  const void *pvTxData,
-                                  size_t xDataLengthBytes,
-                                  BaseType_t *pxHigherPriorityTaskWoken );
-
+ * @code{c}
+ * size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                const void *pvTxData,
+ *                                size_t xDataLengthBytes,
+ *                                BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * Interrupt safe version of the API function that sends a discrete message to
  * the message buffer.  The message can be any length that fits within the
@@ -372,53 +442,54 @@ size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
  * then 0 is returned, otherwise xDataLengthBytes is returned.
  *
  * Example use:
-
-// A message buffer that has already been created.
-MessageBufferHandle_t xMessageBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-size_t xBytesSent;
-char *pcStringToSend = "String to send";
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
-    // Attempt to send the string to the message buffer.
-    xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
-                                            ( void * ) pcStringToSend,
-                                            strlen( pcStringToSend ),
-                                            &xHigherPriorityTaskWoken );
-
-    if( xBytesSent != strlen( pcStringToSend ) )
-    {
-        // The string could not be added to the message buffer because there was
-        // not enough free space in the buffer.
-    }
-
-    // If xHigherPriorityTaskWoken was set to pdTRUE inside
-    // xMessageBufferSendFromISR() then a task that has a priority above the
-    // priority of the currently executing task was unblocked and a context
-    // switch should be performed to ensure the ISR returns to the unblocked
-    // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
-    // variables value, and perform the context switch if necessary.  Check the
-    // documentation for the port in use for port specific instructions.
-    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-

+ * @code{c}
+ * // A message buffer that has already been created.
+ * MessageBufferHandle_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ *
+ *  // Attempt to send the string to the message buffer.
+ *  xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
+ *                                          ( void * ) pcStringToSend,
+ *                                          strlen( pcStringToSend ),
+ *                                          &xHigherPriorityTaskWoken );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
  * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken )
+#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \
+    xStreamBufferSendFromISR( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( pxHigherPriorityTaskWoken ) )
 
 /**
  * message_buffer.h
  *
-
-size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
-                              void *pvRxData,
-                              size_t xBufferLengthBytes,
-                              TickType_t xTicksToWait );
-

+ * @code{c}
+ * size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
+ *                            void *pvRxData,
+ *                            size_t xBufferLengthBytes,
+ *                            TickType_t xTicksToWait );
+ * @endcode
  *
  * Receives a discrete message from a message buffer.  Messages can be of
  * variable length and are copied out of the buffer.
@@ -471,43 +542,44 @@ size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
  * zero is returned.
  *
  * Example use:
-
-void vAFunction( MessageBuffer_t xMessageBuffer )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
-
-    // Receive the next message from the message buffer.  Wait in the Blocked
-    // state (so not using any CPU processing time) for a maximum of 100ms for
-    // a message to become available.
-    xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
-                                            ( void * ) ucRxData,
-                                            sizeof( ucRxData ),
-                                            xBlockTime );
-
-    if( xReceivedBytes > 0 )
-    {
-        // A ucRxData contains a message that is xReceivedBytes long.  Process
-        // the message here....
-    }
-}
-

+ * @code{c}
+ * void vAFunction( MessageBuffer_t xMessageBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ *
+ *  // Receive the next message from the message buffer.  Wait in the Blocked
+ *  // state (so not using any CPU processing time) for a maximum of 100ms for
+ *  // a message to become available.
+ *  xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
+ *                                          ( void * ) ucRxData,
+ *                                          sizeof( ucRxData ),
+ *                                          xBlockTime );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ * }
+ * @endcode
  * \defgroup xMessageBufferReceive xMessageBufferReceive
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait )
+#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \
+    xStreamBufferReceive( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( xTicksToWait ) )
 
 
 /**
  * message_buffer.h
  *
-
-size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
-                                     void *pvRxData,
-                                     size_t xBufferLengthBytes,
-                                     BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                   void *pvRxData,
+ *                                   size_t xBufferLengthBytes,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * An interrupt safe version of the API function that receives a discrete
  * message from a message buffer.  Messages can be of variable length and are
@@ -561,50 +633,51 @@ size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
  * any.
  *
  * Example use:
-
-// A message buffer that has already been created.
-MessageBuffer_t xMessageBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
-
-    // Receive the next message from the message buffer.
-    xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
-                                                  ( void * ) ucRxData,
-                                                  sizeof( ucRxData ),
-                                                  &xHigherPriorityTaskWoken );
-
-    if( xReceivedBytes > 0 )
-    {
-        // A ucRxData contains a message that is xReceivedBytes long.  Process
-        // the message here....
-    }
-
-    // If xHigherPriorityTaskWoken was set to pdTRUE inside
-    // xMessageBufferReceiveFromISR() then a task that has a priority above the
-    // priority of the currently executing task was unblocked and a context
-    // switch should be performed to ensure the ISR returns to the unblocked
-    // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
-    // variables value, and perform the context switch if necessary.  Check the
-    // documentation for the port in use for port specific instructions.
-    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-

+ * @code{c}
+ * // A message buffer that has already been created.
+ * MessageBuffer_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ *
+ *  // Receive the next message from the message buffer.
+ *  xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
  * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken )
+#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \
+    xStreamBufferReceiveFromISR( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( pxHigherPriorityTaskWoken ) )
 
 /**
  * message_buffer.h
  *
-
-void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
-

+ * @code{c}
+ * void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  *
  * Deletes a message buffer that was previously created using a call to
  * xMessageBufferCreate() or xMessageBufferCreateStatic().  If the message
@@ -617,13 +690,14 @@ void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
  * @param xMessageBuffer The handle of the message buffer to be deleted.
  *
  */
-#define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer )
+#define vMessageBufferDelete( xMessageBuffer ) \
+    vStreamBufferDelete( xMessageBuffer )
 
 /**
  * message_buffer.h
-
-BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
-

+ * @code{c}
+ * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  *
  * Tests to see if a message buffer is full.  A message buffer is full if it
  * cannot accept any more messages, of any size, until space is made available
@@ -634,13 +708,14 @@ BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
  * @return If the message buffer referenced by xMessageBuffer is full then
  * pdTRUE is returned.  Otherwise pdFALSE is returned.
  */
-#define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer )
+#define xMessageBufferIsFull( xMessageBuffer ) \
+    xStreamBufferIsFull( xMessageBuffer )
 
 /**
  * message_buffer.h
-
-BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
-

+ * @code{c}
+ * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  *
  * Tests to see if a message buffer is empty (does not contain any messages).
  *
@@ -650,13 +725,14 @@ BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
  * pdTRUE is returned.  Otherwise pdFALSE is returned.
  *
  */
-#define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer )
+#define xMessageBufferIsEmpty( xMessageBuffer ) \
+    xStreamBufferIsEmpty( xMessageBuffer )
 
 /**
  * message_buffer.h
-
-BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
-

+ * @code{c}
+ * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  *
  * Resets a message buffer to its initial empty state, discarding any message it
  * contained.
@@ -673,14 +749,15 @@ BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
  * \defgroup xMessageBufferReset xMessageBufferReset
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer )
+#define xMessageBufferReset( xMessageBuffer ) \
+    xStreamBufferReset( xMessageBuffer )
 
 
 /**
  * message_buffer.h
-
-size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
-

+ * @code{c}
+ * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  * Returns the number of bytes of free space in the message buffer.
  *
  * @param xMessageBuffer The handle of the message buffer being queried.
@@ -695,14 +772,16 @@ size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
  * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer )
-#define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */
+#define xMessageBufferSpaceAvailable( xMessageBuffer ) \
+    xStreamBufferSpacesAvailable( xMessageBuffer )
+#define xMessageBufferSpacesAvailable( xMessageBuffer ) \
+    xStreamBufferSpacesAvailable( xMessageBuffer ) /* Corrects typo in original macro name. */
 
 /**
  * message_buffer.h
- 
- size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
- 

+ * @code{c}
+ * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
  * Returns the length (in bytes) of the next message in a message buffer.
  * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
  * passed into xMessageBufferReceive() was too small to hold the next message.
@@ -715,14 +794,15 @@ size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
  * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
  * \ingroup MessageBufferManagement
  */
-#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
+#define xMessageBufferNextLengthBytes( xMessageBuffer ) \
+    xStreamBufferNextMessageLengthBytes( xMessageBuffer ) PRIVILEGED_FUNCTION;
 
 /**
  * message_buffer.h
  *
-
-BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * For advanced users only.
  *
@@ -737,7 +817,7 @@ BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuff
  * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
  * additional information.
  *
- * @param xStreamBuffer The handle of the stream buffer to which data was
+ * @param xMessageBuffer The handle of the stream buffer to which data was
  * written.
  *
  * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
@@ -754,14 +834,15 @@ BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuff
  * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
  * \ingroup StreamBufferManagement
  */
-#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
+#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
+    xStreamBufferSendCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
 
 /**
  * message_buffer.h
  *
-
-BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * For advanced users only.
  *
@@ -777,7 +858,7 @@ BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamB
  * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
  * additional information.
  *
- * @param xStreamBuffer The handle of the stream buffer from which data was
+ * @param xMessageBuffer The handle of the stream buffer from which data was
  * read.
  *
  * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
@@ -794,10 +875,13 @@ BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamB
  * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
  * \ingroup StreamBufferManagement
  */
-#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
+#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
+    xStreamBufferReceiveCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
 
+/* *INDENT-OFF* */
 #if defined( __cplusplus )
-} /* extern "C" */
+    } /* extern "C" */
 #endif
+/* *INDENT-ON* */
 
-#endif	/* !defined( FREERTOS_MESSAGE_BUFFER_H ) */
+#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h
index a21b7a6..574f1da 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*
@@ -37,124 +38,439 @@
 #ifndef MPU_PROTOTYPES_H
 #define MPU_PROTOTYPES_H
 
-/* MPU versions of tasks.h API functions. */
-BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
+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;
-void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                                const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
 eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskGetInfo( TaskHandle_t xTask,
+                       TaskStatus_t * pxTaskStatus,
+                       BaseType_t xGetFreeStackSpace,
+                       eTaskState eState ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
 TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
 char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
 configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
+                                     TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
 TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) FREERTOS_SYSTEM_CALL;
-void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
+                                            BaseType_t xIndex,
+                                            void * pvValue ) FREERTOS_SYSTEM_CALL;
+void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
+                                               BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
 TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                      const UBaseType_t uxArraySize,
+                                      configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercent( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercent( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
+                                   UBaseType_t uxIndexToNotify,
+                                   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;
+BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
+                                             UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
+                                            UBaseType_t uxIndexToClear,
+                                            uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
+                                     TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Task APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
+
+    BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
+                                const char * const pcName,
+                                const uint16_t usStackDepth,
+                                void * const pvParameters,
+                                UBaseType_t uxPriority,
+                                TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
+    TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                        const char * const pcName,
+                                        const uint32_t ulStackDepth,
+                                        void * const pvParameters,
+                                        UBaseType_t uxPriority,
+                                        StackType_t * const puxStackBuffer,
+                                        StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
+    void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
+    void MPU_vTaskPrioritySet( TaskHandle_t xTask,
+                            UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
+    TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                                void * pvParameter ) FREERTOS_SYSTEM_CALL;
+    void MPU_vTaskGetRunTimeStats( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
+    void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
+    void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
+
+#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+    BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
+                                const char * const pcName,
+                                const uint16_t usStackDepth,
+                                void * const pvParameters,
+                                UBaseType_t uxPriority,
+                                TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
+    TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                        const char * const pcName,
+                                        const uint32_t ulStackDepth,
+                                        void * const pvParameters,
+                                        UBaseType_t uxPriority,
+                                        StackType_t * const puxStackBuffer,
+                                        StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
+    void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
+    void MPU_vTaskPrioritySet( TaskHandle_t xTask,
+                               UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
+    TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION;
+    BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                                 void * pvParameter ) PRIVILEGED_FUNCTION;
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+                                      TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+                                            TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
+void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
+                              const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
+                                      StackType_t ** ppuxStackBuffer,
+                                      StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
+TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
+                                          UBaseType_t uxIndexToNotify,
+                                          uint32_t ulValue,
+                                          eNotifyAction eAction,
+                                          uint32_t * pulPreviousNotificationValue,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+void MPU_vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
+                                        UBaseType_t uxIndexToNotify,
+                                        BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /* MPU versions of queue.h API functions. */
-BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
+                                  const void * const pvItemToQueue,
+                                  TickType_t xTicksToWait,
+                                  const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
+                              void * const pvBuffer,
+                              TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
+                           void * const pvBuffer,
+                           TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
+                                    TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
 TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
+                                         TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
+                              const char * pcName ) FREERTOS_SYSTEM_CALL;
 void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
 const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
-QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                               QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
+QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
+                                                const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
+                               UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
 uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
 
+/* Privileged only wrappers for Queue APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
+
+    void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                               StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                                     const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                           const UBaseType_t uxInitialCount,
+                                                           StaticQueue_t * pxStaticQueue ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                           const UBaseType_t uxItemSize,
+                                           const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+    QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                                 const UBaseType_t uxItemSize,
+                                                 uint8_t * pucQueueStorage,
+                                                 StaticQueue_t * pxStaticQueue,
+                                                 const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
+    QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                        QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
+                                       BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
+
+#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+    void MPU_vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                               StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                                     const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                           const UBaseType_t uxInitialCount,
+                                                           StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                           const UBaseType_t uxItemSize,
+                                           const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+    QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                                 const UBaseType_t uxItemSize,
+                                                 uint8_t * pucQueueStorage,
+                                                 StaticQueue_t * pxStaticQueue,
+                                                 const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+    QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
+    BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                        QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+    BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
+                                       BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+BaseType_t MPU_xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
+                                              uint8_t ** ppucQueueStorage,
+                                              StaticQueue_t ** ppxStaticQueue ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                         const void * const pvItemToQueue,
+                                         BaseType_t * const pxHigherPriorityTaskWoken,
+                                         const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGiveFromISR( QueueHandle_t xQueue,
+                                  BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueuePeekFromISR( QueueHandle_t xQueue,
+                                  void * const pvBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                     void * const pvBuffer,
+                                     BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+TaskHandle_t MPU_xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
+QueueSetMemberHandle_t MPU_xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+
 /* MPU versions of timers.h API functions. */
-TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL;
-TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) FREERTOS_SYSTEM_CALL;
 void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) FREERTOS_SYSTEM_CALL;
+void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
+                           void * pvNewID ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer,
+                                     const BaseType_t xCommandID,
+                                     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;
+void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
+                              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;
 TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Timer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
+                                const TickType_t xTimerPeriodInTicks,
+                                const UBaseType_t uxAutoReload,
+                                void * const pvTimerID,
+                                TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
+TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
+                                      const TickType_t xTimerPeriodInTicks,
+                                      const UBaseType_t uxAutoReload,
+                                      void * const pvTimerID,
+                                      TimerCallbackFunction_t pxCallbackFunction,
+                                      StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                      StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
 
 /* MPU versions of event_group.h API functions. */
-EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
-EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
+                                     const EventBits_t uxBitsToWaitFor,
+                                     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,
+                                    const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
+                                 const EventBits_t uxBitsToSet,
+                                 const EventBits_t uxBitsToWaitFor,
+                                 TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
+    void MPU_vEventGroupSetNumber( void * xEventGroup,
+                                   UBaseType_t uxEventGroupNumber ) FREERTOS_SYSTEM_CALL;
+#endif /* #if ( configUSE_TRACE_FACILITY == 1 ) */
+
+/* Privileged only wrappers for Event Group APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
+
+    EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
+    EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
+    void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
+
+#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+    EventGroupHandle_t MPU_xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
+    EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
+    void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+BaseType_t MPU_xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
+                                           StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
+                                            const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
+                                          const EventBits_t uxBitsToSet,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+EventBits_t MPU_xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
 
 /* MPU versions of message/stream_buffer.h API functions. */
-size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
+                              const void * pvTxData,
+                              size_t xDataLengthBytes,
+                              TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
+                                 void * pvRxData,
+                                 size_t xBufferLengthBytes,
+                                 TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
 size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
 size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
-StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL;
-StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer, uint8_t * const pucStreamBufferStorageArea, StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
+                                             size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
 
+/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+#if ( configUSE_MPU_WRAPPERS_V1 == 1 )
 
+    StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
+                                                         size_t xTriggerLevelBytes,
+                                                         BaseType_t xStreamBufferType,
+                                                         StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                         StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
+    StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
+                                                               size_t xTriggerLevelBytes,
+                                                               BaseType_t xStreamBufferType,
+                                                               uint8_t * const pucStreamBufferStorageArea,
+                                                               StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                               StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                               StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) FREERTOS_SYSTEM_CALL;
+    void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+    BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+
+#else /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+    StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
+                                                         size_t xTriggerLevelBytes,
+                                                         BaseType_t xStreamBufferType,
+                                                         StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                         StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
+    StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
+                                                               size_t xTriggerLevelBytes,
+                                                               BaseType_t xStreamBufferType,
+                                                               uint8_t * const pucStreamBufferStorageArea,
+                                                               StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                               StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                               StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
+    void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+    BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+#endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
+
+BaseType_t MPU_xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffers,
+                                              uint8_t * ppucStreamBufferStorageArea,
+                                              StaticStreamBuffer_t * ppxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+                                     const void * pvTxData,
+                                     size_t xDataLengthBytes,
+                                     BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+                                        void * pvRxData,
+                                        size_t xBufferLengthBytes,
+                                        BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                  BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                     BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 #endif /* MPU_PROTOTYPES_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_syscall_numbers.h b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_syscall_numbers.h
new file mode 100644
index 0000000..03c3ebd
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_syscall_numbers.h
@@ -0,0 +1,106 @@
+/*
+ * FreeRTOS Kernel V10.6.2
+ * 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 */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
index 5f63d4f..e61514f 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,171 +21,277 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef MPU_WRAPPERS_H
 #define MPU_WRAPPERS_H
 
 /* This file redefines API functions to be called through a wrapper macro, but
-only for ports that are using the MPU. */
-#ifdef portUSING_MPU_WRAPPERS
+ * only for ports that are using the MPU. */
+#if ( portUSING_MPU_WRAPPERS == 1 )
 
-	/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
-	included from queue.c or task.c to prevent it from having an effect within
-	those files. */
-	#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
+ * included from queue.c or task.c to prevent it from having an effect within
+ * those files. */
+    #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
-		/*
-		 * Map standard (non MPU) API functions to equivalents that start
-		 * "MPU_".  This will cause the application code to call the MPU_
-		 * version, which wraps the non-MPU version with privilege promoting
-		 * then demoting code, so the kernel code always runs will full
-		 * privileges.
-		 */
+/*
+ * Map standard (non MPU) API functions to equivalents that start
+ * "MPU_".  This will cause the application code to call the MPU_
+ * version, which wraps the non-MPU version with privilege promoting
+ * then demoting code, so the kernel code always runs will full
+ * privileges.
+ */
 
-		/* Map standard tasks.h API functions to the MPU equivalents. */
-		#define xTaskCreate								MPU_xTaskCreate
-		#define xTaskCreateStatic						MPU_xTaskCreateStatic
-		#define xTaskCreateRestricted					MPU_xTaskCreateRestricted
-		#define vTaskAllocateMPURegions					MPU_vTaskAllocateMPURegions
-		#define vTaskDelete								MPU_vTaskDelete
-		#define vTaskDelay								MPU_vTaskDelay
-		#define vTaskDelayUntil							MPU_vTaskDelayUntil
-		#define xTaskAbortDelay							MPU_xTaskAbortDelay
-		#define uxTaskPriorityGet						MPU_uxTaskPriorityGet
-		#define eTaskGetState							MPU_eTaskGetState
-		#define vTaskGetInfo							MPU_vTaskGetInfo
-		#define vTaskPrioritySet						MPU_vTaskPrioritySet
-		#define vTaskSuspend							MPU_vTaskSuspend
-		#define vTaskResume								MPU_vTaskResume
-		#define vTaskSuspendAll							MPU_vTaskSuspendAll
-		#define xTaskResumeAll							MPU_xTaskResumeAll
-		#define xTaskGetTickCount						MPU_xTaskGetTickCount
-		#define uxTaskGetNumberOfTasks					MPU_uxTaskGetNumberOfTasks
-		#define pcTaskGetName							MPU_pcTaskGetName
-		#define xTaskGetHandle							MPU_xTaskGetHandle
-		#define uxTaskGetStackHighWaterMark				MPU_uxTaskGetStackHighWaterMark
-		#define uxTaskGetStackHighWaterMark2			MPU_uxTaskGetStackHighWaterMark2
-		#define vTaskSetApplicationTaskTag				MPU_vTaskSetApplicationTaskTag
-		#define xTaskGetApplicationTaskTag				MPU_xTaskGetApplicationTaskTag
-		#define vTaskSetThreadLocalStoragePointer		MPU_vTaskSetThreadLocalStoragePointer
-		#define pvTaskGetThreadLocalStoragePointer		MPU_pvTaskGetThreadLocalStoragePointer
-		#define xTaskCallApplicationTaskHook			MPU_xTaskCallApplicationTaskHook
-		#define xTaskGetIdleTaskHandle					MPU_xTaskGetIdleTaskHandle
-		#define uxTaskGetSystemState					MPU_uxTaskGetSystemState
-		#define vTaskList								MPU_vTaskList
-		#define vTaskGetRunTimeStats					MPU_vTaskGetRunTimeStats
-		#define ulTaskGetIdleRunTimeCounter				MPU_ulTaskGetIdleRunTimeCounter
-		#define xTaskGenericNotify						MPU_xTaskGenericNotify
-		#define xTaskNotifyWait							MPU_xTaskNotifyWait
-		#define ulTaskNotifyTake						MPU_ulTaskNotifyTake
-		#define xTaskNotifyStateClear					MPU_xTaskNotifyStateClear
-		#define ulTaskNotifyValueClear					MPU_ulTaskNotifyValueClear
-		#define xTaskCatchUpTicks						MPU_xTaskCatchUpTicks
+/* Map standard task.h API functions to the MPU equivalents. */
+        #define vTaskDelay                            MPU_vTaskDelay
+        #define xTaskDelayUntil                       MPU_xTaskDelayUntil
+        #define xTaskAbortDelay                       MPU_xTaskAbortDelay
+        #define uxTaskPriorityGet                     MPU_uxTaskPriorityGet
+        #define eTaskGetState                         MPU_eTaskGetState
+        #define vTaskGetInfo                          MPU_vTaskGetInfo
+        #define vTaskSuspend                          MPU_vTaskSuspend
+        #define vTaskResume                           MPU_vTaskResume
+        #define xTaskGetTickCount                     MPU_xTaskGetTickCount
+        #define uxTaskGetNumberOfTasks                MPU_uxTaskGetNumberOfTasks
+        #define pcTaskGetName                         MPU_pcTaskGetName
+        #define uxTaskGetStackHighWaterMark           MPU_uxTaskGetStackHighWaterMark
+        #define uxTaskGetStackHighWaterMark2          MPU_uxTaskGetStackHighWaterMark2
+        #define vTaskSetApplicationTaskTag            MPU_vTaskSetApplicationTaskTag
+        #define xTaskGetApplicationTaskTag            MPU_xTaskGetApplicationTaskTag
+        #define vTaskSetThreadLocalStoragePointer     MPU_vTaskSetThreadLocalStoragePointer
+        #define pvTaskGetThreadLocalStoragePointer    MPU_pvTaskGetThreadLocalStoragePointer
+        #define xTaskGetIdleTaskHandle                MPU_xTaskGetIdleTaskHandle
+        #define uxTaskGetSystemState                  MPU_uxTaskGetSystemState
+        #define ulTaskGetIdleRunTimeCounter           MPU_ulTaskGetIdleRunTimeCounter
+        #define ulTaskGetIdleRunTimePercent           MPU_ulTaskGetIdleRunTimePercent
+        #define xTaskGenericNotify                    MPU_xTaskGenericNotify
+        #define xTaskGenericNotifyWait                MPU_xTaskGenericNotifyWait
+        #define ulTaskGenericNotifyTake               MPU_ulTaskGenericNotifyTake
+        #define xTaskGenericNotifyStateClear          MPU_xTaskGenericNotifyStateClear
+        #define ulTaskGenericNotifyValueClear         MPU_ulTaskGenericNotifyValueClear
+        #define vTaskSetTimeOutState                  MPU_vTaskSetTimeOutState
+        #define xTaskCheckForTimeOut                  MPU_xTaskCheckForTimeOut
+        #define xTaskGetCurrentTaskHandle             MPU_xTaskGetCurrentTaskHandle
+        #define xTaskGetSchedulerState                MPU_xTaskGetSchedulerState
 
-		#define xTaskGetCurrentTaskHandle				MPU_xTaskGetCurrentTaskHandle
-		#define vTaskSetTimeOutState					MPU_vTaskSetTimeOutState
-		#define xTaskCheckForTimeOut					MPU_xTaskCheckForTimeOut
-		#define xTaskGetSchedulerState					MPU_xTaskGetSchedulerState
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define ulTaskGetRunTimeCounter           MPU_ulTaskGetRunTimeCounter
+            #define ulTaskGetRunTimePercent           MPU_ulTaskGetRunTimePercent
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-		/* Map standard queue.h API functions to the MPU equivalents. */
-		#define xQueueGenericSend						MPU_xQueueGenericSend
-		#define xQueueReceive							MPU_xQueueReceive
-		#define xQueuePeek								MPU_xQueuePeek
-		#define xQueueSemaphoreTake						MPU_xQueueSemaphoreTake
-		#define uxQueueMessagesWaiting					MPU_uxQueueMessagesWaiting
-		#define uxQueueSpacesAvailable					MPU_uxQueueSpacesAvailable
-		#define vQueueDelete							MPU_vQueueDelete
-		#define xQueueCreateMutex						MPU_xQueueCreateMutex
-		#define xQueueCreateMutexStatic					MPU_xQueueCreateMutexStatic
-		#define xQueueCreateCountingSemaphore			MPU_xQueueCreateCountingSemaphore
-		#define xQueueCreateCountingSemaphoreStatic		MPU_xQueueCreateCountingSemaphoreStatic
-		#define xQueueGetMutexHolder					MPU_xQueueGetMutexHolder
-		#define xQueueTakeMutexRecursive				MPU_xQueueTakeMutexRecursive
-		#define xQueueGiveMutexRecursive				MPU_xQueueGiveMutexRecursive
-		#define xQueueGenericCreate						MPU_xQueueGenericCreate
-		#define xQueueGenericCreateStatic				MPU_xQueueGenericCreateStatic
-		#define xQueueCreateSet							MPU_xQueueCreateSet
-		#define xQueueAddToSet							MPU_xQueueAddToSet
-		#define xQueueRemoveFromSet						MPU_xQueueRemoveFromSet
-		#define xQueueSelectFromSet						MPU_xQueueSelectFromSet
-		#define xQueueGenericReset						MPU_xQueueGenericReset
+/* Privileged only wrappers for Task APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #if ( configUSE_MPU_WRAPPERS_V1 == 1 )
+            /* These are not needed in v2 because they do not take a task
+             * handle and therefore, no lookup is needed. Needed in v1 because
+             * these are available as system calls in v1. */
+            #define vTaskGetRunTimeStats                 MPU_vTaskGetRunTimeStats
+            #define vTaskList                            MPU_vTaskList
+            #define vTaskSuspendAll                      MPU_vTaskSuspendAll
+            #define xTaskCatchUpTicks                    MPU_xTaskCatchUpTicks
+            #define xTaskResumeAll                       MPU_xTaskResumeAll
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 1 ) */
 
-		#if( configQUEUE_REGISTRY_SIZE > 0 )
-			#define vQueueAddToRegistry						MPU_vQueueAddToRegistry
-			#define vQueueUnregisterQueue					MPU_vQueueUnregisterQueue
-			#define pcQueueGetName							MPU_pcQueueGetName
-		#endif
+        #define xTaskCreate                              MPU_xTaskCreate
+        #define xTaskCreateStatic                        MPU_xTaskCreateStatic
+        #define vTaskDelete                              MPU_vTaskDelete
+        #define vTaskPrioritySet                         MPU_vTaskPrioritySet
+        #define xTaskGetHandle                           MPU_xTaskGetHandle
+        #define xTaskCallApplicationTaskHook             MPU_xTaskCallApplicationTaskHook
 
-		/* Map standard timer.h API functions to the MPU equivalents. */
-		#define xTimerCreate							MPU_xTimerCreate
-		#define xTimerCreateStatic						MPU_xTimerCreateStatic
-		#define pvTimerGetTimerID						MPU_pvTimerGetTimerID
-		#define vTimerSetTimerID						MPU_vTimerSetTimerID
-		#define xTimerIsTimerActive						MPU_xTimerIsTimerActive
-		#define xTimerGetTimerDaemonTaskHandle			MPU_xTimerGetTimerDaemonTaskHandle
-		#define xTimerPendFunctionCall					MPU_xTimerPendFunctionCall
-		#define pcTimerGetName							MPU_pcTimerGetName
-		#define vTimerSetReloadMode						MPU_vTimerSetReloadMode
-		#define uxTimerGetReloadMode					MPU_uxTimerGetReloadMode
-		#define xTimerGetPeriod							MPU_xTimerGetPeriod
-		#define xTimerGetExpiryTime						MPU_xTimerGetExpiryTime
-		#define xTimerGenericCommand					MPU_xTimerGenericCommand
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xTaskCreateRestricted                MPU_xTaskCreateRestricted
+            #define xTaskCreateRestrictedStatic          MPU_xTaskCreateRestrictedStatic
+            #define vTaskAllocateMPURegions              MPU_vTaskAllocateMPURegions
+            #define xTaskGetStaticBuffers                MPU_xTaskGetStaticBuffers
+            #define uxTaskPriorityGetFromISR             MPU_uxTaskPriorityGetFromISR
+            #define xTaskResumeFromISR                   MPU_xTaskResumeFromISR
+            #define xTaskGetApplicationTaskTagFromISR    MPU_xTaskGetApplicationTaskTagFromISR
+            #define xTaskGenericNotifyFromISR            MPU_xTaskGenericNotifyFromISR
+            #define vTaskGenericNotifyGiveFromISR        MPU_vTaskGenericNotifyGiveFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-		/* Map standard event_group.h API functions to the MPU equivalents. */
-		#define xEventGroupCreate						MPU_xEventGroupCreate
-		#define xEventGroupCreateStatic					MPU_xEventGroupCreateStatic
-		#define xEventGroupWaitBits						MPU_xEventGroupWaitBits
-		#define xEventGroupClearBits					MPU_xEventGroupClearBits
-		#define xEventGroupSetBits						MPU_xEventGroupSetBits
-		#define xEventGroupSync							MPU_xEventGroupSync
-		#define vEventGroupDelete						MPU_vEventGroupDelete
+/* Map standard queue.h API functions to the MPU equivalents. */
+        #define xQueueGenericSend            MPU_xQueueGenericSend
+        #define xQueueReceive                MPU_xQueueReceive
+        #define xQueuePeek                   MPU_xQueuePeek
+        #define xQueueSemaphoreTake          MPU_xQueueSemaphoreTake
+        #define uxQueueMessagesWaiting       MPU_uxQueueMessagesWaiting
+        #define uxQueueSpacesAvailable       MPU_uxQueueSpacesAvailable
+        #define xQueueGetMutexHolder         MPU_xQueueGetMutexHolder
+        #define xQueueTakeMutexRecursive     MPU_xQueueTakeMutexRecursive
+        #define xQueueGiveMutexRecursive     MPU_xQueueGiveMutexRecursive
+        #define xQueueAddToSet               MPU_xQueueAddToSet
+        #define xQueueSelectFromSet          MPU_xQueueSelectFromSet
 
-		/* Map standard message/stream_buffer.h API functions to the MPU
-		equivalents. */
-		#define xStreamBufferSend						MPU_xStreamBufferSend
-		#define xStreamBufferReceive					MPU_xStreamBufferReceive
-		#define xStreamBufferNextMessageLengthBytes		MPU_xStreamBufferNextMessageLengthBytes
-		#define vStreamBufferDelete						MPU_vStreamBufferDelete
-		#define xStreamBufferIsFull						MPU_xStreamBufferIsFull
-		#define xStreamBufferIsEmpty					MPU_xStreamBufferIsEmpty
-		#define xStreamBufferReset						MPU_xStreamBufferReset
-		#define xStreamBufferSpacesAvailable			MPU_xStreamBufferSpacesAvailable
-		#define xStreamBufferBytesAvailable				MPU_xStreamBufferBytesAvailable
-		#define xStreamBufferSetTriggerLevel			MPU_xStreamBufferSetTriggerLevel
-		#define xStreamBufferGenericCreate				MPU_xStreamBufferGenericCreate
-		#define xStreamBufferGenericCreateStatic		MPU_xStreamBufferGenericCreateStatic
+        #if ( configQUEUE_REGISTRY_SIZE > 0 )
+            #define vQueueAddToRegistry      MPU_vQueueAddToRegistry
+            #define vQueueUnregisterQueue    MPU_vQueueUnregisterQueue
+            #define pcQueueGetName           MPU_pcQueueGetName
+        #endif /* #if ( configQUEUE_REGISTRY_SIZE > 0 ) */
+
+/* Privileged only wrappers for Queue APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #define vQueueDelete                           MPU_vQueueDelete
+        #define xQueueCreateMutex                      MPU_xQueueCreateMutex
+        #define xQueueCreateMutexStatic                MPU_xQueueCreateMutexStatic
+        #define xQueueCreateCountingSemaphore          MPU_xQueueCreateCountingSemaphore
+        #define xQueueCreateCountingSemaphoreStatic    MPU_xQueueCreateCountingSemaphoreStatic
+        #define xQueueGenericCreate                    MPU_xQueueGenericCreate
+        #define xQueueGenericCreateStatic              MPU_xQueueGenericCreateStatic
+        #define xQueueGenericReset                     MPU_xQueueGenericReset
+        #define xQueueCreateSet                        MPU_xQueueCreateSet
+        #define xQueueRemoveFromSet                    MPU_xQueueRemoveFromSet
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xQueueGenericGetStaticBuffers      MPU_xQueueGenericGetStaticBuffers
+            #define xQueueGenericSendFromISR           MPU_xQueueGenericSendFromISR
+            #define xQueueGiveFromISR                  MPU_xQueueGiveFromISR
+            #define xQueuePeekFromISR                  MPU_xQueuePeekFromISR
+            #define xQueueReceiveFromISR               MPU_xQueueReceiveFromISR
+            #define xQueueIsQueueEmptyFromISR          MPU_xQueueIsQueueEmptyFromISR
+            #define xQueueIsQueueFullFromISR           MPU_xQueueIsQueueFullFromISR
+            #define uxQueueMessagesWaitingFromISR      MPU_uxQueueMessagesWaitingFromISR
+            #define xQueueGetMutexHolderFromISR        MPU_xQueueGetMutexHolderFromISR
+            #define xQueueSelectFromSetFromISR         MPU_xQueueSelectFromSetFromISR
+        #endif /* if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Map standard timer.h API functions to the MPU equivalents. */
+        #define pvTimerGetTimerID                 MPU_pvTimerGetTimerID
+        #define vTimerSetTimerID                  MPU_vTimerSetTimerID
+        #define xTimerIsTimerActive               MPU_xTimerIsTimerActive
+        #define xTimerGetTimerDaemonTaskHandle    MPU_xTimerGetTimerDaemonTaskHandle
+        #define xTimerGenericCommand              MPU_xTimerGenericCommand
+        #define pcTimerGetName                    MPU_pcTimerGetName
+        #define vTimerSetReloadMode               MPU_vTimerSetReloadMode
+        #define uxTimerGetReloadMode              MPU_uxTimerGetReloadMode
+        #define xTimerGetPeriod                   MPU_xTimerGetPeriod
+        #define xTimerGetExpiryTime               MPU_xTimerGetExpiryTime
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xTimerGetReloadMode           MPU_xTimerGetReloadMode
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Privileged only wrappers for Timer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xTimerCreate             MPU_xTimerCreate
+            #define xTimerCreateStatic       MPU_xTimerCreateStatic
+            #define xTimerGetStaticBuffer    MPU_xTimerGetStaticBuffer
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Map standard event_group.h API functions to the MPU equivalents. */
+        #define xEventGroupWaitBits          MPU_xEventGroupWaitBits
+        #define xEventGroupClearBits         MPU_xEventGroupClearBits
+        #define xEventGroupSetBits           MPU_xEventGroupSetBits
+        #define xEventGroupSync              MPU_xEventGroupSync
+
+        #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+            #define uxEventGroupGetNumber    MPU_uxEventGroupGetNumber
+            #define vEventGroupSetNumber     MPU_vEventGroupSetNumber
+        #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
+
+/* Privileged only wrappers for Event Group APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #define xEventGroupCreate                  MPU_xEventGroupCreate
+        #define xEventGroupCreateStatic            MPU_xEventGroupCreateStatic
+        #define vEventGroupDelete                  MPU_vEventGroupDelete
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xEventGroupGetStaticBuffer     MPU_xEventGroupGetStaticBuffer
+            #define xEventGroupClearBitsFromISR    MPU_xEventGroupClearBitsFromISR
+            #define xEventGroupSetBitsFromISR      MPU_xEventGroupSetBitsFromISR
+            #define xEventGroupGetBitsFromISR      MPU_xEventGroupGetBitsFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Map standard message/stream_buffer.h API functions to the MPU
+ * equivalents. */
+        #define xStreamBufferSend                      MPU_xStreamBufferSend
+        #define xStreamBufferReceive                   MPU_xStreamBufferReceive
+        #define xStreamBufferIsFull                    MPU_xStreamBufferIsFull
+        #define xStreamBufferIsEmpty                   MPU_xStreamBufferIsEmpty
+        #define xStreamBufferSpacesAvailable           MPU_xStreamBufferSpacesAvailable
+        #define xStreamBufferBytesAvailable            MPU_xStreamBufferBytesAvailable
+        #define xStreamBufferSetTriggerLevel           MPU_xStreamBufferSetTriggerLevel
+        #define xStreamBufferNextMessageLengthBytes    MPU_xStreamBufferNextMessageLengthBytes
+
+/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+
+        #define xStreamBufferGenericCreate                  MPU_xStreamBufferGenericCreate
+        #define xStreamBufferGenericCreateStatic            MPU_xStreamBufferGenericCreateStatic
+        #define vStreamBufferDelete                         MPU_vStreamBufferDelete
+        #define xStreamBufferReset                          MPU_xStreamBufferReset
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xStreamBufferGetStaticBuffers           MPU_xStreamBufferGetStaticBuffers
+            #define xStreamBufferSendFromISR                MPU_xStreamBufferSendFromISR
+            #define xStreamBufferReceiveFromISR             MPU_xStreamBufferReceiveFromISR
+            #define xStreamBufferSendCompletedFromISR       MPU_xStreamBufferSendCompletedFromISR
+            #define xStreamBufferReceiveCompletedFromISR    MPU_xStreamBufferReceiveCompletedFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Remove the privileged function macro, but keep the PRIVILEGED_DATA
+ * macro so applications can place data in privileged access sections
+ * (useful when using statically allocated objects). */
+        #define PRIVILEGED_FUNCTION
+        #define PRIVILEGED_DATA    __attribute__( ( section( "privileged_data" ) ) )
+        #define FREERTOS_SYSTEM_CALL
 
 
-		/* Remove the privileged function macro, but keep the PRIVILEGED_DATA
-		macro so applications can place data in privileged access sections
-		(useful when using statically allocated objects). */
-		#define PRIVILEGED_FUNCTION
-		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
-		#define FREERTOS_SYSTEM_CALL
+        #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
 
-	#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+            #define vGrantAccessToTask( xTask, xTaskToGrantAccess )                        vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToGrantAccess ) )
+            #define vRevokeAccessToTask( xTask, xTaskToRevokeAccess )                      vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToRevokeAccess ) )
 
-		/* Ensure API functions go in the privileged execution section. */
-		#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
-		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
-		#define FREERTOS_SYSTEM_CALL __attribute__((section( "freertos_system_calls")))
+            #define vGrantAccessToSemaphore( xTask, xSemaphoreToGrantAccess )              vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToGrantAccess ) )
+            #define vRevokeAccessToSemaphore( xTask, xSemaphoreToRevokeAccess )            vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToRevokeAccess ) )
 
-	#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+            #define vGrantAccessToQueue( xTask, xQueueToGrantAccess )                      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToGrantAccess ) )
+            #define vRevokeAccessToQueue( xTask, xQueueToRevokeAccess )                    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToRevokeAccess ) )
+
+            #define vGrantAccessToQueueSet( xTask, xQueueSetToGrantAccess )                vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToGrantAccess ) )
+            #define vRevokeAccessToQueueSet( xTask, xQueueSetToRevokeAccess )              vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToRevokeAccess ) )
+
+            #define vGrantAccessToEventGroup( xTask, xEventGroupToGrantAccess )            vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToGrantAccess ) )
+            #define vRevokeAccessToEventGroup( xTask, xEventGroupToRevokeAccess )          vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToRevokeAccess ) )
+
+            #define vGrantAccessToStreamBuffer( xTask, xStreamBufferToGrantAccess )        vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToGrantAccess ) )
+            #define vRevokeAccessToStreamBuffer( xTask, xStreamBufferToRevokeAccess )      vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToRevokeAccess ) )
+
+            #define vGrantAccessToMessageBuffer( xTask, xMessageBufferToGrantAccess )      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToGrantAccess ) )
+            #define vRevokeAccessToMessageBuffer( xTask, xMessageBufferToRevokeAccess )    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToRevokeAccess ) )
+
+            #define vGrantAccessToTimer( xTask, xTimerToGrantAccess )                      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToGrantAccess ) )
+            #define vRevokeAccessToTimer( xTask, xTimerToRevokeAccess )                    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToRevokeAccess ) )
+
+        #endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+
+    #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+/* Ensure API functions go in the privileged execution section. */
+        #define PRIVILEGED_FUNCTION     __attribute__( ( section( "privileged_functions" ) ) )
+        #define PRIVILEGED_DATA         __attribute__( ( section( "privileged_data" ) ) )
+        #define FREERTOS_SYSTEM_CALL    __attribute__( ( section( "freertos_system_calls" ) ) )
+
+    #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
 
 #else /* portUSING_MPU_WRAPPERS */
 
-	#define PRIVILEGED_FUNCTION
-	#define PRIVILEGED_DATA
-	#define FREERTOS_SYSTEM_CALL
-	#define portUSING_MPU_WRAPPERS 0
+    #define PRIVILEGED_FUNCTION
+    #define PRIVILEGED_DATA
+    #define FREERTOS_SYSTEM_CALL
 
 #endif /* portUSING_MPU_WRAPPERS */
 
 
 #endif /* MPU_WRAPPERS_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h b/Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h
new file mode 100644
index 0000000..b6911c9
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/newlib-freertos.h
@@ -0,0 +1,62 @@
+/*
+ * FreeRTOS Kernel V10.6.2
+ * 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 INC_NEWLIB_FREERTOS_H
+#define INC_NEWLIB_FREERTOS_H
+
+/* Note Newlib support has been included by popular demand, but is not
+ * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
+ * responsible for resulting newlib operation.  User must be familiar with
+ * newlib and must provide system-wide implementations of the necessary
+ * stubs. Be warned that (at the time of writing) the current newlib design
+ * implements a system-wide malloc() that must be provided with locks.
+ *
+ * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+ * for additional information. */
+
+#include 
+
+#define configUSE_C_RUNTIME_TLS_SUPPORT    1
+
+#ifndef configTLS_BLOCK_TYPE
+    #define configTLS_BLOCK_TYPE           struct _reent
+#endif
+
+#ifndef configINIT_TLS_BLOCK
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )    _REENT_INIT_PTR( &( xTLSBlock ) )
+#endif
+
+#ifndef configSET_TLS_BLOCK
+    #define configSET_TLS_BLOCK( xTLSBlock )    ( _impure_ptr = &( xTLSBlock ) )
+#endif
+
+#ifndef configDEINIT_TLS_BLOCK
+    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
+#endif
+
+#endif /* INC_NEWLIB_FREERTOS_H */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/picolibc-freertos.h b/Middlewares/Third_Party/FreeRTOS/Source/include/picolibc-freertos.h
new file mode 100644
index 0000000..63f6927
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/picolibc-freertos.h
@@ -0,0 +1,90 @@
+/*
+ * FreeRTOS Kernel V10.6.2
+ * 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 INC_PICOLIBC_FREERTOS_H
+#define INC_PICOLIBC_FREERTOS_H
+
+/* Use picolibc TLS support to allocate space for __thread variables,
+ * initialize them at thread creation and set the TLS context at
+ * thread switch time.
+ *
+ * See the picolibc TLS docs:
+ * https://github.com/picolibc/picolibc/blob/main/doc/tls.md
+ * for additional information. */
+
+#include 
+
+#define configUSE_C_RUNTIME_TLS_SUPPORT    1
+
+#define configTLS_BLOCK_TYPE               void *
+
+#define picolibcTLS_SIZE                   ( ( portPOINTER_SIZE_TYPE ) _tls_size() )
+#define picolibcSTACK_ALIGNMENT_MASK       ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
+
+#if __PICOLIBC_MAJOR__ > 1 || __PICOLIBC_MINOR__ >= 8
+
+/* Picolibc 1.8 and newer have explicit alignment values provided
+ * by the _tls_align() inline */
+    #define picolibcTLS_ALIGNMENT_MASK    ( ( portPOINTER_SIZE_TYPE ) ( _tls_align() - 1 ) )
+#else
+
+/* For older Picolibc versions, use the general port alignment value */
+    #define picolibcTLS_ALIGNMENT_MASK    ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
+#endif
+
+/* Allocate thread local storage block off the end of the
+* stack. The _tls_size() function returns the size (in
+* bytes) of the total TLS area used by the application */
+#if ( portSTACK_GROWTH < 0 )
+
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )                             \
+    do {                                                                                \
+        pxTopOfStack = ( StackType_t * ) ( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) \
+                                             - picolibcTLS_SIZE ) & ~                   \
+                                           configMAX( picolibcSTACK_ALIGNMENT_MASK,     \
+                                                      picolibcTLS_ALIGNMENT_MASK ) );   \
+        xTLSBlock = pxTopOfStack;                                                       \
+        _init_tls( xTLSBlock );                                                         \
+    } while( 0 )
+#else /* portSTACK_GROWTH */
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )                                          \
+    do {                                                                                             \
+        xTLSBlock = ( void * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack +                          \
+                                   picolibcTLS_ALIGNMENT_MASK ) & ~picolibcTLS_ALIGNMENT_MASK );     \
+        pxTopOfStack = ( StackType_t * ) ( ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) +             \
+                                               picolibcTLS_SIZE ) + picolibcSTACK_ALIGNMENT_MASK ) & \
+                                           ~picolibcSTACK_ALIGNMENT_MASK );                          \
+        _init_tls( xTLSBlock );                                                                      \
+    } while( 0 )
+#endif /* portSTACK_GROWTH */
+
+#define configSET_TLS_BLOCK( xTLSBlock )    _set_tls( xTLSBlock )
+
+#define configDEINIT_TLS_BLOCK( xTLSBlock )
+
+#endif /* INC_PICOLIBC_FREERTOS_H */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/portable.h b/Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
index a2099c3..ec11f0f 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/portable.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,83 +21,81 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*-----------------------------------------------------------
- * Portable layer API.  Each function must be defined for each port.
- *----------------------------------------------------------*/
+* Portable layer API.  Each function must be defined for each port.
+*----------------------------------------------------------*/
 
 #ifndef PORTABLE_H
 #define PORTABLE_H
 
 /* Each FreeRTOS port has a unique portmacro.h header file.  Originally a
-pre-processor definition was used to ensure the pre-processor found the correct
-portmacro.h file for the port being used.  That scheme was deprecated in favour
-of setting the compiler's include path such that it found the correct
-portmacro.h file - removing the need for the constant and allowing the
-portmacro.h file to be located anywhere in relation to the port being used.
-Purely for reasons of backward compatibility the old method is still valid, but
-to make it clear that new projects should not use it, support for the port
-specific constants has been moved into the deprecated_definitions.h header
-file. */
+ * pre-processor definition was used to ensure the pre-processor found the correct
+ * portmacro.h file for the port being used.  That scheme was deprecated in favour
+ * of setting the compiler's include path such that it found the correct
+ * portmacro.h file - removing the need for the constant and allowing the
+ * portmacro.h file to be located anywhere in relation to the port being used.
+ * Purely for reasons of backward compatibility the old method is still valid, but
+ * to make it clear that new projects should not use it, support for the port
+ * specific constants has been moved into the deprecated_definitions.h header
+ * file. */
 #include "deprecated_definitions.h"
 
 /* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
-did not result in a portmacro.h header file being included - and it should be
-included here.  In this case the path to the correct portmacro.h header file
-must be set in the compiler's include path. */
+ * did not result in a portmacro.h header file being included - and it should be
+ * included here.  In this case the path to the correct portmacro.h header file
+ * must be set in the compiler's include path. */
 #ifndef portENTER_CRITICAL
-	#include "portmacro.h"
+    #include "portmacro.h"
 #endif
 
 #if portBYTE_ALIGNMENT == 32
-	#define portBYTE_ALIGNMENT_MASK ( 0x001f )
-#endif
+    #define portBYTE_ALIGNMENT_MASK    ( 0x001f )
+#elif portBYTE_ALIGNMENT == 16
+    #define portBYTE_ALIGNMENT_MASK    ( 0x000f )
+#elif portBYTE_ALIGNMENT == 8
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0007 )
+#elif portBYTE_ALIGNMENT == 4
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0003 )
+#elif portBYTE_ALIGNMENT == 2
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0001 )
+#elif portBYTE_ALIGNMENT == 1
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0000 )
+#else /* if portBYTE_ALIGNMENT == 32 */
+    #error "Invalid portBYTE_ALIGNMENT definition"
+#endif /* if portBYTE_ALIGNMENT == 32 */
 
-#if portBYTE_ALIGNMENT == 16
-	#define portBYTE_ALIGNMENT_MASK ( 0x000f )
-#endif
-
-#if portBYTE_ALIGNMENT == 8
-	#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
-#endif
-
-#if portBYTE_ALIGNMENT == 4
-	#define portBYTE_ALIGNMENT_MASK	( 0x0003 )
-#endif
-
-#if portBYTE_ALIGNMENT == 2
-	#define portBYTE_ALIGNMENT_MASK	( 0x0001 )
-#endif
-
-#if portBYTE_ALIGNMENT == 1
-	#define portBYTE_ALIGNMENT_MASK	( 0x0000 )
-#endif
-
-#ifndef portBYTE_ALIGNMENT_MASK
-	#error "Invalid portBYTE_ALIGNMENT definition"
+#ifndef portUSING_MPU_WRAPPERS
+    #define portUSING_MPU_WRAPPERS    0
 #endif
 
 #ifndef portNUM_CONFIGURABLE_REGIONS
-	#define portNUM_CONFIGURABLE_REGIONS 1
+    #define portNUM_CONFIGURABLE_REGIONS    1
 #endif
 
 #ifndef portHAS_STACK_OVERFLOW_CHECKING
-	#define portHAS_STACK_OVERFLOW_CHECKING 0
+    #define portHAS_STACK_OVERFLOW_CHECKING    0
 #endif
 
 #ifndef portARCH_NAME
-	#define portARCH_NAME NULL
+    #define portARCH_NAME    NULL
 #endif
 
-#ifdef __cplusplus
-extern "C" {
+#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
+    /* Defaults to 0 for backward compatibility. */
+    #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP    0
 #endif
 
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
 #include "mpu_wrappers.h"
 
 /*
@@ -104,38 +104,52 @@ extern "C" {
  * the order that the port expects to find them.
  *
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
-		StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
-	#else
-		StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
-	#endif
-#else
-	#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
-		StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
-	#else
-		StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
-	#endif
-#endif
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             StackType_t * pxEndOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters,
+                                             BaseType_t xRunPrivileged,
+                                             xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
+    #else
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters,
+                                             BaseType_t xRunPrivileged,
+                                             xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
+    #endif /* if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) */
+#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
+    #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             StackType_t * pxEndOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters ) PRIVILEGED_FUNCTION;
+    #else
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters ) PRIVILEGED_FUNCTION;
+    #endif
+#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
 
 /* Used by heap_5.c to define the start address and size of each memory region
-that together comprise the total FreeRTOS heap space. */
+ * that together comprise the total FreeRTOS heap space. */
 typedef struct HeapRegion
 {
-	uint8_t *pucStartAddress;
-	size_t xSizeInBytes;
+    uint8_t * pucStartAddress;
+    size_t xSizeInBytes;
 } HeapRegion_t;
 
 /* Used to pass information about the heap out of vPortGetHeapStats(). */
 typedef struct xHeapStats
 {
-	size_t xAvailableHeapSpaceInBytes;		/* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
-	size_t xSizeOfLargestFreeBlockInBytes; 	/* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
-	size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
-	size_t xNumberOfFreeBlocks;				/* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
-	size_t xMinimumEverFreeBytesRemaining;	/* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
-	size_t xNumberOfSuccessfulAllocations;	/* The number of calls to pvPortMalloc() that have returned a valid memory block. */
-	size_t xNumberOfSuccessfulFrees;		/* The number of calls to vPortFree() that has successfully freed a block of memory. */
+    size_t xAvailableHeapSpaceInBytes;      /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
+    size_t xSizeOfLargestFreeBlockInBytes;  /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
+    size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
+    size_t xNumberOfFreeBlocks;             /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
+    size_t xMinimumEverFreeBytesRemaining;  /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
+    size_t xNumberOfSuccessfulAllocations;  /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
+    size_t xNumberOfSuccessfulFrees;        /* The number of calls to vPortFree() that has successfully freed a block of memory. */
 } HeapStats_t;
 
 /*
@@ -155,17 +169,40 @@ void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEG
  * Returns a HeapStats_t structure filled with information about the current
  * heap state.
  */
-void vPortGetHeapStats( HeapStats_t *pxHeapStats );
+void vPortGetHeapStats( HeapStats_t * pxHeapStats );
 
 /*
  * Map to the memory management routines required for the port.
  */
-void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
-void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
+void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
+void * pvPortCalloc( size_t xNum,
+                     size_t xSize ) PRIVILEGED_FUNCTION;
+void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
 void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 
+#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
+    void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
+    void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION;
+#else
+    #define pvPortMallocStack    pvPortMalloc
+    #define vPortFreeStack       vPortFree
+#endif
+
+#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationMallocFailedHook( void )
+ * @endcode
+ *
+ * This hook function is called when allocation failed.
+ */
+    void vApplicationMallocFailedHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
+#endif
+
 /*
  * Setup the hardware ready for the scheduler to take control.  This generally
  * sets up a tick interrupt and sets timers for the correct tick frequency.
@@ -186,14 +223,49 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
  * Fills the xMPUSettings structure with the memory region information
  * contained in xRegions.
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	struct xMEMORY_REGION;
-	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    struct xMEMORY_REGION;
+    void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
+                                    const struct xMEMORY_REGION * const xRegions,
+                                    StackType_t * pxBottomOfStack,
+                                    uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
 #endif
 
-#ifdef __cplusplus
-}
+/**
+ * @brief Checks if the calling task is authorized to access the given buffer.
+ *
+ * @param pvBuffer The buffer which the calling task wants to access.
+ * @param ulBufferLength The length of the pvBuffer.
+ * @param ulAccessRequested The permissions that the calling task wants.
+ *
+ * @return pdTRUE if the calling task is authorized to access the buffer,
+ *         pdFALSE otherwise.
+ */
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
+                                                uint32_t ulBufferLength,
+                                                uint32_t ulAccessRequested ) PRIVILEGED_FUNCTION;
 #endif
 
+/**
+ * @brief Checks if the calling task is authorized to access the given kernel object.
+ *
+ * @param lInternalIndexOfKernelObject The index of the kernel object in the kernel
+ *                                     object handle pool.
+ *
+ * @return pdTRUE if the calling task is authorized to access the kernel object,
+ *         pdFALSE otherwise.
+ */
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+
+    BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+
 #endif /* PORTABLE_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h b/Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
index 0d95130..4c46333 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef PROJDEFS_H
@@ -32,93 +33,99 @@
  * Defines the prototype to which task functions must conform.  Defined in this
  * file to ensure the type is known before portable.h is included.
  */
-typedef void (*TaskFunction_t)( void * );
+typedef void (* TaskFunction_t)( void * );
 
 /* Converts a time in milliseconds to a time in ticks.  This macro can be
-overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
-definition here is not suitable for your application. */
+ * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
+ * definition here is not suitable for your application. */
 #ifndef pdMS_TO_TICKS
-	#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
+    #define pdMS_TO_TICKS( xTimeInMs )    ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000U ) )
 #endif
 
-#define pdFALSE			( ( BaseType_t ) 0 )
-#define pdTRUE			( ( BaseType_t ) 1 )
+#define pdFALSE                                  ( ( BaseType_t ) 0 )
+#define pdTRUE                                   ( ( BaseType_t ) 1 )
+#define pdFALSE_SIGNED                           ( ( BaseType_t ) 0 )
+#define pdTRUE_SIGNED                            ( ( BaseType_t ) 1 )
+#define pdFALSE_UNSIGNED                         ( ( UBaseType_t ) 0 )
+#define pdTRUE_UNSIGNED                          ( ( UBaseType_t ) 1 )
 
-#define pdPASS			( pdTRUE )
-#define pdFAIL			( pdFALSE )
-#define errQUEUE_EMPTY	( ( BaseType_t ) 0 )
-#define errQUEUE_FULL	( ( BaseType_t ) 0 )
+#define pdPASS                                   ( pdTRUE )
+#define pdFAIL                                   ( pdFALSE )
+#define errQUEUE_EMPTY                           ( ( BaseType_t ) 0 )
+#define errQUEUE_FULL                            ( ( BaseType_t ) 0 )
 
 /* FreeRTOS error definitions. */
-#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY	( -1 )
-#define errQUEUE_BLOCKED						( -4 )
-#define errQUEUE_YIELD							( -5 )
+#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY    ( -1 )
+#define errQUEUE_BLOCKED                         ( -4 )
+#define errQUEUE_YIELD                           ( -5 )
 
 /* Macros used for basic data corruption checks. */
 #ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
-	#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
+    #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES    0
 #endif
 
-#if( configUSE_16_BIT_TICKS == 1 )
-	#define pdINTEGRITY_CHECK_VALUE 0x5a5a
+#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a5a5aUL
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a5a5a5a5a5a5aULL
 #else
-	#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
+    #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
 #endif
 
 /* The following errno values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_ERRNO_NONE			0	/* No errors */
-#define	pdFREERTOS_ERRNO_ENOENT			2	/* No such file or directory */
-#define	pdFREERTOS_ERRNO_EINTR			4	/* Interrupted system call */
-#define	pdFREERTOS_ERRNO_EIO			5	/* I/O error */
-#define	pdFREERTOS_ERRNO_ENXIO			6	/* No such device or address */
-#define	pdFREERTOS_ERRNO_EBADF			9	/* Bad file number */
-#define	pdFREERTOS_ERRNO_EAGAIN			11	/* No more processes */
-#define	pdFREERTOS_ERRNO_EWOULDBLOCK	11	/* Operation would block */
-#define	pdFREERTOS_ERRNO_ENOMEM			12	/* Not enough memory */
-#define	pdFREERTOS_ERRNO_EACCES			13	/* Permission denied */
-#define	pdFREERTOS_ERRNO_EFAULT			14	/* Bad address */
-#define	pdFREERTOS_ERRNO_EBUSY			16	/* Mount device busy */
-#define	pdFREERTOS_ERRNO_EEXIST			17	/* File exists */
-#define	pdFREERTOS_ERRNO_EXDEV			18	/* Cross-device link */
-#define	pdFREERTOS_ERRNO_ENODEV			19	/* No such device */
-#define	pdFREERTOS_ERRNO_ENOTDIR		20	/* Not a directory */
-#define	pdFREERTOS_ERRNO_EISDIR			21	/* Is a directory */
-#define	pdFREERTOS_ERRNO_EINVAL			22	/* Invalid argument */
-#define	pdFREERTOS_ERRNO_ENOSPC			28	/* No space left on device */
-#define	pdFREERTOS_ERRNO_ESPIPE			29	/* Illegal seek */
-#define	pdFREERTOS_ERRNO_EROFS			30	/* Read only file system */
-#define	pdFREERTOS_ERRNO_EUNATCH		42	/* Protocol driver not attached */
-#define	pdFREERTOS_ERRNO_EBADE			50	/* Invalid exchange */
-#define	pdFREERTOS_ERRNO_EFTYPE			79	/* Inappropriate file type or format */
-#define	pdFREERTOS_ERRNO_ENMFILE		89	/* No more files */
-#define	pdFREERTOS_ERRNO_ENOTEMPTY		90	/* Directory not empty */
-#define	pdFREERTOS_ERRNO_ENAMETOOLONG 	91	/* File or path name too long */
-#define	pdFREERTOS_ERRNO_EOPNOTSUPP		95	/* Operation not supported on transport endpoint */
-#define	pdFREERTOS_ERRNO_ENOBUFS		105	/* No buffer space available */
-#define	pdFREERTOS_ERRNO_ENOPROTOOPT	109	/* Protocol not available */
-#define	pdFREERTOS_ERRNO_EADDRINUSE		112	/* Address already in use */
-#define	pdFREERTOS_ERRNO_ETIMEDOUT		116	/* Connection timed out */
-#define	pdFREERTOS_ERRNO_EINPROGRESS	119	/* Connection already in progress */
-#define	pdFREERTOS_ERRNO_EALREADY		120	/* Socket already connected */
-#define	pdFREERTOS_ERRNO_EADDRNOTAVAIL 	125	/* Address not available */
-#define	pdFREERTOS_ERRNO_EISCONN		127	/* Socket is already connected */
-#define	pdFREERTOS_ERRNO_ENOTCONN		128	/* Socket is not connected */
-#define	pdFREERTOS_ERRNO_ENOMEDIUM		135	/* No medium inserted */
-#define	pdFREERTOS_ERRNO_EILSEQ			138	/* An invalid UTF-16 sequence was encountered. */
-#define	pdFREERTOS_ERRNO_ECANCELED		140	/* Operation canceled. */
+ * itself. */
+#define pdFREERTOS_ERRNO_NONE             0   /* No errors */
+#define pdFREERTOS_ERRNO_ENOENT           2   /* No such file or directory */
+#define pdFREERTOS_ERRNO_EINTR            4   /* Interrupted system call */
+#define pdFREERTOS_ERRNO_EIO              5   /* I/O error */
+#define pdFREERTOS_ERRNO_ENXIO            6   /* No such device or address */
+#define pdFREERTOS_ERRNO_EBADF            9   /* Bad file number */
+#define pdFREERTOS_ERRNO_EAGAIN           11  /* No more processes */
+#define pdFREERTOS_ERRNO_EWOULDBLOCK      11  /* Operation would block */
+#define pdFREERTOS_ERRNO_ENOMEM           12  /* Not enough memory */
+#define pdFREERTOS_ERRNO_EACCES           13  /* Permission denied */
+#define pdFREERTOS_ERRNO_EFAULT           14  /* Bad address */
+#define pdFREERTOS_ERRNO_EBUSY            16  /* Mount device busy */
+#define pdFREERTOS_ERRNO_EEXIST           17  /* File exists */
+#define pdFREERTOS_ERRNO_EXDEV            18  /* Cross-device link */
+#define pdFREERTOS_ERRNO_ENODEV           19  /* No such device */
+#define pdFREERTOS_ERRNO_ENOTDIR          20  /* Not a directory */
+#define pdFREERTOS_ERRNO_EISDIR           21  /* Is a directory */
+#define pdFREERTOS_ERRNO_EINVAL           22  /* Invalid argument */
+#define pdFREERTOS_ERRNO_ENOSPC           28  /* No space left on device */
+#define pdFREERTOS_ERRNO_ESPIPE           29  /* Illegal seek */
+#define pdFREERTOS_ERRNO_EROFS            30  /* Read only file system */
+#define pdFREERTOS_ERRNO_EUNATCH          42  /* Protocol driver not attached */
+#define pdFREERTOS_ERRNO_EBADE            50  /* Invalid exchange */
+#define pdFREERTOS_ERRNO_EFTYPE           79  /* Inappropriate file type or format */
+#define pdFREERTOS_ERRNO_ENMFILE          89  /* No more files */
+#define pdFREERTOS_ERRNO_ENOTEMPTY        90  /* Directory not empty */
+#define pdFREERTOS_ERRNO_ENAMETOOLONG     91  /* File or path name too long */
+#define pdFREERTOS_ERRNO_EOPNOTSUPP       95  /* Operation not supported on transport endpoint */
+#define pdFREERTOS_ERRNO_EAFNOSUPPORT     97  /* Address family not supported by protocol */
+#define pdFREERTOS_ERRNO_ENOBUFS          105 /* No buffer space available */
+#define pdFREERTOS_ERRNO_ENOPROTOOPT      109 /* Protocol not available */
+#define pdFREERTOS_ERRNO_EADDRINUSE       112 /* Address already in use */
+#define pdFREERTOS_ERRNO_ETIMEDOUT        116 /* Connection timed out */
+#define pdFREERTOS_ERRNO_EINPROGRESS      119 /* Connection already in progress */
+#define pdFREERTOS_ERRNO_EALREADY         120 /* Socket already connected */
+#define pdFREERTOS_ERRNO_EADDRNOTAVAIL    125 /* Address not available */
+#define pdFREERTOS_ERRNO_EISCONN          127 /* Socket is already connected */
+#define pdFREERTOS_ERRNO_ENOTCONN         128 /* Socket is not connected */
+#define pdFREERTOS_ERRNO_ENOMEDIUM        135 /* No medium inserted */
+#define pdFREERTOS_ERRNO_EILSEQ           138 /* An invalid UTF-16 sequence was encountered. */
+#define pdFREERTOS_ERRNO_ECANCELED        140 /* Operation canceled. */
 
 /* The following endian values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_LITTLE_ENDIAN		0
-#define pdFREERTOS_BIG_ENDIAN			1
+ * itself. */
+#define pdFREERTOS_LITTLE_ENDIAN          0
+#define pdFREERTOS_BIG_ENDIAN             1
 
 /* Re-defining endian values for generic naming. */
-#define pdLITTLE_ENDIAN					pdFREERTOS_LITTLE_ENDIAN
-#define pdBIG_ENDIAN					pdFREERTOS_BIG_ENDIAN
+#define pdLITTLE_ENDIAN                   pdFREERTOS_LITTLE_ENDIAN
+#define pdBIG_ENDIAN                      pdFREERTOS_BIG_ENDIAN
 
 
 #endif /* PROJDEFS_H */
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h b/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h
index 52ccca5..836adf5 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/queue.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
@@ -30,12 +31,14 @@
 #define QUEUE_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h" must appear in source files before "include queue.h"
+    #error "include FreeRTOS.h" must appear in source files before "include queue.h"
 #endif
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 #include "task.h"
 
@@ -45,43 +48,43 @@ extern "C" {
  * xQueueSend(), xQueueReceive(), etc.
  */
 struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */
-typedef struct QueueDefinition * QueueHandle_t;
+typedef struct QueueDefinition   * QueueHandle_t;
 
 /**
  * Type by which queue sets are referenced.  For example, a call to
  * xQueueCreateSet() returns an xQueueSet variable that can then be used as a
  * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
  */
-typedef struct QueueDefinition * QueueSetHandle_t;
+typedef struct QueueDefinition   * QueueSetHandle_t;
 
 /**
  * Queue sets can contain both queues and semaphores, so the
  * QueueSetMemberHandle_t is defined as a type to be used where a parameter or
  * return value can be either an QueueHandle_t or an SemaphoreHandle_t.
  */
-typedef struct QueueDefinition * QueueSetMemberHandle_t;
+typedef struct QueueDefinition   * QueueSetMemberHandle_t;
 
 /* For internal use only. */
-#define	queueSEND_TO_BACK		( ( BaseType_t ) 0 )
-#define	queueSEND_TO_FRONT		( ( BaseType_t ) 1 )
-#define queueOVERWRITE			( ( BaseType_t ) 2 )
+#define queueSEND_TO_BACK                     ( ( BaseType_t ) 0 )
+#define queueSEND_TO_FRONT                    ( ( BaseType_t ) 1 )
+#define queueOVERWRITE                        ( ( BaseType_t ) 2 )
 
 /* For internal use only.  These definitions *must* match those in queue.c. */
-#define queueQUEUE_TYPE_BASE				( ( uint8_t ) 0U )
-#define queueQUEUE_TYPE_SET					( ( uint8_t ) 0U )
-#define queueQUEUE_TYPE_MUTEX 				( ( uint8_t ) 1U )
-#define queueQUEUE_TYPE_COUNTING_SEMAPHORE	( ( uint8_t ) 2U )
-#define queueQUEUE_TYPE_BINARY_SEMAPHORE	( ( uint8_t ) 3U )
-#define queueQUEUE_TYPE_RECURSIVE_MUTEX		( ( uint8_t ) 4U )
+#define queueQUEUE_TYPE_BASE                  ( ( uint8_t ) 0U )
+#define queueQUEUE_TYPE_SET                   ( ( uint8_t ) 0U )
+#define queueQUEUE_TYPE_MUTEX                 ( ( uint8_t ) 1U )
+#define queueQUEUE_TYPE_COUNTING_SEMAPHORE    ( ( uint8_t ) 2U )
+#define queueQUEUE_TYPE_BINARY_SEMAPHORE      ( ( uint8_t ) 3U )
+#define queueQUEUE_TYPE_RECURSIVE_MUTEX       ( ( uint8_t ) 4U )
 
 /**
  * queue. h
- * 
- QueueHandle_t xQueueCreate(
-							  UBaseType_t uxQueueLength,
-							  UBaseType_t uxItemSize
-						  );
- * 

+ * @code{c}
+ * QueueHandle_t xQueueCreate(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize
+ *                        );
+ * @endcode
  *
  * Creates a new queue instance, and returns a handle by which the new queue
  * can be referenced.
@@ -91,12 +94,12 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * second block is used to hold items placed into the queue.  If a queue is
  * created using xQueueCreate() then both blocks of memory are automatically
  * dynamically allocated inside the xQueueCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a queue is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a queue is created using
  * xQueueCreateStatic() then the application writer must provide the memory that
  * will get used by the queue.  xQueueCreateStatic() therefore allows a queue to
  * be created without using any dynamic memory allocation.
  *
- * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
+ * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
  *
  * @param uxQueueLength The maximum number of items that the queue can contain.
  *
@@ -110,52 +113,52 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * returned.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- };
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-	if( xQueue1 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue2 == 0 )
-	{
-		// Queue was not created and must not be used.
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * };
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *  if( xQueue1 == 0 )
+ *  {
+ *      // Queue was not created and must not be used.
+ *  }
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue2 == 0 )
+ *  {
+ *      // Queue was not created and must not be used.
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueCreate xQueueCreate
  * \ingroup QueueManagement
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xQueueCreate( uxQueueLength, uxItemSize )    xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) )
 #endif
 
 /**
  * queue. h
- * 
- QueueHandle_t xQueueCreateStatic(
-							  UBaseType_t uxQueueLength,
-							  UBaseType_t uxItemSize,
-							  uint8_t *pucQueueStorageBuffer,
-							  StaticQueue_t *pxQueueBuffer
-						  );
- * 

+ * @code{c}
+ * QueueHandle_t xQueueCreateStatic(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize,
+ *                            uint8_t *pucQueueStorage,
+ *                            StaticQueue_t *pxQueueBuffer
+ *                        );
+ * @endcode
  *
  * Creates a new queue instance, and returns a handle by which the new queue
  * can be referenced.
@@ -165,12 +168,12 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * second block is used to hold items placed into the queue.  If a queue is
  * created using xQueueCreate() then both blocks of memory are automatically
  * dynamically allocated inside the xQueueCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a queue is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a queue is created using
  * xQueueCreateStatic() then the application writer must provide the memory that
  * will get used by the queue.  xQueueCreateStatic() therefore allows a queue to
  * be created without using any dynamic memory allocation.
  *
- * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
+ * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
  *
  * @param uxQueueLength The maximum number of items that the queue can contain.
  *
@@ -179,11 +182,11 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * that will be copied for each posted item.  Each item on the queue must be
  * the same size.
  *
- * @param pucQueueStorageBuffer If uxItemSize is not zero then
- * pucQueueStorageBuffer must point to a uint8_t array that is at least large
+ * @param pucQueueStorage If uxItemSize is not zero then
+ * pucQueueStorage must point to a uint8_t array that is at least large
  * enough to hold the maximum number of items that can be in the queue at any
  * one time - which is ( uxQueueLength * uxItemsSize ) bytes.  If uxItemSize is
- * zero then pucQueueStorageBuffer can be NULL.
+ * zero then pucQueueStorage can be NULL.
  *
  * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
  * will be used to hold the queue's data structure.
@@ -192,55 +195,84 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * returned.  If pxQueueBuffer is NULL then NULL is returned.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- };
-
+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * };
+ *
  #define QUEUE_LENGTH 10
  #define ITEM_SIZE sizeof( uint32_t )
-
- // xQueueBuffer will hold the queue structure.
- StaticQueue_t xQueueBuffer;
-
- // ucQueueStorage will hold the items posted to the queue.  Must be at least
- // [(queue length) * ( queue item size)] bytes long.
- uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
-							ITEM_SIZE	  // The size of each item in the queue
-							&( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
-							&xQueueBuffer ); // The buffer that will hold the queue structure.
-
-	// The queue is guaranteed to be created successfully as no dynamic memory
-	// allocation is used.  Therefore xQueue1 is now a handle to a valid queue.
-
-	// ... Rest of task code.
- }
- 

+ *
+ * // xQueueBuffer will hold the queue structure.
+ * StaticQueue_t xQueueBuffer;
+ *
+ * // ucQueueStorage will hold the items posted to the queue.  Must be at least
+ * // [(queue length) * ( queue item size)] bytes long.
+ * uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];
+ *
+ * void vATask( void *pvParameters )
+ * {
+ *  QueueHandle_t xQueue1;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
+ *                          ITEM_SIZE     // The size of each item in the queue
+ *                          &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
+ *                          &xQueueBuffer ); // The buffer that will hold the queue structure.
+ *
+ *  // The queue is guaranteed to be created successfully as no dynamic memory
+ *  // allocation is used.  Therefore xQueue1 is now a handle to a valid queue.
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueCreateStatic xQueueCreateStatic
  * \ingroup QueueManagement
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer )    xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSendToToFront(
-								   QueueHandle_t	xQueue,
-								   const void		*pvItemToQueue,
-								   TickType_t		xTicksToWait
-							   );
- * 

+ * @code{c}
+ * BaseType_t xQueueGetStaticBuffers( QueueHandle_t xQueue,
+ *                                    uint8_t ** ppucQueueStorage,
+ *                                    StaticQueue_t ** ppxStaticQueue );
+ * @endcode
+ *
+ * Retrieve pointers to a statically created queue's data structure buffer
+ * and storage area buffer. These are the same buffers that are supplied
+ * at the time of creation.
+ *
+ * @param xQueue The queue for which to retrieve the buffers.
+ *
+ * @param ppucQueueStorage Used to return a pointer to the queue's storage
+ * area buffer.
+ *
+ * @param ppxStaticQueue Used to return a pointer to the queue's data
+ * structure buffer.
+ *
+ * @return pdTRUE if buffers were retrieved, pdFALSE otherwise.
+ *
+ * \defgroup xQueueGetStaticBuffers xQueueGetStaticBuffers
+ * \ingroup QueueManagement
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xQueueGetStaticBuffers( xQueue, ppucQueueStorage, ppxStaticQueue )    xQueueGenericGetStaticBuffers( ( xQueue ), ( ppucQueueStorage ), ( ppxStaticQueue ) )
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * queue. h
+ * @code{c}
+ * BaseType_t xQueueSendToToFront(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ * @endcode
  *
  * Post an item to the front of a queue.  The item is queued by copy, not by
  * reference.  This function must not be called from an interrupt service
@@ -263,64 +295,65 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an uint32_t.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
+#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) \
+    xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSendToBack(
-								   QueueHandle_t	xQueue,
-								   const void		*pvItemToQueue,
-								   TickType_t		xTicksToWait
-							   );
- * 

+ * @code{c}
+ * BaseType_t xQueueSendToBack(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ * @endcode
  *
  * This is a macro that calls xQueueGenericSend().
  *
@@ -345,64 +378,65 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an uint32_t.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
+#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) \
+    xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSend(
-							  QueueHandle_t xQueue,
-							  const void * pvItemToQueue,
-							  TickType_t xTicksToWait
-						 );
- * 

+ * @code{c}
+ * BaseType_t xQueueSend(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            TickType_t xTicksToWait
+ *                       );
+ * @endcode
  *
  * This is a macro that calls xQueueGenericSend().  It is included for
  * backward compatibility with versions of FreeRTOS.org that did not
@@ -429,63 +463,64 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an uint32_t.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
+#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) \
+    xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueOverwrite(
-							  QueueHandle_t xQueue,
-							  const void * pvItemToQueue
-						 );
- * 

+ * @code{c}
+ * BaseType_t xQueueOverwrite(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue
+ *                       );
+ * @endcode
  *
  * Only for use with queues that have a length of one - so the queue is either
  * empty or full.
@@ -509,69 +544,70 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * to the queue even when the queue is already full.
  *
  * Example usage:
-   
-
- void vFunction( void *pvParameters )
- {
- QueueHandle_t xQueue;
- uint32_t ulVarToSend, ulValReceived;
-
-	// Create a queue to hold one uint32_t value.  It is strongly
-	// recommended *not* to use xQueueOverwrite() on queues that can
-	// contain more than one value, and doing so will trigger an assertion
-	// if configASSERT() is defined.
-	xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
-
-	// Write the value 10 to the queue using xQueueOverwrite().
-	ulVarToSend = 10;
-	xQueueOverwrite( xQueue, &ulVarToSend );
-
-	// Peeking the queue should now return 10, but leave the value 10 in
-	// the queue.  A block time of zero is used as it is known that the
-	// queue holds a value.
-	ulValReceived = 0;
-	xQueuePeek( xQueue, &ulValReceived, 0 );
-
-	if( ulValReceived != 10 )
-	{
-		// Error unless the item was removed by a different task.
-	}
-
-	// The queue is still full.  Use xQueueOverwrite() to overwrite the
-	// value held in the queue with 100.
-	ulVarToSend = 100;
-	xQueueOverwrite( xQueue, &ulVarToSend );
-
-	// This time read from the queue, leaving the queue empty once more.
-	// A block time of 0 is used again.
-	xQueueReceive( xQueue, &ulValReceived, 0 );
-
-	// The value read should be the last value written, even though the
-	// queue was already full when the value was written.
-	if( ulValReceived != 100 )
-	{
-		// Error!
-	}
-
-	// ...
-}
- 

+ * @code{c}
+ *
+ * void vFunction( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue;
+ * uint32_t ulVarToSend, ulValReceived;
+ *
+ *  // Create a queue to hold one uint32_t value.  It is strongly
+ *  // recommended *not* to use xQueueOverwrite() on queues that can
+ *  // contain more than one value, and doing so will trigger an assertion
+ *  // if configASSERT() is defined.
+ *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+ *
+ *  // Write the value 10 to the queue using xQueueOverwrite().
+ *  ulVarToSend = 10;
+ *  xQueueOverwrite( xQueue, &ulVarToSend );
+ *
+ *  // Peeking the queue should now return 10, but leave the value 10 in
+ *  // the queue.  A block time of zero is used as it is known that the
+ *  // queue holds a value.
+ *  ulValReceived = 0;
+ *  xQueuePeek( xQueue, &ulValReceived, 0 );
+ *
+ *  if( ulValReceived != 10 )
+ *  {
+ *      // Error unless the item was removed by a different task.
+ *  }
+ *
+ *  // The queue is still full.  Use xQueueOverwrite() to overwrite the
+ *  // value held in the queue with 100.
+ *  ulVarToSend = 100;
+ *  xQueueOverwrite( xQueue, &ulVarToSend );
+ *
+ *  // This time read from the queue, leaving the queue empty once more.
+ *  // A block time of 0 is used again.
+ *  xQueueReceive( xQueue, &ulValReceived, 0 );
+ *
+ *  // The value read should be the last value written, even though the
+ *  // queue was already full when the value was written.
+ *  if( ulValReceived != 100 )
+ *  {
+ *      // Error!
+ *  }
+ *
+ *  // ...
+ * }
+ * @endcode
  * \defgroup xQueueOverwrite xQueueOverwrite
  * \ingroup QueueManagement
  */
-#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE )
+#define xQueueOverwrite( xQueue, pvItemToQueue ) \
+    xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE )
 
 
 /**
  * queue. h
- * 
- BaseType_t xQueueGenericSend(
-									QueueHandle_t xQueue,
-									const void * pvItemToQueue,
-									TickType_t xTicksToWait
-									BaseType_t xCopyPosition
-								);
- * 

+ * @code{c}
+ * BaseType_t xQueueGenericSend(
+ *                                  QueueHandle_t xQueue,
+ *                                  const void * pvItemToQueue,
+ *                                  TickType_t xTicksToWait
+ *                                  BaseType_t xCopyPosition
+ *                              );
+ * @endcode
  *
  * It is preferred that the macros xQueueSend(), xQueueSendToFront() and
  * xQueueSendToBack() are used in place of calling this function directly.
@@ -600,63 +636,67 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t;
  * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 uint32_t values.
-	xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
-	// ...
-
-	if( xQueue1 != 0 )
-	{
-		// Send an uint32_t.  Wait for 10 ticks for space to become
-		// available if necessary.
-		if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS )
-		{
-			// Failed to post the message, even after 10 ticks.
-		}
-	}
-
-	if( xQueue2 != 0 )
-	{
-		// Send a pointer to a struct AMessage object.  Don't block if the
-		// queue is already full.
-		pxMessage = & xMessage;
-		xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK );
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * uint32_t ulVar = 10UL;
+ *
+ * void vATask( void *pvParameters )
+ * {
+ * QueueHandle_t xQueue1, xQueue2;
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 uint32_t values.
+ *  xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *
+ *  // ...
+ *
+ *  if( xQueue1 != 0 )
+ *  {
+ *      // Send an uint32_t.  Wait for 10 ticks for space to become
+ *      // available if necessary.
+ *      if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS )
+ *      {
+ *          // Failed to post the message, even after 10 ticks.
+ *      }
+ *  }
+ *
+ *  if( xQueue2 != 0 )
+ *  {
+ *      // Send a pointer to a struct AMessage object.  Don't block if the
+ *      // queue is already full.
+ *      pxMessage = & xMessage;
+ *      xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK );
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
+                              const void * const pvItemToQueue,
+                              TickType_t xTicksToWait,
+                              const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
- BaseType_t xQueuePeek(
-							 QueueHandle_t xQueue,
-							 void * const pvBuffer,
-							 TickType_t xTicksToWait
-						 );

+ * @code{c}
+ * BaseType_t xQueuePeek(
+ *                           QueueHandle_t xQueue,
+ *                           void * const pvBuffer,
+ *                           TickType_t xTicksToWait
+ *                       );
+ * @endcode
  *
  * Receive an item from a queue without removing the item from the queue.
  * The item is received by copy so a buffer of adequate size must be
@@ -678,7 +718,7 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ
  *
  * @param xTicksToWait The maximum amount of time the task should block
  * waiting for an item to receive should the queue be empty at the time
- * of the call.	 The time is defined in tick periods so the constant
+ * of the call. The time is defined in tick periods so the constant
  * portTICK_PERIOD_MS should be used to convert to real time if this is required.
  * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue
  * is empty.
@@ -687,69 +727,72 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ
  * otherwise pdFALSE.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- QueueHandle_t xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to peek the data from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Peek a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask, but the item still remains on the queue.
-		}
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Task to create a queue and post a value.
+ * void vATask( void *pvParameters )
+ * {
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Send a pointer to a struct AMessage object.  Don't block if the
+ *  // queue is already full.
+ *  pxMessage = & xMessage;
+ *  xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *
+ *  // ... Rest of task code.
+ * }
+ *
+ * // Task to peek the data from the queue.
+ * void vADifferentTask( void *pvParameters )
+ * {
+ * struct AMessage *pxRxedMessage;
+ *
+ *  if( xQueue != 0 )
+ *  {
+ *      // Peek a message on the created queue.  Block for 10 ticks if a
+ *      // message is not immediately available.
+ *      if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
+ *      {
+ *          // pcRxedMessage now points to the struct AMessage variable posted
+ *          // by vATask, but the item still remains on the queue.
+ *      }
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueuePeek xQueuePeek
  * \ingroup QueueManagement
  */
-BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xQueuePeek( QueueHandle_t xQueue,
+                       void * const pvBuffer,
+                       TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
- BaseType_t xQueuePeekFromISR(
-									QueueHandle_t xQueue,
-									void *pvBuffer,
-								);

+ * @code{c}
+ * BaseType_t xQueuePeekFromISR(
+ *                                  QueueHandle_t xQueue,
+ *                                  void *pvBuffer,
+ *                              );
+ * @endcode
  *
  * A version of xQueuePeek() that can be called from an interrupt service
  * routine (ISR).
@@ -774,16 +817,18 @@ BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t x
  * \defgroup xQueuePeekFromISR xQueuePeekFromISR
  * \ingroup QueueManagement
  */
-BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
+                              void * const pvBuffer ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
- BaseType_t xQueueReceive(
-								 QueueHandle_t xQueue,
-								 void *pvBuffer,
-								 TickType_t xTicksToWait
-							);

+ * @code{c}
+ * BaseType_t xQueueReceive(
+ *                               QueueHandle_t xQueue,
+ *                               void *pvBuffer,
+ *                               TickType_t xTicksToWait
+ *                          );
+ * @endcode
  *
  * Receive an item from a queue.  The item is received by copy so a buffer of
  * adequate size must be provided.  The number of bytes copied into the buffer
@@ -802,7 +847,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIV
  *
  * @param xTicksToWait The maximum amount of time the task should block
  * waiting for an item to receive should the queue be empty at the time
- * of the call.	 xQueueReceive() will return immediately if xTicksToWait
+ * of the call. xQueueReceive() will return immediately if xTicksToWait
  * is zero and the queue is empty.  The time is defined in tick periods so the
  * constant portTICK_PERIOD_MS should be used to convert to real time if this is
  * required.
@@ -811,65 +856,69 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIV
  * otherwise pdFALSE.
  *
  * Example usage:
-   
- struct AMessage
- {
-	char ucMessageID;
-	char ucData[ 20 ];
- } xMessage;
-
- QueueHandle_t xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
-	// Create a queue capable of containing 10 pointers to AMessage structures.
-	// These should be passed by pointer as they contain a lot of data.
-	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Send a pointer to a struct AMessage object.  Don't block if the
-	// queue is already full.
-	pxMessage = & xMessage;
-	xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
-
-	// ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
-	if( xQueue != 0 )
-	{
-		// Receive a message on the created queue.  Block for 10 ticks if a
-		// message is not immediately available.
-		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
-		{
-			// pcRxedMessage now points to the struct AMessage variable posted
-			// by vATask.
-		}
-	}
-
-	// ... Rest of task code.
- }
- 

+ * @code{c}
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Task to create a queue and post a value.
+ * void vATask( void *pvParameters )
+ * {
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Send a pointer to a struct AMessage object.  Don't block if the
+ *  // queue is already full.
+ *  pxMessage = & xMessage;
+ *  xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *
+ *  // ... Rest of task code.
+ * }
+ *
+ * // Task to receive from the queue.
+ * void vADifferentTask( void *pvParameters )
+ * {
+ * struct AMessage *pxRxedMessage;
+ *
+ *  if( xQueue != 0 )
+ *  {
+ *      // Receive a message on the created queue.  Block for 10 ticks if a
+ *      // message is not immediately available.
+ *      if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
+ *      {
+ *          // pcRxedMessage now points to the struct AMessage variable posted
+ *          // by vATask.
+ *      }
+ *  }
+ *
+ *  // ... Rest of task code.
+ * }
+ * @endcode
  * \defgroup xQueueReceive xQueueReceive
  * \ingroup QueueManagement
  */
-BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueReceive( QueueHandle_t xQueue,
+                          void * const pvBuffer,
+                          TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );

+ * @code{c}
+ * UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
+ * @endcode
  *
  * Return the number of messages stored in a queue.
  *
@@ -884,7 +933,9 @@ UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
 
 /**
  * queue. h
- * 
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );

+ * @code{c}
+ * UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
+ * @endcode
  *
  * Return the number of free spaces available in a queue.  This is equal to the
  * number of items that can be sent to the queue before the queue becomes full
@@ -901,7 +952,9 @@ UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
 
 /**
  * queue. h
- * 
void vQueueDelete( QueueHandle_t xQueue );

+ * @code{c}
+ * void vQueueDelete( QueueHandle_t xQueue );
+ * @endcode
  *
  * Delete a queue - freeing all the memory allocated for storing of items
  * placed on the queue.
@@ -915,13 +968,13 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSendToFrontFromISR(
-										 QueueHandle_t xQueue,
-										 const void *pvItemToQueue,
-										 BaseType_t *pxHigherPriorityTaskWoken
-									  );
- 

+ * @code{c}
+ * BaseType_t xQueueSendToFrontFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * @endcode
  *
  * This is a macro that calls xQueueGenericSendFromISR().
  *
@@ -950,49 +1003,50 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
-   
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPrioritTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
- 

+ * @code{c}
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * @endcode
  *
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
+#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
 
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSendToBackFromISR(
-										 QueueHandle_t xQueue,
-										 const void *pvItemToQueue,
-										 BaseType_t *pxHigherPriorityTaskWoken
-									  );
- 

+ * @code{c}
+ * BaseType_t xQueueSendToBackFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * @endcode
  *
  * This is a macro that calls xQueueGenericSendFromISR().
  *
@@ -1021,48 +1075,49 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
-   
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		taskYIELD ();
-	}
- }
- 

+ * @code{c}
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * @endcode
  *
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueOverwriteFromISR(
-							  QueueHandle_t xQueue,
-							  const void * pvItemToQueue,
-							  BaseType_t *pxHigherPriorityTaskWoken
-						 );
- * 

+ * @code{c}
+ * BaseType_t xQueueOverwriteFromISR(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            BaseType_t *pxHigherPriorityTaskWoken
+ *                       );
+ * @endcode
  *
  * A version of xQueueOverwrite() that can be used in an interrupt service
  * routine (ISR).
@@ -1093,63 +1148,64 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * the queue is already full.
  *
  * Example usage:
-   
-
- QueueHandle_t xQueue;
-
- void vFunction( void *pvParameters )
- {
- 	// Create a queue to hold one uint32_t value.  It is strongly
-	// recommended *not* to use xQueueOverwriteFromISR() on queues that can
-	// contain more than one value, and doing so will trigger an assertion
-	// if configASSERT() is defined.
-	xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
-}
-
-void vAnInterruptHandler( void )
-{
-// xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
-BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-uint32_t ulVarToSend, ulValReceived;
-
-	// Write the value 10 to the queue using xQueueOverwriteFromISR().
-	ulVarToSend = 10;
-	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
-
-	// The queue is full, but calling xQueueOverwriteFromISR() again will still
-	// pass because the value held in the queue will be overwritten with the
-	// new value.
-	ulVarToSend = 100;
-	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
-
-	// Reading from the queue will now return 100.
-
-	// ...
-
-	if( xHigherPrioritytaskWoken == pdTRUE )
-	{
-		// Writing to the queue caused a task to unblock and the unblocked task
-		// has a priority higher than or equal to the priority of the currently
-		// executing task (the task this interrupt interrupted).  Perform a context
-		// switch so this interrupt returns directly to the unblocked task.
-		portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
-	}
-}
- 

+ * @code{c}
+ *
+ * QueueHandle_t xQueue;
+ *
+ * void vFunction( void *pvParameters )
+ * {
+ *  // Create a queue to hold one uint32_t value.  It is strongly
+ *  // recommended *not* to use xQueueOverwriteFromISR() on queues that can
+ *  // contain more than one value, and doing so will trigger an assertion
+ *  // if configASSERT() is defined.
+ *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+ * }
+ *
+ * void vAnInterruptHandler( void )
+ * {
+ * // xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ * uint32_t ulVarToSend, ulValReceived;
+ *
+ *  // Write the value 10 to the queue using xQueueOverwriteFromISR().
+ *  ulVarToSend = 10;
+ *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+ *
+ *  // The queue is full, but calling xQueueOverwriteFromISR() again will still
+ *  // pass because the value held in the queue will be overwritten with the
+ *  // new value.
+ *  ulVarToSend = 100;
+ *  xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+ *
+ *  // Reading from the queue will now return 100.
+ *
+ *  // ...
+ *
+ *  if( xHigherPrioritytaskWoken == pdTRUE )
+ *  {
+ *      // Writing to the queue caused a task to unblock and the unblocked task
+ *      // has a priority higher than or equal to the priority of the currently
+ *      // executing task (the task this interrupt interrupted).  Perform a context
+ *      // switch so this interrupt returns directly to the unblocked task.
+ *      portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
+ *  }
+ * }
+ * @endcode
  * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
  * \ingroup QueueManagement
  */
-#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
+#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueSendFromISR(
-									 QueueHandle_t xQueue,
-									 const void *pvItemToQueue,
-									 BaseType_t *pxHigherPriorityTaskWoken
-								);
- 

+ * @code{c}
+ * BaseType_t xQueueSendFromISR(
+ *                                   QueueHandle_t xQueue,
+ *                                   const void *pvItemToQueue,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken
+ *                              );
+ * @endcode
  *
  * This is a macro that calls xQueueGenericSendFromISR().  It is included
  * for backward compatibility with versions of FreeRTOS.org that did not
@@ -1181,50 +1237,51 @@ uint32_t ulVarToSend, ulValReceived;
  *
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
-   
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWoken;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWoken = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post the byte.
-		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.
-	if( xHigherPriorityTaskWoken )
-	{
-		// Actual macro used here is port specific.
-		portYIELD_FROM_ISR ();
-	}
- }
- 

+ * @code{c}
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post the byte.
+ *      xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      // Actual macro used here is port specific.
+ *      portYIELD_FROM_ISR ();
+ *  }
+ * }
+ * @endcode
  *
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
- * 
- BaseType_t xQueueGenericSendFromISR(
-										   QueueHandle_t		xQueue,
-										   const	void	*pvItemToQueue,
-										   BaseType_t	*pxHigherPriorityTaskWoken,
-										   BaseType_t	xCopyPosition
-									   );
- 

+ * @code{c}
+ * BaseType_t xQueueGenericSendFromISR(
+ *                                         QueueHandle_t    xQueue,
+ *                                         const    void    *pvItemToQueue,
+ *                                         BaseType_t  *pxHigherPriorityTaskWoken,
+ *                                         BaseType_t  xCopyPosition
+ *                                     );
+ * @endcode
  *
  * It is preferred that the macros xQueueSendFromISR(),
  * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
@@ -1260,50 +1317,54 @@ uint32_t ulVarToSend, ulValReceived;
  *
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
-   
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWokenByPost;
-
-	// We have not woken a task at the start of the ISR.
-	xHigherPriorityTaskWokenByPost = pdFALSE;
-
-	// Loop until the buffer is empty.
-	do
-	{
-		// Obtain a byte from the buffer.
-		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
-		// Post each byte.
-		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
-
-	} while( portINPUT_BYTE( BUFFER_COUNT ) );
-
-	// Now the buffer is empty we can switch context if necessary.  Note that the
-	// name of the yield function required is port specific.
-	if( xHigherPriorityTaskWokenByPost )
-	{
-		portYIELD_FROM_ISR();
-	}
- }
- 

+ * @code{c}
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWokenByPost;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWokenByPost = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
+ *  {
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *
+ *      // Post each byte.
+ *      xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
+ *
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
+ *
+ *  // Now the buffer is empty we can switch context if necessary.  Note that the
+ *  // name of the yield function required is port specific.
+ *  if( xHigherPriorityTaskWokenByPost )
+ *  {
+ *      portYIELD_FROM_ISR();
+ *  }
+ * }
+ * @endcode
  *
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                     const void * const pvItemToQueue,
+                                     BaseType_t * const pxHigherPriorityTaskWoken,
+                                     const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
+                              BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
- * 
- BaseType_t xQueueReceiveFromISR(
-									   QueueHandle_t	xQueue,
-									   void	*pvBuffer,
-									   BaseType_t *pxTaskWoken
-								   );
- * 

+ * @code{c}
+ * BaseType_t xQueueReceiveFromISR(
+ *                                     QueueHandle_t    xQueue,
+ *                                     void             *pvBuffer,
+ *                                     BaseType_t       *pxTaskWoken
+ *                                 );
+ * @endcode
  *
  * Receive an item from a queue.  It is safe to use this function from within an
  * interrupt service routine.
@@ -1314,79 +1375,81 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherP
  * @param pvBuffer Pointer to the buffer into which the received item will
  * be copied.
  *
- * @param pxTaskWoken A task may be blocked waiting for space to become
- * available on the queue.  If xQueueReceiveFromISR causes such a task to
- * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will
+ * @param pxHigherPriorityTaskWoken A task may be blocked waiting for space to
+ * become available on the queue.  If xQueueReceiveFromISR causes such a task
+ * to unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will
  * remain unchanged.
  *
  * @return pdTRUE if an item was successfully received from the queue,
  * otherwise pdFALSE.
  *
  * Example usage:
-   
-
- QueueHandle_t xQueue;
-
- // Function to create a queue and post some values.
- void vAFunction( void *pvParameters )
- {
- char cValueToPost;
- const TickType_t xTicksToWait = ( TickType_t )0xff;
-
-	// Create a queue capable of containing 10 characters.
-	xQueue = xQueueCreate( 10, sizeof( char ) );
-	if( xQueue == 0 )
-	{
-		// Failed to create the queue.
-	}
-
-	// ...
-
-	// Post some characters that will be used within an ISR.  If the queue
-	// is full then this task will block for xTicksToWait ticks.
-	cValueToPost = 'a';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
-	cValueToPost = 'b';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
-
-	// ... keep posting characters ... this task may block when the queue
-	// becomes full.
-
-	cValueToPost = 'c';
-	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
- }
-
- // ISR that outputs all the characters received on the queue.
- void vISR_Routine( void )
- {
- BaseType_t xTaskWokenByReceive = pdFALSE;
- char cRxedChar;
-
-	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
-	{
-		// A character was received.  Output the character now.
-		vOutputCharacter( cRxedChar );
-
-		// If removing the character from the queue woke the task that was
-		// posting onto the queue cTaskWokenByReceive will have been set to
-		// pdTRUE.  No matter how many times this loop iterates only one
-		// task will be woken.
-	}
-
-	if( cTaskWokenByPost != ( char ) pdFALSE;
-	{
-		taskYIELD ();
-	}
- }
- 

+ * @code{c}
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Function to create a queue and post some values.
+ * void vAFunction( void *pvParameters )
+ * {
+ * char cValueToPost;
+ * const TickType_t xTicksToWait = ( TickType_t )0xff;
+ *
+ *  // Create a queue capable of containing 10 characters.
+ *  xQueue = xQueueCreate( 10, sizeof( char ) );
+ *  if( xQueue == 0 )
+ *  {
+ *      // Failed to create the queue.
+ *  }
+ *
+ *  // ...
+ *
+ *  // Post some characters that will be used within an ISR.  If the queue
+ *  // is full then this task will block for xTicksToWait ticks.
+ *  cValueToPost = 'a';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *  cValueToPost = 'b';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *
+ *  // ... keep posting characters ... this task may block when the queue
+ *  // becomes full.
+ *
+ *  cValueToPost = 'c';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ * }
+ *
+ * // ISR that outputs all the characters received on the queue.
+ * void vISR_Routine( void )
+ * {
+ * BaseType_t xTaskWokenByReceive = pdFALSE;
+ * char cRxedChar;
+ *
+ *  while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+ *  {
+ *      // A character was received.  Output the character now.
+ *      vOutputCharacter( cRxedChar );
+ *
+ *      // If removing the character from the queue woke the task that was
+ *      // posting onto the queue xTaskWokenByReceive will have been set to
+ *      // pdTRUE.  No matter how many times this loop iterates only one
+ *      // task will be woken.
+ *  }
+ *
+ *  if( xTaskWokenByReceive != ( char ) pdFALSE;
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
+ * @endcode
  * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
  * \ingroup QueueManagement
  */
-BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                 void * const pvBuffer,
+                                 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /*
  * Utilities to query queues that are safe to use from an ISR.  These utilities
- * should be used only from witin an ISR, or within a critical section.
+ * should be used only from within an ISR, or within a critical section.
  */
 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
@@ -1401,10 +1464,18 @@ UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEG
  * should not be called directly from application code.  Instead use the macro
  * wrappers defined within croutine.h.
  */
-BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken );
-BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxTaskWoken );
-BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait );
-BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait );
+BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue,
+                                const void * pvItemToQueue,
+                                BaseType_t xCoRoutinePreviouslyWoken );
+BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue,
+                                   void * pvBuffer,
+                                   BaseType_t * pxTaskWoken );
+BaseType_t xQueueCRSend( QueueHandle_t xQueue,
+                         const void * pvItemToQueue,
+                         TickType_t xTicksToWait );
+BaseType_t xQueueCRReceive( QueueHandle_t xQueue,
+                            void * pvBuffer,
+                            TickType_t xTicksToWait );
 
 /*
  * For internal use only.  Use xSemaphoreCreateMutex(),
@@ -1412,10 +1483,15 @@ BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTi
  * these functions directly.
  */
 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                       StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                             const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                   const UBaseType_t uxInitialCount,
+                                                   StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
+                                TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
 TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
 
@@ -1423,14 +1499,15 @@ TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_
  * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
  * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
  */
-BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex,
+                                     TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
 
 /*
  * Reset a queue back to its original empty state.  The return value is now
  * obsolete and is always set to pdPASS.
  */
-#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
+#define xQueueReset( xQueue )    xQueueGenericReset( ( xQueue ), pdFALSE )
 
 /*
  * The registry is provided as a means for kernel aware debuggers to
@@ -1442,20 +1519,25 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the
  * registry can hold.  configQUEUE_REGISTRY_SIZE must be greater than 0
  * within FreeRTOSConfig.h for the registry to be available.  Its value
- * does not effect the number of queues, semaphores and mutexes that can be
+ * does not affect the number of queues, semaphores and mutexes that can be
  * created - just the number that the registry can hold.
  *
+ * If vQueueAddToRegistry is called more than once with the same xQueue
+ * parameter, the registry will store the pcQueueName parameter from the
+ * most recent call to vQueueAddToRegistry.
+ *
  * @param xQueue The handle of the queue being added to the registry.  This
  * is the handle returned by a call to xQueueCreate().  Semaphore and mutex
  * handles can also be passed in here.
  *
- * @param pcName The name to be associated with the handle.  This is the
+ * @param pcQueueName The name to be associated with the handle.  This is the
  * name that the kernel aware debugger will display.  The queue registry only
  * stores a pointer to the string - so the string must be persistent (global or
  * preferably in ROM/Flash), not on the stack.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+    void vQueueAddToRegistry( QueueHandle_t xQueue,
+                              const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 #endif
 
 /*
@@ -1468,8 +1550,8 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  *
  * @param xQueue The handle of the queue being removed from the registry.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+    void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -1483,26 +1565,44 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * queue is returned.  If the queue is not in the registry then NULL is
  * returned.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	const char *pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+    const char * pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 #endif
 
 /*
- * Generic version of the function used to creaet a queue using dynamic memory
+ * Generic version of the function used to create a queue using dynamic memory
  * allocation.  This is called by other functions and macros that create other
  * RTOS objects that use the queue structure as their base.
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                       const UBaseType_t uxItemSize,
+                                       const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
- * Generic version of the function used to creaet a queue using dynamic memory
+ * Generic version of the function used to create a queue using dynamic memory
  * allocation.  This is called by other functions and macros that create other
  * RTOS objects that use the queue structure as their base.
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                             const UBaseType_t uxItemSize,
+                                             uint8_t * pucQueueStorage,
+                                             StaticQueue_t * pxStaticQueue,
+                                             const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+#endif
+
+/*
+ * Generic version of the function used to retrieve the buffers of statically
+ * created queues. This is called by other functions and macros that retrieve
+ * the buffers of other statically created RTOS objects that use the queue
+ * structure as their base.
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
+                                              uint8_t ** ppucQueueStorage,
+                                              StaticQueue_t ** ppxStaticQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -1519,7 +1619,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * or semaphores contained in the set is in a state where a queue read or
  * semaphore take operation would be successful.
  *
- * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *
@@ -1577,7 +1677,8 @@ QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILE
  * queue set because it is already a member of a different queue set then pdFAIL
  * is returned.
  */
-BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                           QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
 /*
  * Removes a queue or semaphore from a queue set.  A queue or semaphore can only
@@ -1596,7 +1697,8 @@ BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHan
  * then pdPASS is returned.  If the queue was not in the queue set, or the
  * queue (or semaphore) was not empty, then pdFAIL is returned.
  */
-BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
 /*
  * xQueueSelectFromSet() selects from the members of a queue set a queue or
@@ -1608,7 +1710,7 @@ BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueS
  * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
  * function.
  *
- * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *
@@ -1632,7 +1734,8 @@ BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueS
  * in the queue set that is available, or NULL if no such queue or semaphore
  * exists before before the specified block time expires.
  */
-QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
+                                            const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * A version of xQueueSelectFromSet() that can be used from an ISR.
@@ -1640,16 +1743,22 @@ QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const Ti
 QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
 /* Not public API functions. */
-void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
-void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
+void vQueueWaitForMessageRestricted( QueueHandle_t xQueue,
+                                     TickType_t xTicksToWait,
+                                     const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
+                               BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
+void vQueueSetQueueNumber( QueueHandle_t xQueue,
+                           UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+UBaseType_t uxQueueGetQueueItemSize( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+UBaseType_t uxQueueGetQueueLength( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
-
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 
 #endif /* QUEUE_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h b/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h
index 787c791..46ac85a 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,35 +21,36 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef SEMAPHORE_H
 #define SEMAPHORE_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h" must appear in source files before "include semphr.h"
+    #error "include FreeRTOS.h" must appear in source files before "include semphr.h"
 #endif
 
 #include "queue.h"
 
 typedef QueueHandle_t SemaphoreHandle_t;
 
-#define semBINARY_SEMAPHORE_QUEUE_LENGTH	( ( uint8_t ) 1U )
-#define semSEMAPHORE_QUEUE_ITEM_LENGTH		( ( uint8_t ) 0U )
-#define semGIVE_BLOCK_TIME					( ( TickType_t ) 0U )
+#define semBINARY_SEMAPHORE_QUEUE_LENGTH    ( ( uint8_t ) 1U )
+#define semSEMAPHORE_QUEUE_ITEM_LENGTH      ( ( uint8_t ) 0U )
+#define semGIVE_BLOCK_TIME                  ( ( TickType_t ) 0U )
 
 
 /**
  * semphr. h
- * 
vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore )

+ * @code{c}
+ * vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore );
+ * @endcode
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
  * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
@@ -71,52 +74,54 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @param xSemaphore Handle to the created semaphore.  Should be of type SemaphoreHandle_t.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
-    // This is a macro so pass the variable in directly.
-    vSemaphoreCreateBinary( xSemaphore );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+ *  // This is a macro so pass the variable in directly.
+ *  vSemaphoreCreateBinary( xSemaphore );
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define vSemaphoreCreateBinary( xSemaphore )																							\
-		{																																	\
-			( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE );	\
-			if( ( xSemaphore ) != NULL )																									\
-			{																																\
-				( void ) xSemaphoreGive( ( xSemaphore ) );																					\
-			}																																\
-		}
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define vSemaphoreCreateBinary( xSemaphore )                                                                                     \
+    do {                                                                                                                             \
+        ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
+        if( ( xSemaphore ) != NULL )                                                                                                 \
+        {                                                                                                                            \
+            ( void ) xSemaphoreGive( ( xSemaphore ) );                                                                               \
+        }                                                                                                                            \
+    } while( 0 )
 #endif
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateBinary( void )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateBinary( void );
+ * @endcode
  *
  * Creates a new binary semaphore instance, and returns a handle by which the
  * new semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, binary semaphores use a block
  * of memory, in which the semaphore structure is stored.  If a binary semaphore
  * is created using xSemaphoreCreateBinary() then the required memory is
  * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function.  (see http://www.freertos.org/a00111.html).  If a binary semaphore
+ * function.  (see https://www.FreeRTOS.org/a00111.html).  If a binary semaphore
  * is created using xSemaphoreCreateBinaryStatic() then the application writer
  * must provide the memory.  xSemaphoreCreateBinaryStatic() therefore allows a
  * binary semaphore to be created without using any dynamic memory allocation.
@@ -139,45 +144,47 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * hold the semaphore's data structures could not be allocated.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateBinary();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateBinary();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateBinary()    xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
 #endif
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer );
+ * @endcode
  *
  * Creates a new binary semaphore instance, and returns a handle by which the
  * new semaphore can be referenced.
  *
  * NOTE: In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, binary semaphores use a block
  * of memory, in which the semaphore structure is stored.  If a binary semaphore
  * is created using xSemaphoreCreateBinary() then the required memory is
  * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function.  (see http://www.freertos.org/a00111.html).  If a binary semaphore
+ * function.  (see https://www.FreeRTOS.org/a00111.html).  If a binary semaphore
  * is created using xSemaphoreCreateBinaryStatic() then the application writer
  * must provide the memory.  xSemaphoreCreateBinaryStatic() therefore allows a
  * binary semaphore to be created without using any dynamic memory allocation.
@@ -197,36 +204,38 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * returned.  If pxSemaphoreBuffer is NULL then NULL is returned.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore = NULL;
- StaticSemaphore_t xSemaphoreBuffer;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
-    // The semaphore's data structures will be placed in the xSemaphoreBuffer
-    // variable, the address of which is passed into the function.  The
-    // function's parameter is not NULL, so the function will not attempt any
-    // dynamic memory allocation, and therefore the function will not return
-    // return NULL.
-    xSemaphore = xSemaphoreCreateBinary( &xSemaphoreBuffer );
-
-    // Rest of task code goes here.
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore = NULL;
+ * StaticSemaphore_t xSemaphoreBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
+ *  // The semaphore's data structures will be placed in the xSemaphoreBuffer
+ *  // variable, the address of which is passed into the function.  The
+ *  // function's parameter is not NULL, so the function will not attempt any
+ *  // dynamic memory allocation, and therefore the function will not return
+ *  // return NULL.
+ *  xSemaphore = xSemaphoreCreateBinary( &xSemaphoreBuffer );
+ *
+ *  // Rest of task code goes here.
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic
  * \ingroup Semaphores
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateBinaryStatic( pxStaticSemaphore ) xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateBinaryStatic( pxStaticSemaphore )    xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, ( pxStaticSemaphore ), queueQUEUE_TYPE_BINARY_SEMAPHORE )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * semphr. h
- * 
xSemaphoreTake(
+ * @code{c}
+ * xSemaphoreTake(
  *                   SemaphoreHandle_t xSemaphore,
  *                   TickType_t xBlockTime
- *               )

+ *               );
+ * @endcode
  *
  * Macro to obtain a semaphore.  The semaphore must have previously been
  * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
@@ -245,55 +254,57 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * if xBlockTime expired without the semaphore becoming available.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore = NULL;
-
- // A task that creates a semaphore.
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    xSemaphore = xSemaphoreCreateBinary();
- }
-
- // A task that uses the semaphore.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xSemaphore != NULL )
-    {
-        // See if we can obtain the semaphore.  If the semaphore is not available
-        // wait 10 ticks to see if it becomes free.
-        if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the semaphore and can now access the
-            // shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource.  Release the
-            // semaphore.
-            xSemaphoreGive( xSemaphore );
-        }
-        else
-        {
-            // We could not obtain the semaphore and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * // A task that creates a semaphore.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  xSemaphore = xSemaphoreCreateBinary();
+ * }
+ *
+ * // A task that uses the semaphore.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // See if we can obtain the semaphore.  If the semaphore is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the semaphore and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *
+ *          // We have finished accessing the shared resource.  Release the
+ *          // semaphore.
+ *          xSemaphoreGive( xSemaphore );
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the semaphore and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreTake xSemaphoreTake
  * \ingroup Semaphores
  */
-#define xSemaphoreTake( xSemaphore, xBlockTime )		xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
+#define xSemaphoreTake( xSemaphore, xBlockTime )    xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
 
 /**
  * semphr. h
+ * @code{c}
  * xSemaphoreTakeRecursive(
  *                          SemaphoreHandle_t xMutex,
  *                          TickType_t xBlockTime
- *                        )
+ *                        );
+ * @endcode
  *
  * Macro to recursively obtain, or 'take', a mutex type semaphore.
  * The mutex must have previously been created using a call to
@@ -324,68 +335,70 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * expired without the semaphore becoming available.
  *
  * Example usage:
- 
- SemaphoreHandle_t xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.
-        if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to
-            // xSemaphoreTakeRecursive() are made on the same mutex.  In real
-            // code these would not be just sequential calls as this would make
-            // no sense.  Instead the calls are likely to be buried inside
-            // a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be
-            // available to another task until it has also been given back
-            // three times.  Again it is unlikely that real code would have
-            // these calls sequentially, but instead buried in a more complex
-            // call structure.  This is just for illustrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-            xSemaphoreGiveRecursive( xMutex );
-            xSemaphoreGiveRecursive( xMutex );
-
-            // Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xMutex = NULL;
+ *
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
+ *  {
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, but instead buried in a more complex
+ *          // call structure.  This is just for illustrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
  * \ingroup Semaphores
  */
-#if( configUSE_RECURSIVE_MUTEXES == 1 )
-	#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
+    #define xSemaphoreTakeRecursive( xMutex, xBlockTime )    xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
 #endif
 
 /**
  * semphr. h
- * 
xSemaphoreGive( SemaphoreHandle_t xSemaphore )

+ * @code{c}
+ * xSemaphoreGive( SemaphoreHandle_t xSemaphore );
+ * @endcode
  *
  * Macro to release a semaphore.  The semaphore must have previously been
  * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
@@ -406,49 +419,51 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * semaphore was not first obtained correctly.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
-    // Create the semaphore to guard a shared resource.
-    xSemaphore = vSemaphoreCreateBinary();
-
-    if( xSemaphore != NULL )
-    {
-        if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-        {
-            // We would expect this call to fail because we cannot give
-            // a semaphore without first "taking" it!
-        }
-
-        // Obtain the semaphore - don't block if the semaphore is not
-        // immediately available.
-        if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
-        {
-            // We now have the semaphore and can access the shared resource.
-
-            // ...
-
-            // We have finished accessing the shared resource so can free the
-            // semaphore.
-            if( xSemaphoreGive( xSemaphore ) != pdTRUE )
-            {
-                // We would not expect this call to fail because we must have
-                // obtained the semaphore to get here.
-            }
-        }
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  xSemaphore = vSemaphoreCreateBinary();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *      {
+ *          // We would expect this call to fail because we cannot give
+ *          // a semaphore without first "taking" it!
+ *      }
+ *
+ *      // Obtain the semaphore - don't block if the semaphore is not
+ *      // immediately available.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
+ *      {
+ *          // We now have the semaphore and can access the shared resource.
+ *
+ *          // ...
+ *
+ *          // We have finished accessing the shared resource so can free the
+ *          // semaphore.
+ *          if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *          {
+ *              // We would not expect this call to fail because we must have
+ *              // obtained the semaphore to get here.
+ *          }
+ *      }
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreGive xSemaphoreGive
  * \ingroup Semaphores
  */
-#define xSemaphoreGive( xSemaphore )		xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+#define xSemaphoreGive( xSemaphore )    xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /**
  * semphr. h
- * 
xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex )

+ * @code{c}
+ * xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex );
+ * @endcode
  *
  * Macro to recursively release, or 'give', a mutex type semaphore.
  * The mutex must have previously been created using a call to
@@ -472,73 +487,74 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @return pdTRUE if the semaphore was given.
  *
  * Example usage:
- 
- SemaphoreHandle_t xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
-    // Create the mutex to guard a shared resource.
-    xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
-    // ... Do other things.
-
-    if( xMutex != NULL )
-    {
-        // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.
-        if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
-        {
-            // We were able to obtain the mutex and can now access the
-            // shared resource.
-
-            // ...
-            // For some reason due to the nature of the code further calls to
-			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
-			// code these would not be just sequential calls as this would make
-			// no sense.  Instead the calls are likely to be buried inside
-			// a more complex call structure.
-            xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-            xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-
-            // The mutex has now been 'taken' three times, so will not be
-			// available to another task until it has also been given back
-			// three times.  Again it is unlikely that real code would have
-			// these calls sequentially, it would be more likely that the calls
-			// to xSemaphoreGiveRecursive() would be called as a call stack
-			// unwound.  This is just for demonstrative purposes.
-            xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-			xSemaphoreGiveRecursive( xMutex );
-
-			// Now the mutex can be taken by other tasks.
-        }
-        else
-        {
-            // We could not obtain the mutex and can therefore not access
-            // the shared resource safely.
-        }
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xMutex = NULL;
+ *
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
+ *  {
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, it would be more likely that the calls
+ *          // to xSemaphoreGiveRecursive() would be called as a call stack
+ *          // unwound.  This is just for demonstrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
  * \ingroup Semaphores
  */
-#if( configUSE_RECURSIVE_MUTEXES == 1 )
-	#define xSemaphoreGiveRecursive( xMutex )	xQueueGiveMutexRecursive( ( xMutex ) )
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
+    #define xSemaphoreGiveRecursive( xMutex )    xQueueGiveMutexRecursive( ( xMutex ) )
 #endif
 
 /**
  * semphr. h
- * 
- xSemaphoreGiveFromISR(
-                          SemaphoreHandle_t xSemaphore,
-                          BaseType_t *pxHigherPriorityTaskWoken
-                      )

+ * @code{c}
+ * xSemaphoreGiveFromISR(
+ *                        SemaphoreHandle_t xSemaphore,
+ *                        BaseType_t *pxHigherPriorityTaskWoken
+ *                    );
+ * @endcode
  *
  * Macro to  release a semaphore.  The semaphore must have previously been
  * created with a call to xSemaphoreCreateBinary() or xSemaphoreCreateCounting().
@@ -560,76 +576,77 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
  *
  * Example usage:
- 
+ * @code{c}
  \#define LONG_TIME 0xffff
- \#define TICKS_TO_WAIT	10
- SemaphoreHandle_t xSemaphore = NULL;
-
- // Repetitive task.
- void vATask( void * pvParameters )
- {
-    for( ;; )
-    {
-        // We want this task to run every 10 ticks of a timer.  The semaphore
-        // was created before this task was started.
-
-        // Block waiting for the semaphore to become available.
-        if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
-        {
-            // It is time to execute.
-
-            // ...
-
-            // We have finished our task.  Return to the top of the loop where
-            // we will block on the semaphore until it is time to execute
-            // again.  Note when using the semaphore for synchronisation with an
-			// ISR in this manner there is no need to 'give' the semaphore back.
-        }
-    }
- }
-
- // Timer ISR
- void vTimerISR( void * pvParameters )
- {
- static uint8_t ucLocalTickCount = 0;
- static BaseType_t xHigherPriorityTaskWoken;
-
-    // A timer tick has occurred.
-
-    // ... Do other time functions.
-
-    // Is it time for vATask () to run?
-	xHigherPriorityTaskWoken = pdFALSE;
-    ucLocalTickCount++;
-    if( ucLocalTickCount >= TICKS_TO_WAIT )
-    {
-        // Unblock the task by releasing the semaphore.
-        xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
-
-        // Reset the count so we release the semaphore again in 10 ticks time.
-        ucLocalTickCount = 0;
-    }
-
-    if( xHigherPriorityTaskWoken != pdFALSE )
-    {
-        // We can force a context switch here.  Context switching from an
-        // ISR uses port specific syntax.  Check the demo task for your port
-        // to find the syntax required.
-    }
- }
- 

+ \#define TICKS_TO_WAIT 10
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ * // Repetitive task.
+ * void vATask( void * pvParameters )
+ * {
+ *  for( ;; )
+ *  {
+ *      // We want this task to run every 10 ticks of a timer.  The semaphore
+ *      // was created before this task was started.
+ *
+ *      // Block waiting for the semaphore to become available.
+ *      if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+ *      {
+ *          // It is time to execute.
+ *
+ *          // ...
+ *
+ *          // We have finished our task.  Return to the top of the loop where
+ *          // we will block on the semaphore until it is time to execute
+ *          // again.  Note when using the semaphore for synchronisation with an
+ *          // ISR in this manner there is no need to 'give' the semaphore back.
+ *      }
+ *  }
+ * }
+ *
+ * // Timer ISR
+ * void vTimerISR( void * pvParameters )
+ * {
+ * static uint8_t ucLocalTickCount = 0;
+ * static BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // A timer tick has occurred.
+ *
+ *  // ... Do other time functions.
+ *
+ *  // Is it time for vATask () to run?
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *  ucLocalTickCount++;
+ *  if( ucLocalTickCount >= TICKS_TO_WAIT )
+ *  {
+ *      // Unblock the task by releasing the semaphore.
+ *      xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
+ *
+ *      // Reset the count so we release the semaphore again in 10 ticks time.
+ *      ucLocalTickCount = 0;
+ *  }
+ *
+ *  if( xHigherPriorityTaskWoken != pdFALSE )
+ *  {
+ *      // We can force a context switch here.  Context switching from an
+ *      // ISR uses port specific syntax.  Check the demo task for your port
+ *      // to find the syntax required.
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
  * \ingroup Semaphores
  */
-#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )	xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
+#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
 
 /**
  * semphr. h
- * 
- xSemaphoreTakeFromISR(
-                          SemaphoreHandle_t xSemaphore,
-                          BaseType_t *pxHigherPriorityTaskWoken
-                      )

+ * @code{c}
+ * xSemaphoreTakeFromISR(
+ *                        SemaphoreHandle_t xSemaphore,
+ *                        BaseType_t *pxHigherPriorityTaskWoken
+ *                    );
+ * @endcode
  *
  * Macro to  take a semaphore from an ISR.  The semaphore must have
  * previously been created with a call to xSemaphoreCreateBinary() or
@@ -655,11 +672,13 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @return pdTRUE if the semaphore was successfully taken, otherwise
  * pdFALSE
  */
-#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )	xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
+#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateMutex( void )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateMutex( void );
+ * @endcode
  *
  * Creates a new mutex type semaphore instance, and returns a handle by which
  * the new mutex can be referenced.
@@ -668,7 +687,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * of memory, in which the mutex structure is stored.  If a mutex is created
  * using xSemaphoreCreateMutex() then the required memory is automatically
  * dynamically allocated inside the xSemaphoreCreateMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a mutex is created using
  * xSemaphoreCreateMutexStatic() then the application writer must provided the
  * memory.  xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
  * without using any dynamic memory allocation.
@@ -693,32 +712,34 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * data structures then NULL is returned.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateMutex();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
+#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_MUTEXES == 1 ) )
+    #define xSemaphoreCreateMutex()    xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
 #endif
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer );
+ * @endcode
  *
  * Creates a new mutex type semaphore instance, and returns a handle by which
  * the new mutex can be referenced.
@@ -727,7 +748,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * of memory, in which the mutex structure is stored.  If a mutex is created
  * using xSemaphoreCreateMutex() then the required memory is automatically
  * dynamically allocated inside the xSemaphoreCreateMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a mutex is created using
  * xSemaphoreCreateMutexStatic() then the application writer must provided the
  * memory.  xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
  * without using any dynamic memory allocation.
@@ -755,42 +776,44 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * mutex is returned.  If pxMutexBuffer was NULL then NULL is returned.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xMutexBuffer;
-
- void vATask( void * pvParameters )
- {
-    // A mutex cannot be used before it has been created.  xMutexBuffer is
-    // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
-    // attempted.
-    xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
-
-    // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
-    // so there is no need to check it.
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xMutexBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // A mutex cannot be used before it has been created.  xMutexBuffer is
+ *  // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
+ *  // attempted.
+ *  xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
+ *
+ *  // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
+ *  // so there is no need to check it.
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic
  * \ingroup Semaphores
  */
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
+#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_MUTEXES == 1 ) )
+    #define xSemaphoreCreateMutexStatic( pxMutexBuffer )    xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
+#endif
 
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void );
+ * @endcode
  *
  * Creates a new recursive mutex type semaphore instance, and returns a handle
  * by which the new recursive mutex can be referenced.
  *
- * Internally, within the FreeRTOS implementation, recursive mutexs use a block
+ * Internally, within the FreeRTOS implementation, recursive mutexes use a block
  * of memory, in which the mutex structure is stored.  If a recursive mutex is
  * created using xSemaphoreCreateRecursiveMutex() then the required memory is
  * automatically dynamically allocated inside the
  * xSemaphoreCreateRecursiveMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a recursive mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a recursive mutex is created using
  * xSemaphoreCreateRecursiveMutexStatic() then the application writer must
  * provide the memory that will get used by the mutex.
  * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
@@ -822,42 +845,44 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * SemaphoreHandle_t.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
-    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
-    // This is a macro so pass the variable in directly.
-    xSemaphore = xSemaphoreCreateRecursiveMutex();
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateRecursiveMutex();
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateRecursiveMutex xSemaphoreCreateRecursiveMutex
  * \ingroup Semaphores
  */
-#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
-	#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
+#if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
+    #define xSemaphoreCreateRecursiveMutex()    xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
 #endif
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer );
+ * @endcode
  *
  * Creates a new recursive mutex type semaphore instance, and returns a handle
  * by which the new recursive mutex can be referenced.
  *
- * Internally, within the FreeRTOS implementation, recursive mutexs use a block
+ * Internally, within the FreeRTOS implementation, recursive mutexes use a block
  * of memory, in which the mutex structure is stored.  If a recursive mutex is
  * created using xSemaphoreCreateRecursiveMutex() then the required memory is
  * automatically dynamically allocated inside the
  * xSemaphoreCreateRecursiveMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a recursive mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a recursive mutex is created using
  * xSemaphoreCreateRecursiveMutexStatic() then the application writer must
  * provide the memory that will get used by the mutex.
  * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
@@ -894,47 +919,49 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * returned.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xMutexBuffer;
-
- void vATask( void * pvParameters )
- {
-    // A recursive semaphore cannot be used before it is created.  Here a
-    // recursive mutex is created using xSemaphoreCreateRecursiveMutexStatic().
-    // The address of xMutexBuffer is passed into the function, and will hold
-    // the mutexes data structures - so no dynamic memory allocation will be
-    // attempted.
-    xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xMutexBuffer );
-
-    // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
-    // so there is no need to check it.
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xMutexBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ *  // A recursive semaphore cannot be used before it is created.  Here a
+ *  // recursive mutex is created using xSemaphoreCreateRecursiveMutexStatic().
+ *  // The address of xMutexBuffer is passed into the function, and will hold
+ *  // the mutexes data structures - so no dynamic memory allocation will be
+ *  // attempted.
+ *  xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xMutexBuffer );
+ *
+ *  // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
+ *  // so there is no need to check it.
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateRecursiveMutexStatic xSemaphoreCreateRecursiveMutexStatic
  * \ingroup Semaphores
  */
-#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
-	#define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
+#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
+    #define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore )    xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, ( pxStaticSemaphore ) )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount );
+ * @endcode
  *
  * Creates a new counting semaphore instance, and returns a handle by which the
  * new counting semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, counting semaphores use a
  * block of memory, in which the counting semaphore structure is stored.  If a
  * counting semaphore is created using xSemaphoreCreateCounting() then the
  * required memory is automatically dynamically allocated inside the
  * xSemaphoreCreateCounting() function.  (see
- * http://www.freertos.org/a00111.html).  If a counting semaphore is created
+ * https://www.FreeRTOS.org/a00111.html).  If a counting semaphore is created
  * using xSemaphoreCreateCountingStatic() then the application writer can
  * instead optionally provide the memory that will get used by the counting
  * semaphore.  xSemaphoreCreateCountingStatic() therefore allows a counting
@@ -972,49 +999,51 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *         created.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
- SemaphoreHandle_t xSemaphore = NULL;
-
-    // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
-    // The max value to which the semaphore can count should be 10, and the
-    // initial value assigned to the count should be 0.
-    xSemaphore = xSemaphoreCreateCounting( 10, 0 );
-
-    if( xSemaphore != NULL )
-    {
-        // The semaphore was created successfully.
-        // The semaphore can now be used.
-    }
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+ *  // The max value to which the semaphore can count should be 10, and the
+ *  // initial value assigned to the count should be 0.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+ *
+ *  if( xSemaphore != NULL )
+ *  {
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount )    xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
 #endif
 
 /**
  * semphr. h
- * 
SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer )

+ * @code{c}
+ * SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer );
+ * @endcode
  *
  * Creates a new counting semaphore instance, and returns a handle by which the
  * new counting semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, counting semaphores use a
  * block of memory, in which the counting semaphore structure is stored.  If a
  * counting semaphore is created using xSemaphoreCreateCounting() then the
  * required memory is automatically dynamically allocated inside the
  * xSemaphoreCreateCounting() function.  (see
- * http://www.freertos.org/a00111.html).  If a counting semaphore is created
+ * https://www.FreeRTOS.org/a00111.html).  If a counting semaphore is created
  * using xSemaphoreCreateCountingStatic() then the application writer must
  * provide the memory.  xSemaphoreCreateCountingStatic() therefore allows a
  * counting semaphore to be created without using any dynamic memory allocation.
@@ -1056,36 +1085,38 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * then NULL is returned.
  *
  * Example usage:
- 
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xSemaphoreBuffer;
-
- void vATask( void * pvParameters )
- {
- SemaphoreHandle_t xSemaphore = NULL;
-
-    // Counting semaphore cannot be used before they have been created.  Create
-    // a counting semaphore using xSemaphoreCreateCountingStatic().  The max
-    // value to which the semaphore can count is 10, and the initial value
-    // assigned to the count will be 0.  The address of xSemaphoreBuffer is
-    // passed in and will be used to hold the semaphore structure, so no dynamic
-    // memory allocation will be used.
-    xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
-
-    // No memory allocation was attempted so xSemaphore cannot be NULL, so there
-    // is no need to check its value.
- }
- 

+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xSemaphoreBuffer;
+ *
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ *  // Counting semaphore cannot be used before they have been created.  Create
+ *  // a counting semaphore using xSemaphoreCreateCountingStatic().  The max
+ *  // value to which the semaphore can count is 10, and the initial value
+ *  // assigned to the count will be 0.  The address of xSemaphoreBuffer is
+ *  // passed in and will be used to hold the semaphore structure, so no dynamic
+ *  // memory allocation will be used.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
+ *
+ *  // No memory allocation was attempted so xSemaphore cannot be NULL, so there
+ *  // is no need to check its value.
+ * }
+ * @endcode
  * \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic
  * \ingroup Semaphores
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer ) xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer )    xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * semphr. h
- * 
void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );

+ * @code{c}
+ * void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );
+ * @endcode
  *
  * Delete a semaphore.  This function must be used with care.  For example,
  * do not delete a mutex type semaphore if the mutex is held by a task.
@@ -1095,11 +1126,13 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * \defgroup vSemaphoreDelete vSemaphoreDelete
  * \ingroup Semaphores
  */
-#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
+#define vSemaphoreDelete( xSemaphore )    vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
 
 /**
  * semphr.h
- * 
TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );

+ * @code{c}
+ * TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );
+ * @endcode
  *
  * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
  * If xMutex is not a mutex type semaphore, or the mutex is available (not held
@@ -1110,22 +1143,30 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * the holder may change between the function exiting and the returned value
  * being tested.
  */
-#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+    #define xSemaphoreGetMutexHolder( xSemaphore )    xQueueGetMutexHolder( ( xSemaphore ) )
+#endif
 
 /**
  * semphr.h
- * 
TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );

+ * @code{c}
+ * TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );
+ * @endcode
  *
  * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
  * If xMutex is not a mutex type semaphore, or the mutex is available (not held
  * by a task), return NULL.
  *
  */
-#define xSemaphoreGetMutexHolderFromISR( xSemaphore ) xQueueGetMutexHolderFromISR( ( xSemaphore ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+    #define xSemaphoreGetMutexHolderFromISR( xSemaphore )    xQueueGetMutexHolderFromISR( ( xSemaphore ) )
+#endif
 
 /**
  * semphr.h
- * 
UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );

+ * @code{c}
+ * UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );
+ * @endcode
  *
  * If the semaphore is a counting semaphore then uxSemaphoreGetCount() returns
  * its current count value.  If the semaphore is a binary semaphore then
@@ -1133,8 +1174,41 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * semaphore is not available.
  *
  */
-#define uxSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )
+#define uxSemaphoreGetCount( xSemaphore )           uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )
+
+/**
+ * semphr.h
+ * @code{c}
+ * UBaseType_t uxSemaphoreGetCountFromISR( SemaphoreHandle_t xSemaphore );
+ * @endcode
+ *
+ * If the semaphore is a counting semaphore then uxSemaphoreGetCountFromISR() returns
+ * its current count value.  If the semaphore is a binary semaphore then
+ * uxSemaphoreGetCountFromISR() returns 1 if the semaphore is available, and 0 if the
+ * semaphore is not available.
+ *
+ */
+#define uxSemaphoreGetCountFromISR( xSemaphore )    uxQueueMessagesWaitingFromISR( ( QueueHandle_t ) ( xSemaphore ) )
+
+/**
+ * semphr.h
+ * @code{c}
+ * BaseType_t xSemaphoreGetStaticBuffer( SemaphoreHandle_t xSemaphore );
+ * @endcode
+ *
+ * Retrieve pointer to a statically created binary semaphore, counting semaphore,
+ * or mutex semaphore's data structure buffer. This is the same buffer that is
+ * supplied at the time of creation.
+ *
+ * @param xSemaphore The semaphore for which to retrieve the buffer.
+ *
+ * @param ppxSemaphoreBuffer Used to return a pointer to the semaphore's
+ * data structure buffer.
+ *
+ * @return pdTRUE if buffer was retrieved, pdFALSE otherwise.
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreGetStaticBuffer( xSemaphore, ppxSemaphoreBuffer )    xQueueGenericGetStaticBuffers( ( QueueHandle_t ) ( xSemaphore ), NULL, ( ppxSemaphoreBuffer ) )
+#endif /* configSUPPORT_STATIC_ALLOCATION */
 
 #endif /* SEMAPHORE_H */
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h b/Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h
index b5bac08..354400d 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef STACK_MACROS_H
@@ -44,86 +45,93 @@
 
 /*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
+/*
+ * portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
+ * use on the stack.
+ */
+#ifndef portSTACK_LIMIT_PADDING
+    #define portSTACK_LIMIT_PADDING    0
+#endif
 
-	/* Only the current stack state is to be checked. */
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )										\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
+#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+/* Only the current stack state is to be checked. */
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                            \
+    do {                                                                                              \
+        /* Is the currently saved stack pointer within the stack limit? */                            \
+        if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING )           \
+        {                                                                                             \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+        }                                                                                             \
+    } while( 0 )
 
 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
 /*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
+#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
 
-	/* Only the current stack state is to be checked. */
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-																										\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack )									\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
+/* Only the current stack state is to be checked. */
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                            \
+    do {                                                                                              \
+                                                                                                      \
+        /* Is the currently saved stack pointer within the stack limit? */                            \
+        if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING )      \
+        {                                                                                             \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+        }                                                                                             \
+    } while( 0 )
 
 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
 /*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
 
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-		const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack;							\
-		const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5;											\
-																										\
-		if( ( pulStack[ 0 ] != ulCheckValue ) ||														\
-			( pulStack[ 1 ] != ulCheckValue ) ||														\
-			( pulStack[ 2 ] != ulCheckValue ) ||														\
-			( pulStack[ 3 ] != ulCheckValue ) )															\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                            \
+    do {                                                                                              \
+        const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack;                       \
+        const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5;                                        \
+                                                                                                      \
+        if( ( pulStack[ 0 ] != ulCheckValue ) ||                                                      \
+            ( pulStack[ 1 ] != ulCheckValue ) ||                                                      \
+            ( pulStack[ 2 ] != ulCheckValue ) ||                                                      \
+            ( pulStack[ 3 ] != ulCheckValue ) )                                                       \
+        {                                                                                             \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
+        }                                                                                             \
+    } while( 0 )
 
 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
 /*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
 
-	#define taskCHECK_FOR_STACK_OVERFLOW()																								\
-	{																																	\
-	int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack;																		\
-	static const uint8_t ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																		\
-																																		\
-		pcEndOfStack -= sizeof( ucExpectedStackBytes );																					\
-																																		\
-		/* Has the extremity of the task stack ever been written over? */																\
-		if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )					\
-		{																																\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );									\
-		}																																\
-	}
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                                                                \
+    do {                                                                                                                                  \
+        int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack;                                                                  \
+        static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
+                                                                                                                                          \
+                                                                                                                                          \
+        pcEndOfStack -= sizeof( ucExpectedStackBytes );                                                                                   \
+                                                                                                                                          \
+        /* Has the extremity of the task stack ever been written over? */                                                                 \
+        if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )                     \
+        {                                                                                                                                 \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );                                     \
+        }                                                                                                                                 \
+    } while( 0 )
 
 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
 /*-----------------------------------------------------------*/
 
 /* Remove stack overflow macro if not being used. */
 #ifndef taskCHECK_FOR_STACK_OVERFLOW
-	#define taskCHECK_FOR_STACK_OVERFLOW()
+    #define taskCHECK_FOR_STACK_OVERFLOW()
 #endif
 
 
 
 #endif /* STACK_MACROS_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h b/Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h
index a8b68ad..48ca266 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*
@@ -52,12 +53,14 @@
 #define STREAM_BUFFER_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
+    #error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
 #endif
 
+/* *INDENT-OFF* */
 #if defined( __cplusplus )
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /**
  * Type by which stream buffers are referenced.  For example, a call to
@@ -68,13 +71,19 @@ extern "C" {
 struct StreamBufferDef_t;
 typedef struct StreamBufferDef_t * StreamBufferHandle_t;
 
+/**
+ *  Type used as a stream buffer's optional callback.
+ */
+typedef void (* StreamBufferCallbackFunction_t)( StreamBufferHandle_t xStreamBuffer,
+                                                 BaseType_t xIsInsideISR,
+                                                 BaseType_t * const pxHigherPriorityTaskWoken );
 
 /**
- * message_buffer.h
+ * stream_buffer.h
  *
-
-StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
-

+ * @code{c}
+ * StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
+ * @endcode
  *
  * Creates a new stream buffer using dynamically allocated memory.  See
  * xStreamBufferCreateStatic() for a version that uses statically allocated
@@ -100,6 +109,16 @@ StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTrigg
  * trigger level of 1 being used.  It is not valid to specify a trigger level
  * that is greater than the buffer size.
  *
+ * @param pxSendCompletedCallback Callback invoked when number of bytes at least equal to
+ * trigger level is sent to the stream buffer. If the parameter is NULL, it will use the default
+ * implementation provided by sbSEND_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @param pxReceiveCompletedCallback Callback invoked when more than zero bytes are read from a
+ * stream buffer. If the parameter is NULL, it will use the default
+ * implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
  * @return If NULL is returned, then the stream buffer cannot be created
  * because there is insufficient heap memory available for FreeRTOS to allocate
  * the stream buffer data structures and storage area.  A non-NULL value being
@@ -108,43 +127,50 @@ StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTrigg
  * buffer.
  *
  * Example use:
-
-
-void vAFunction( void )
-{
-StreamBufferHandle_t xStreamBuffer;
-const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
-
-    // Create a stream buffer that can hold 100 bytes.  The memory used to hold
-    // both the stream buffer structure and the data in the stream buffer is
-    // allocated dynamically.
-    xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
-
-    if( xStreamBuffer == NULL )
-    {
-        // There was not enough heap memory space available to create the
-        // stream buffer.
-    }
-    else
-    {
-        // The stream buffer was created successfully and can now be used.
-    }
-}
-

+ * @code{c}
+ *
+ * void vAFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
+ *
+ *  // Create a stream buffer that can hold 100 bytes.  The memory used to hold
+ *  // both the stream buffer structure and the data in the stream buffer is
+ *  // allocated dynamically.
+ *  xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
+ *
+ *  if( xStreamBuffer == NULL )
+ *  {
+ *      // There was not enough heap memory space available to create the
+ *      // stream buffer.
+ *  }
+ *  else
+ *  {
+ *      // The stream buffer was created successfully and can now be used.
+ *  }
+ * }
+ * @endcode
  * \defgroup xStreamBufferCreate xStreamBufferCreate
  * \ingroup StreamBufferManagement
  */
-#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
+
+#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) \
+    xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, NULL, NULL )
+
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define xStreamBufferCreateWithCallback( xBufferSizeBytes, xTriggerLevelBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
+    xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
+#endif
 
 /**
  * stream_buffer.h
  *
-
-StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
-                                                size_t xTriggerLevelBytes,
-                                                uint8_t *pucStreamBufferStorageArea,
-                                                StaticStreamBuffer_t *pxStaticStreamBuffer );
-

+ * @code{c}
+ * StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                              size_t xTriggerLevelBytes,
+ *                                              uint8_t *pucStreamBufferStorageArea,
+ *                                              StaticStreamBuffer_t *pxStaticStreamBuffer );
+ * @endcode
  * Creates a new stream buffer using statically allocated memory.  See
  * xStreamBufferCreate() for a version that uses dynamically allocated memory.
  *
@@ -169,63 +195,112 @@ StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
  * that is greater than the buffer size.
  *
  * @param pucStreamBufferStorageArea Must point to a uint8_t array that is at
- * least xBufferSizeBytes + 1 big.  This is the array to which streams are
+ * least xBufferSizeBytes big.  This is the array to which streams are
  * copied when they are written to the stream buffer.
  *
  * @param pxStaticStreamBuffer Must point to a variable of type
  * StaticStreamBuffer_t, which will be used to hold the stream buffer's data
  * structure.
  *
+ * @param pxSendCompletedCallback Callback invoked when number of bytes at least equal to
+ * trigger level is sent to the stream buffer. If the parameter is NULL, it will use the default
+ * implementation provided by sbSEND_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @param pxReceiveCompletedCallback Callback invoked when more than zero bytes are read from a
+ * stream buffer. If the parameter is NULL, it will use the default
+ * implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
  * @return If the stream buffer is created successfully then a handle to the
  * created stream buffer is returned. If either pucStreamBufferStorageArea or
  * pxStaticstreamBuffer are NULL then NULL is returned.
  *
  * Example use:
-
-
-// Used to dimension the array used to hold the streams.  The available space
-// will actually be one less than this, so 999.
-#define STORAGE_SIZE_BYTES 1000
-
-// Defines the memory that will actually hold the streams within the stream
-// buffer.
-static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
-
-// The variable used to hold the stream buffer structure.
-StaticStreamBuffer_t xStreamBufferStruct;
-
-void MyFunction( void )
-{
-StreamBufferHandle_t xStreamBuffer;
-const size_t xTriggerLevel = 1;
-
-    xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
-                                               xTriggerLevel,
-                                               ucBufferStorage,
-                                               &xStreamBufferStruct );
-
-    // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
-    // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
-    // reference the created stream buffer in other stream buffer API calls.
-
-    // Other code that uses the stream buffer can go here.
-}
-
-

+ * @code{c}
+ *
+ * // Used to dimension the array used to hold the streams.  The available space
+ * // will actually be one less than this, so 999.
+ #define STORAGE_SIZE_BYTES 1000
+ *
+ * // Defines the memory that will actually hold the streams within the stream
+ * // buffer.
+ * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+ *
+ * // The variable used to hold the stream buffer structure.
+ * StaticStreamBuffer_t xStreamBufferStruct;
+ *
+ * void MyFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xTriggerLevel = 1;
+ *
+ *  xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucStorageBuffer ),
+ *                                             xTriggerLevel,
+ *                                             ucStorageBuffer,
+ *                                             &xStreamBufferStruct );
+ *
+ *  // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
+ *  // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
+ *  // reference the created stream buffer in other stream buffer API calls.
+ *
+ *  // Other code that uses the stream buffer can go here.
+ * }
+ *
+ * @endcode
  * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
  * \ingroup StreamBufferManagement
  */
-#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
+
+#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) \
+    xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pucStreamBufferStorageArea ), ( pxStaticStreamBuffer ), NULL, NULL )
+
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define xStreamBufferCreateStaticWithCallback( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
+    xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), ( xTriggerLevelBytes ), pdFALSE, ( pucStreamBufferStorageArea ), ( pxStaticStreamBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
+#endif
 
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
-                          const void *pvTxData,
-                          size_t xDataLengthBytes,
-                          TickType_t xTicksToWait );
-

+ * @code{c}
+ * BaseType_t xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffer,
+ *                                           uint8_t ** ppucStreamBufferStorageArea,
+ *                                           StaticStreamBuffer_t ** ppxStaticStreamBuffer );
+ * @endcode
+ *
+ * Retrieve pointers to a statically created stream buffer's data structure
+ * buffer and storage area buffer. These are the same buffers that are supplied
+ * at the time of creation.
+ *
+ * @param xStreamBuffer The stream buffer for which to retrieve the buffers.
+ *
+ * @param ppucStreamBufferStorageArea Used to return a pointer to the stream
+ * buffer's storage area buffer.
+ *
+ * @param ppxStaticStreamBuffer Used to return a pointer to the stream
+ * buffer's data structure buffer.
+ *
+ * @return pdTRUE if buffers were retrieved, pdFALSE otherwise.
+ *
+ * \defgroup xStreamBufferGetStaticBuffers xStreamBufferGetStaticBuffers
+ * \ingroup StreamBufferManagement
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffer,
+                                              uint8_t ** ppucStreamBufferStorageArea,
+                                              StaticStreamBuffer_t ** ppxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * stream_buffer.h
+ *
+ * @code{c}
+ * size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
+ *                        const void *pvTxData,
+ *                        size_t xDataLengthBytes,
+ *                        TickType_t xTicksToWait );
+ * @endcode
  *
  * Sends bytes to a stream buffer.  The bytes are copied into the stream buffer.
  *
@@ -275,54 +350,54 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  * write as many bytes as possible.
  *
  * Example use:
-
-void vAFunction( StreamBufferHandle_t xStreamBuffer )
-{
-size_t xBytesSent;
-uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
-char *pcStringToSend = "String to send";
-const TickType_t x100ms = pdMS_TO_TICKS( 100 );
-
-    // Send an array to the stream buffer, blocking for a maximum of 100ms to
-    // wait for enough space to be available in the stream buffer.
-    xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
-
-    if( xBytesSent != sizeof( ucArrayToSend ) )
-    {
-        // The call to xStreamBufferSend() times out before there was enough
-        // space in the buffer for the data to be written, but it did
-        // successfully write xBytesSent bytes.
-    }
-
-    // Send the string to the stream buffer.  Return immediately if there is not
-    // enough space in the buffer.
-    xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
-
-    if( xBytesSent != strlen( pcStringToSend ) )
-    {
-        // The entire string could not be added to the stream buffer because
-        // there was not enough free space in the buffer, but xBytesSent bytes
-        // were sent.  Could try again to send the remaining bytes.
-    }
-}
-

+ * @code{c}
+ * void vAFunction( StreamBufferHandle_t xStreamBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ *
+ *  // Send an array to the stream buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the stream buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xStreamBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written, but it did
+ *      // successfully write xBytesSent bytes.
+ *  }
+ *
+ *  // Send the string to the stream buffer.  Return immediately if there is not
+ *  // enough space in the buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The entire string could not be added to the stream buffer because
+ *      // there was not enough free space in the buffer, but xBytesSent bytes
+ *      // were sent.  Could try again to send the remaining bytes.
+ *  }
+ * }
+ * @endcode
  * \defgroup xStreamBufferSend xStreamBufferSend
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
-						  const void *pvTxData,
-						  size_t xDataLengthBytes,
-						  TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+                          const void * pvTxData,
+                          size_t xDataLengthBytes,
+                          TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
-                                 const void *pvTxData,
-                                 size_t xDataLengthBytes,
-                                 BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                               const void *pvTxData,
+ *                               size_t xDataLengthBytes,
+ *                               BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * Interrupt safe version of the API function that sends a stream of bytes to
  * the stream buffer.
@@ -374,56 +449,56 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  * space for all the bytes to be written.
  *
  * Example use:
-
-// A stream buffer that has already been created.
-StreamBufferHandle_t xStreamBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-size_t xBytesSent;
-char *pcStringToSend = "String to send";
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
-    // Attempt to send the string to the stream buffer.
-    xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
-                                           ( void * ) pcStringToSend,
-                                           strlen( pcStringToSend ),
-                                           &xHigherPriorityTaskWoken );
-
-    if( xBytesSent != strlen( pcStringToSend ) )
-    {
-        // There was not enough free space in the stream buffer for the entire
-        // string to be written, ut xBytesSent bytes were written.
-    }
-
-    // If xHigherPriorityTaskWoken was set to pdTRUE inside
-    // xStreamBufferSendFromISR() then a task that has a priority above the
-    // priority of the currently executing task was unblocked and a context
-    // switch should be performed to ensure the ISR returns to the unblocked
-    // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
-    // variables value, and perform the context switch if necessary.  Check the
-    // documentation for the port in use for port specific instructions.
-    taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-

+ * @code{c}
+ * // A stream buffer that has already been created.
+ * StreamBufferHandle_t xStreamBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ *
+ *  // Attempt to send the string to the stream buffer.
+ *  xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
+ *                                         ( void * ) pcStringToSend,
+ *                                         strlen( pcStringToSend ),
+ *                                         &xHigherPriorityTaskWoken );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // There was not enough free space in the stream buffer for the entire
+ *      // string to be written, ut xBytesSent bytes were written.
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
  * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
-								 const void *pvTxData,
-								 size_t xDataLengthBytes,
-								 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+                                 const void * pvTxData,
+                                 size_t xDataLengthBytes,
+                                 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
-                             void *pvRxData,
-                             size_t xBufferLengthBytes,
-                             TickType_t xTicksToWait );
-

+ * @code{c}
+ * size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
+ *                           void *pvRxData,
+ *                           size_t xBufferLengthBytes,
+ *                           TickType_t xTicksToWait );
+ * @endcode
  *
  * Receives bytes from a stream buffer.
  *
@@ -473,46 +548,46 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
  * out before xBufferLengthBytes were available.
  *
  * Example use:
-
-void vAFunction( StreamBuffer_t xStreamBuffer )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
-
-    // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
-    // Wait in the Blocked state (so not using any CPU processing time) for a
-    // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
-    // available.
-    xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
-                                           ( void * ) ucRxData,
-                                           sizeof( ucRxData ),
-                                           xBlockTime );
-
-    if( xReceivedBytes > 0 )
-    {
-        // A ucRxData contains another xRecievedBytes bytes of data, which can
-        // be processed here....
-    }
-}
-

+ * @code{c}
+ * void vAFunction( StreamBuffer_t xStreamBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ *
+ *  // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
+ *  // Wait in the Blocked state (so not using any CPU processing time) for a
+ *  // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
+ *  // available.
+ *  xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
+ *                                         ( void * ) ucRxData,
+ *                                         sizeof( ucRxData ),
+ *                                         xBlockTime );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains another xReceivedBytes bytes of data, which can
+ *      // be processed here....
+ *  }
+ * }
+ * @endcode
  * \defgroup xStreamBufferReceive xStreamBufferReceive
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
-							 void *pvRxData,
-							 size_t xBufferLengthBytes,
-							 TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+                             void * pvRxData,
+                             size_t xBufferLengthBytes,
+                             TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
-                                    void *pvRxData,
-                                    size_t xBufferLengthBytes,
-                                    BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                                  void *pvRxData,
+ *                                  size_t xBufferLengthBytes,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * An interrupt safe version of the API function that receives bytes from a
  * stream buffer.
@@ -549,53 +624,53 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
  * @return The number of bytes read from the stream buffer, if any.
  *
  * Example use:
-
-// A stream buffer that has already been created.
-StreamBuffer_t xStreamBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
-
-    // Receive the next stream from the stream buffer.
-    xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
-                                                  ( void * ) ucRxData,
-                                                  sizeof( ucRxData ),
-                                                  &xHigherPriorityTaskWoken );
-
-    if( xReceivedBytes > 0 )
-    {
-        // ucRxData contains xReceivedBytes read from the stream buffer.
-        // Process the stream here....
-    }
-
-    // If xHigherPriorityTaskWoken was set to pdTRUE inside
-    // xStreamBufferReceiveFromISR() then a task that has a priority above the
-    // priority of the currently executing task was unblocked and a context
-    // switch should be performed to ensure the ISR returns to the unblocked
-    // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
-    // variables value, and perform the context switch if necessary.  Check the
-    // documentation for the port in use for port specific instructions.
-    taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-

+ * @code{c}
+ * // A stream buffer that has already been created.
+ * StreamBuffer_t xStreamBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ *
+ *  // Receive the next stream from the stream buffer.
+ *  xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // ucRxData contains xReceivedBytes read from the stream buffer.
+ *      // Process the stream here....
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
  * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
-									void *pvRxData,
-									size_t xBufferLengthBytes,
-									BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+                                    void * pvRxData,
+                                    size_t xBufferLengthBytes,
+                                    BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Deletes a stream buffer that was previously created using a call to
  * xStreamBufferCreate() or xStreamBufferCreateStatic().  If the stream
@@ -615,9 +690,9 @@ void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTI
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Queries a stream buffer to see if it is full.  A stream buffer is full if it
  * does not have any free space, and therefore cannot accept any more data.
@@ -635,9 +710,9 @@ BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Queries a stream buffer to see if it is empty.  A stream buffer is empty if
  * it does not contain any data.
@@ -655,9 +730,9 @@ BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Resets a stream buffer to its initial, empty, state.  Any data that was in
  * the stream buffer is discarded.  A stream buffer can only be reset if there
@@ -678,9 +753,9 @@ BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_F
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Queries a stream buffer to see how much free space it contains, which is
  * equal to the amount of data that can be sent to the stream buffer before it
@@ -699,9 +774,9 @@ size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVIL
 /**
  * stream_buffer.h
  *
-
-size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
-

+ * @code{c}
+ * size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * @endcode
  *
  * Queries a stream buffer to see how much data it contains, which is equal to
  * the number of bytes that can be read from the stream buffer before the stream
@@ -720,9 +795,9 @@ size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILE
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
-

+ * @code{c}
+ * BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
+ * @endcode
  *
  * A stream buffer's trigger level is the number of bytes that must be in the
  * stream buffer before a task that is blocked on the stream buffer to
@@ -752,14 +827,15 @@ BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, siz
  * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
+                                         size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * For advanced users only.
  *
@@ -791,14 +867,15 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
  * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                              BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
  * stream_buffer.h
  *
-
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-

+ * @code{c}
+ * BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
  *
  * For advanced users only.
  *
@@ -831,29 +908,38 @@ BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuf
  * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                 BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /* Functions below here are not part of the public API. */
 StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
-												 size_t xTriggerLevelBytes,
-												 BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION;
+                                                 size_t xTriggerLevelBytes,
+                                                 BaseType_t xIsMessageBuffer,
+                                                 StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                 StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
+
 
 StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
-													   size_t xTriggerLevelBytes,
-													   BaseType_t xIsMessageBuffer,
-													   uint8_t * const pucStreamBufferStorageArea,
-													   StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+                                                       size_t xTriggerLevelBytes,
+                                                       BaseType_t xIsMessageBuffer,
+                                                       uint8_t * const pucStreamBufferStorageArea,
+                                                       StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                       StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                       StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
 
 size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
-#if( configUSE_TRACE_FACILITY == 1 )
-	void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
-	UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-	uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer,
+                                             UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+    uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 #endif
 
+/* *INDENT-OFF* */
 #if defined( __cplusplus )
-}
+    }
 #endif
+/* *INDENT-ON* */
 
-#endif	/* !defined( STREAM_BUFFER_H ) */
+#endif /* !defined( STREAM_BUFFER_H ) */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/task.h b/Middlewares/Third_Party/FreeRTOS/Source/include/task.h
index b0cc60b..1207e18 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/task.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/task.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
@@ -30,31 +31,52 @@
 #define INC_TASK_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include task.h"
+    #error "include FreeRTOS.h must appear in source files before include task.h"
 #endif
 
 #include "list.h"
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
+* MACROS AND DEFINITIONS
+*----------------------------------------------------------*/
 
-#define tskKERNEL_VERSION_NUMBER "V10.3.1"
-#define tskKERNEL_VERSION_MAJOR 10
-#define tskKERNEL_VERSION_MINOR 3
-#define tskKERNEL_VERSION_BUILD 1
+/*
+ * If tskKERNEL_VERSION_NUMBER ends with + it represents the version in development
+ * after the numbered release.
+ *
+ * The tskKERNEL_VERSION_MAJOR, tskKERNEL_VERSION_MINOR, tskKERNEL_VERSION_BUILD
+ * values will reflect the last released version number.
+ */
+#define tskKERNEL_VERSION_NUMBER       "V10.6.2"
+#define tskKERNEL_VERSION_MAJOR        10
+#define tskKERNEL_VERSION_MINOR        6
+#define tskKERNEL_VERSION_BUILD        2
 
 /* MPU region parameters passed in ulParameters
  * of MemoryRegion_t struct. */
-#define tskMPU_REGION_READ_ONLY			( 1UL << 0UL )
-#define tskMPU_REGION_READ_WRITE		( 1UL << 1UL )
-#define tskMPU_REGION_EXECUTE_NEVER		( 1UL << 2UL )
-#define tskMPU_REGION_NORMAL_MEMORY		( 1UL << 3UL )
-#define tskMPU_REGION_DEVICE_MEMORY		( 1UL << 4UL )
+#define tskMPU_REGION_READ_ONLY        ( 1UL << 0UL )
+#define tskMPU_REGION_READ_WRITE       ( 1UL << 1UL )
+#define tskMPU_REGION_EXECUTE_NEVER    ( 1UL << 2UL )
+#define tskMPU_REGION_NORMAL_MEMORY    ( 1UL << 3UL )
+#define tskMPU_REGION_DEVICE_MEMORY    ( 1UL << 4UL )
+
+/* MPU region permissions stored in MPU settings to
+ * authorize access requests. */
+#define tskMPU_READ_PERMISSION         ( 1UL << 0UL )
+#define tskMPU_WRITE_PERMISSION        ( 1UL << 1UL )
+
+/* The direct to task notification feature used to have only a single notification
+ * per task.  Now there is an array of notifications per task that is dimensioned by
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES.  For backward compatibility, any use of the
+ * original direct to task notification defaults to using the first index in the
+ * array. */
+#define tskDEFAULT_INDEX_TO_NOTIFY     ( 0 )
 
 /**
  * task. h
@@ -67,33 +89,33 @@ extern "C" {
  * \ingroup Tasks
  */
 struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-typedef struct tskTaskControlBlock* TaskHandle_t;
+typedef struct tskTaskControlBlock * TaskHandle_t;
 
 /*
  * Defines the prototype to which the application task hook function must
  * conform.
  */
-typedef BaseType_t (*TaskHookFunction_t)( void * );
+typedef BaseType_t (* TaskHookFunction_t)( void * );
 
 /* Task states returned by eTaskGetState. */
 typedef enum
 {
-	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
-	eReady,			/* The task being queried is in a read or pending ready list. */
-	eBlocked,		/* The task being queried is in the Blocked state. */
-	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
-	eDeleted,		/* The task being queried has been deleted, but its TCB has not yet been freed. */
-	eInvalid		/* Used as an 'invalid state' value. */
+    eRunning = 0, /* A task is querying the state of itself, so must be running. */
+    eReady,       /* The task being queried is in a ready or pending ready list. */
+    eBlocked,     /* The task being queried is in the Blocked state. */
+    eSuspended,   /* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+    eDeleted,     /* The task being queried has been deleted, but its TCB has not yet been freed. */
+    eInvalid      /* Used as an 'invalid state' value. */
 } eTaskState;
 
 /* Actions that can be performed when vTaskNotify() is called. */
 typedef enum
 {
-	eNoAction = 0,				/* Notify the task without updating its notify value. */
-	eSetBits,					/* Set bits in the task's notification value. */
-	eIncrement,					/* Increment the task's notification value. */
-	eSetValueWithOverwrite,		/* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
-	eSetValueWithoutOverwrite	/* Set the task's notification value if the previous value has been read by the task. */
+    eNoAction = 0,            /* Notify the task without updating its notify value. */
+    eSetBits,                 /* Set bits in the task's notification value. */
+    eIncrement,               /* Increment the task's notification value. */
+    eSetValueWithOverwrite,   /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
+    eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */
 } eNotifyAction;
 
 /*
@@ -101,8 +123,8 @@ typedef enum
  */
 typedef struct xTIME_OUT
 {
-	BaseType_t xOverflowCount;
-	TickType_t xTimeOnEntering;
+    BaseType_t xOverflowCount;
+    TickType_t xTimeOnEntering;
 } TimeOut_t;
 
 /*
@@ -110,9 +132,9 @@ typedef struct xTIME_OUT
  */
 typedef struct xMEMORY_REGION
 {
-	void *pvBaseAddress;
-	uint32_t ulLengthInBytes;
-	uint32_t ulParameters;
+    void * pvBaseAddress;
+    uint32_t ulLengthInBytes;
+    uint32_t ulParameters;
 } MemoryRegion_t;
 
 /*
@@ -120,39 +142,45 @@ typedef struct xMEMORY_REGION
  */
 typedef struct xTASK_PARAMETERS
 {
-	TaskFunction_t pvTaskCode;
-	const char * const pcName;	/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	configSTACK_DEPTH_TYPE usStackDepth;
-	void *pvParameters;
-	UBaseType_t uxPriority;
-	StackType_t *puxStackBuffer;
-	MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
-	#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-		StaticTask_t * const pxTaskBuffer;
-	#endif
+    TaskFunction_t pvTaskCode;
+    const char * pcName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    configSTACK_DEPTH_TYPE usStackDepth;
+    void * pvParameters;
+    UBaseType_t uxPriority;
+    StackType_t * puxStackBuffer;
+    MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
+    #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+        StaticTask_t * const pxTaskBuffer;
+    #endif
 } TaskParameters_t;
 
 /* Used with the uxTaskGetSystemState() function to return the state of each task
-in the system. */
+ * in the system. */
 typedef struct xTASK_STATUS
 {
-	TaskHandle_t xHandle;			/* The handle of the task to which the rest of the information in the structure relates. */
-	const char *pcTaskName;			/* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	UBaseType_t xTaskNumber;		/* A number unique to the task. */
-	eTaskState eCurrentState;		/* The state in which the task existed when the structure was populated. */
-	UBaseType_t uxCurrentPriority;	/* The priority at which the task was running (may be inherited) when the structure was populated. */
-	UBaseType_t uxBasePriority;		/* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
-	uint32_t ulRunTimeCounter;		/* The total run time allocated to the task so far, as defined by the run time stats clock.  See http://www.freertos.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
-	StackType_t *pxStackBase;		/* Points to the lowest address of the task's stack area. */
-	configSTACK_DEPTH_TYPE usStackHighWaterMark;	/* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
+    TaskHandle_t xHandle;                         /* The handle of the task to which the rest of the information in the structure relates. */
+    const char * pcTaskName;                      /* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    UBaseType_t xTaskNumber;                      /* A number unique to the task. */
+    eTaskState eCurrentState;                     /* The state in which the task existed when the structure was populated. */
+    UBaseType_t uxCurrentPriority;                /* The priority at which the task was running (may be inherited) when the structure was populated. */
+    UBaseType_t uxBasePriority;                   /* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
+    configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /* The total run time allocated to the task so far, as defined by the run time stats clock.  See https://www.FreeRTOS.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
+    StackType_t * pxStackBase;                    /* Points to the lowest address of the task's stack area. */
+    #if ( ( portSTACK_GROWTH > 0 ) && ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
+        StackType_t * pxTopOfStack;               /* Points to the top address of the task's stack area. */
+        StackType_t * pxEndOfStack;               /* Points to the end address of the task's stack area. */
+    #endif
+    configSTACK_DEPTH_TYPE usStackHighWaterMark;  /* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
 } TaskStatus_t;
 
 /* Possible return values for eTaskConfirmSleepModeStatus(). */
 typedef enum
 {
-	eAbortSleep = 0,		/* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
-	eStandardSleep,			/* Enter a sleep mode that will not last any longer than the expected idle time. */
-	eNoTasksWaitingTimeout	/* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+    eAbortSleep = 0,           /* A task has been made ready or a context switch pended since portSUPPRESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
+    eStandardSleep,            /* Enter a sleep mode that will not last any longer than the expected idle time. */
+    #if ( INCLUDE_vTaskSuspend == 1 )
+        eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+    #endif /* INCLUDE_vTaskSuspend */
 } eSleepModeStatus;
 
 /**
@@ -160,7 +188,7 @@ typedef enum
  *
  * \ingroup TaskUtils
  */
-#define tskIDLE_PRIORITY			( ( UBaseType_t ) 0U )
+#define tskIDLE_PRIORITY    ( ( UBaseType_t ) 0U )
 
 /**
  * task. h
@@ -170,7 +198,7 @@ typedef enum
  * \defgroup taskYIELD taskYIELD
  * \ingroup SchedulerControl
  */
-#define taskYIELD()					portYIELD()
+#define taskYIELD()                        portYIELD()
 
 /**
  * task. h
@@ -184,8 +212,8 @@ typedef enum
  * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
  * \ingroup SchedulerControl
  */
-#define taskENTER_CRITICAL()		portENTER_CRITICAL()
-#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()
+#define taskENTER_CRITICAL()               portENTER_CRITICAL()
+#define taskENTER_CRITICAL_FROM_ISR()      portSET_INTERRUPT_MASK_FROM_ISR()
 
 /**
  * task. h
@@ -199,8 +227,9 @@ typedef enum
  * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
  * \ingroup SchedulerControl
  */
-#define taskEXIT_CRITICAL()			portEXIT_CRITICAL()
-#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
+#define taskEXIT_CRITICAL()                portEXIT_CRITICAL()
+#define taskEXIT_CRITICAL_FROM_ISR( x )    portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
+
 /**
  * task. h
  *
@@ -209,7 +238,7 @@ typedef enum
  * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
-#define taskDISABLE_INTERRUPTS()	portDISABLE_INTERRUPTS()
+#define taskDISABLE_INTERRUPTS()           portDISABLE_INTERRUPTS()
 
 /**
  * task. h
@@ -219,31 +248,32 @@ typedef enum
  * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
-#define taskENABLE_INTERRUPTS()		portENABLE_INTERRUPTS()
+#define taskENABLE_INTERRUPTS()            portENABLE_INTERRUPTS()
 
 /* Definitions returned by xTaskGetSchedulerState().  taskSCHEDULER_SUSPENDED is
-0 to generate more optimal code when configASSERT() is defined as the constant
-is used in assert() statements. */
-#define taskSCHEDULER_SUSPENDED		( ( BaseType_t ) 0 )
-#define taskSCHEDULER_NOT_STARTED	( ( BaseType_t ) 1 )
-#define taskSCHEDULER_RUNNING		( ( BaseType_t ) 2 )
+ * 0 to generate more optimal code when configASSERT() is defined as the constant
+ * is used in assert() statements. */
+#define taskSCHEDULER_SUSPENDED      ( ( BaseType_t ) 0 )
+#define taskSCHEDULER_NOT_STARTED    ( ( BaseType_t ) 1 )
+#define taskSCHEDULER_RUNNING        ( ( BaseType_t ) 2 )
 
 
 /*-----------------------------------------------------------
- * TASK CREATION API
- *----------------------------------------------------------*/
+* TASK CREATION API
+*----------------------------------------------------------*/
 
 /**
  * task. h
- *
- BaseType_t xTaskCreate(
-							  TaskFunction_t pvTaskCode,
-							  const char * const pcName,
-							  configSTACK_DEPTH_TYPE usStackDepth,
-							  void *pvParameters,
-							  UBaseType_t uxPriority,
-							  TaskHandle_t *pvCreatedTask
-						  );

+ * @code{c}
+ * BaseType_t xTaskCreate(
+ *                            TaskFunction_t pxTaskCode,
+ *                            const char *pcName,
+ *                            configSTACK_DEPTH_TYPE usStackDepth,
+ *                            void *pvParameters,
+ *                            UBaseType_t uxPriority,
+ *                            TaskHandle_t *pxCreatedTask
+ *                        );
+ * @endcode
  *
  * Create a new task and add it to the list of tasks that are ready to run.
  *
@@ -252,7 +282,7 @@ is used in assert() statements. */
  * second block is used by the task as its stack.  If a task is created using
  * xTaskCreate() then both blocks of memory are automatically dynamically
  * allocated inside the xTaskCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a task is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a task is created using
  * xTaskCreateStatic() then the application writer must provide the required
  * memory.  xTaskCreateStatic() therefore allows a task to be created without
  * using any dynamic memory allocation.
@@ -265,7 +295,7 @@ is used in assert() statements. */
  * support can alternatively create an MPU constrained task using
  * xTaskCreateRestricted().
  *
- * @param pvTaskCode Pointer to the task entry function.  Tasks
+ * @param pxTaskCode Pointer to the task entry function.  Tasks
  * must be implemented to never return (i.e. continuous loop).
  *
  * @param pcName A descriptive name for the task.  This is mainly used to
@@ -286,65 +316,66 @@ is used in assert() statements. */
  * example, to create a privileged task at priority 2 the uxPriority parameter
  * should be set to ( 2 | portPRIVILEGE_BIT ).
  *
- * @param pvCreatedTask Used to pass back a handle by which the created task
+ * @param pxCreatedTask Used to pass back a handle by which the created task
  * can be referenced.
  *
  * @return pdPASS if the task was successfully created and added to a ready
  * list, otherwise an error code defined in the file projdefs.h
  *
  * Example usage:
-   
- // Task to be created.
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-	 }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- static uint8_t ucParameterToPass;
- TaskHandle_t xHandle = NULL;
-
-	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
-	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
-	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
-	 // the new task attempts to access it.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
-	 configASSERT( xHandle );
-
-	 // Use the handle to delete the task.
-	 if( xHandle != NULL )
-	 {
-	 	vTaskDelete( xHandle );
-	 }
- }
-   

+ * @code{c}
+ * // Task to be created.
+ * void vTaskCode( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *   }
+ * }
+ *
+ * // Function that creates a task.
+ * void vOtherFunction( void )
+ * {
+ * static uint8_t ucParameterToPass;
+ * TaskHandle_t xHandle = NULL;
+ *
+ *   // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
+ *   // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
+ *   // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
+ *   // the new task attempts to access it.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+ *   configASSERT( xHandle );
+ *
+ *   // Use the handle to delete the task.
+ *   if( xHandle != NULL )
+ *   {
+ *      vTaskDelete( xHandle );
+ *   }
+ * }
+ * @endcode
  * \defgroup xTaskCreate xTaskCreate
  * \ingroup Tasks
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	BaseType_t xTaskCreate(	TaskFunction_t pxTaskCode,
-							const char * const pcName,	/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-							const configSTACK_DEPTH_TYPE usStackDepth,
-							void * const pvParameters,
-							UBaseType_t uxPriority,
-							TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
+                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                            const configSTACK_DEPTH_TYPE usStackDepth,
+                            void * const pvParameters,
+                            UBaseType_t uxPriority,
+                            TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
  * task. h
- *
- TaskHandle_t xTaskCreateStatic( TaskFunction_t pvTaskCode,
-								 const char * const pcName,
-								 uint32_t ulStackDepth,
-								 void *pvParameters,
-								 UBaseType_t uxPriority,
-								 StackType_t *pxStackBuffer,
-								 StaticTask_t *pxTaskBuffer );

+ * @code{c}
+ * TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
+ *                               const char *pcName,
+ *                               uint32_t ulStackDepth,
+ *                               void *pvParameters,
+ *                               UBaseType_t uxPriority,
+ *                               StackType_t *puxStackBuffer,
+ *                               StaticTask_t *pxTaskBuffer );
+ * @endcode
  *
  * Create a new task and add it to the list of tasks that are ready to run.
  *
@@ -353,12 +384,12 @@ is used in assert() statements. */
  * second block is used by the task as its stack.  If a task is created using
  * xTaskCreate() then both blocks of memory are automatically dynamically
  * allocated inside the xTaskCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a task is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a task is created using
  * xTaskCreateStatic() then the application writer must provide the required
  * memory.  xTaskCreateStatic() therefore allows a task to be created without
  * using any dynamic memory allocation.
  *
- * @param pvTaskCode Pointer to the task entry function.  Tasks
+ * @param pxTaskCode Pointer to the task entry function.  Tasks
  * must be implemented to never return (i.e. continuous loop).
  *
  * @param pcName A descriptive name for the task.  This is mainly used to
@@ -375,7 +406,7 @@ is used in assert() statements. */
  *
  * @param uxPriority The priority at which the task will run.
  *
- * @param pxStackBuffer Must point to a StackType_t array that has at least
+ * @param puxStackBuffer Must point to a StackType_t array that has at least
  * ulStackDepth indexes - the array will then be used as the task's stack,
  * removing the need for the stack to be allocated dynamically.
  *
@@ -383,79 +414,80 @@ is used in assert() statements. */
  * then be used to hold the task's data structures, removing the need for the
  * memory to be allocated dynamically.
  *
- * @return If neither pxStackBuffer or pxTaskBuffer are NULL, then the task will
- * be created and a handle to the created task is returned.  If either
- * pxStackBuffer or pxTaskBuffer are NULL then the task will not be created and
+ * @return If neither puxStackBuffer nor pxTaskBuffer are NULL, then the task
+ * will be created and a handle to the created task is returned.  If either
+ * puxStackBuffer or pxTaskBuffer are NULL then the task will not be created and
  * NULL is returned.
  *
  * Example usage:
-   
-
-    // Dimensions the buffer that the task being created will use as its stack.
-    // NOTE:  This is the number of words the stack will hold, not the number of
-    // bytes.  For example, if each stack item is 32-bits, and this is set to 100,
-    // then 400 bytes (100 * 32-bits) will be allocated.
-    #define STACK_SIZE 200
-
-    // Structure that will hold the TCB of the task being created.
-    StaticTask_t xTaskBuffer;
-
-    // Buffer that the task being created will use as its stack.  Note this is
-    // an array of StackType_t variables.  The size of StackType_t is dependent on
-    // the RTOS port.
-    StackType_t xStack[ STACK_SIZE ];
-
-    // Function that implements the task being created.
-    void vTaskCode( void * pvParameters )
-    {
-        // The parameter value is expected to be 1 as 1 is passed in the
-        // pvParameters value in the call to xTaskCreateStatic().
-        configASSERT( ( uint32_t ) pvParameters == 1UL );
-
-        for( ;; )
-        {
-            // Task code goes here.
-        }
-    }
-
-    // Function that creates a task.
-    void vOtherFunction( void )
-    {
-        TaskHandle_t xHandle = NULL;
-
-        // Create the task without using any dynamic memory allocation.
-        xHandle = xTaskCreateStatic(
-                      vTaskCode,       // Function that implements the task.
-                      "NAME",          // Text name for the task.
-                      STACK_SIZE,      // Stack size in words, not bytes.
-                      ( void * ) 1,    // Parameter passed into the task.
-                      tskIDLE_PRIORITY,// Priority at which the task is created.
-                      xStack,          // Array to use as the task's stack.
-                      &xTaskBuffer );  // Variable to hold the task's data structure.
-
-        // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
-        // been created, and xHandle will be the task's handle.  Use the handle
-        // to suspend the task.
-        vTaskSuspend( xHandle );
-    }
-   

+ * @code{c}
+ *
+ *  // Dimensions of the buffer that the task being created will use as its stack.
+ *  // NOTE:  This is the number of words the stack will hold, not the number of
+ *  // bytes.  For example, if each stack item is 32-bits, and this is set to 100,
+ *  // then 400 bytes (100 * 32-bits) will be allocated.
+ #define STACK_SIZE 200
+ *
+ *  // Structure that will hold the TCB of the task being created.
+ *  StaticTask_t xTaskBuffer;
+ *
+ *  // Buffer that the task being created will use as its stack.  Note this is
+ *  // an array of StackType_t variables.  The size of StackType_t is dependent on
+ *  // the RTOS port.
+ *  StackType_t xStack[ STACK_SIZE ];
+ *
+ *  // Function that implements the task being created.
+ *  void vTaskCode( void * pvParameters )
+ *  {
+ *      // The parameter value is expected to be 1 as 1 is passed in the
+ *      // pvParameters value in the call to xTaskCreateStatic().
+ *      configASSERT( ( uint32_t ) pvParameters == 1UL );
+ *
+ *      for( ;; )
+ *      {
+ *          // Task code goes here.
+ *      }
+ *  }
+ *
+ *  // Function that creates a task.
+ *  void vOtherFunction( void )
+ *  {
+ *      TaskHandle_t xHandle = NULL;
+ *
+ *      // Create the task without using any dynamic memory allocation.
+ *      xHandle = xTaskCreateStatic(
+ *                    vTaskCode,       // Function that implements the task.
+ *                    "NAME",          // Text name for the task.
+ *                    STACK_SIZE,      // Stack size in words, not bytes.
+ *                    ( void * ) 1,    // Parameter passed into the task.
+ *                    tskIDLE_PRIORITY,// Priority at which the task is created.
+ *                    xStack,          // Array to use as the task's stack.
+ *                    &xTaskBuffer );  // Variable to hold the task's data structure.
+ *
+ *      // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
+ *      // been created, and xHandle will be the task's handle.  Use the handle
+ *      // to suspend the task.
+ *      vTaskSuspend( xHandle );
+ *  }
+ * @endcode
  * \defgroup xTaskCreateStatic xTaskCreateStatic
  * \ingroup Tasks
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	TaskHandle_t xTaskCreateStatic(	TaskFunction_t pxTaskCode,
-									const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const uint32_t ulStackDepth,
-									void * const pvParameters,
-									UBaseType_t uxPriority,
-									StackType_t * const puxStackBuffer,
-									StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                    const uint32_t ulStackDepth,
+                                    void * const pvParameters,
+                                    UBaseType_t uxPriority,
+                                    StackType_t * const puxStackBuffer,
+                                    StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * task. h
- *
- BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );

+ * @code{c}
+ * BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+ * @endcode
  *
  * Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1.
  *
@@ -481,57 +513,59 @@ is used in assert() statements. */
  * list, otherwise an error code defined in the file projdefs.h
  *
  * Example usage:
-   
-// Create an TaskParameters_t structure that defines the task to be created.
-static const TaskParameters_t xCheckTaskParameters =
-{
-	vATask,		// pvTaskCode - the function that implements the task.
-	"ATask",	// pcName - just a text name for the task to assist debugging.
-	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
-	NULL,		// pvParameters - passed into the task function as the function parameters.
-	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
-	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
-	// xRegions - Allocate up to three separate memory regions for access by
-	// the task, with appropriate access permissions.  Different processors have
-	// different memory alignment requirements - refer to the FreeRTOS documentation
-	// for full information.
-	{
-		// Base address					Length	Parameters
-		{ cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-		{ cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-		{ cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
-	}
-};
-
-int main( void )
-{
-TaskHandle_t xHandle;
-
-	// Create a task from the const structure defined above.  The task handle
-	// is requested (the second parameter is not NULL) but in this case just for
-	// demonstration purposes as its not actually used.
-	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
-	// Start the scheduler.
-	vTaskStartScheduler();
-
-	// Will only get here if there was insufficient memory to create the idle
-	// and/or timer task.
-	for( ;; );
-}
-   

+ * @code{c}
+ * // Create an TaskParameters_t structure that defines the task to be created.
+ * static const TaskParameters_t xCheckTaskParameters =
+ * {
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *  100,        // usStackDepth - the stack size DEFINED IN WORDS.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
+ * };
+ *
+ * int main( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+ *
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
+ *
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
+ * }
+ * @endcode
  * \defgroup xTaskCreateRestricted xTaskCreateRestricted
  * \ingroup Tasks
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+                                      TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
  * task. h
- *
- BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );

+ * @code{c}
+ * BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+ * @endcode
  *
  * Only available when configSUPPORT_STATIC_ALLOCATION is set to 1.
  *
@@ -563,63 +597,65 @@ TaskHandle_t xHandle;
  * list, otherwise an error code defined in the file projdefs.h
  *
  * Example usage:
-   
-// Create an TaskParameters_t structure that defines the task to be created.
-// The StaticTask_t variable is only included in the structure when
-// configSUPPORT_STATIC_ALLOCATION is set to 1.  The PRIVILEGED_DATA macro can
-// be used to force the variable into the RTOS kernel's privileged data area.
-static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
-static const TaskParameters_t xCheckTaskParameters =
-{
-	vATask,		// pvTaskCode - the function that implements the task.
-	"ATask",	// pcName - just a text name for the task to assist debugging.
-	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
-	NULL,		// pvParameters - passed into the task function as the function parameters.
-	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
-	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
-	// xRegions - Allocate up to three separate memory regions for access by
-	// the task, with appropriate access permissions.  Different processors have
-	// different memory alignment requirements - refer to the FreeRTOS documentation
-	// for full information.
-	{
-		// Base address					Length	Parameters
-		{ cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-		{ cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-		{ cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
-	}
-
-	&xTaskBuffer; // Holds the task's data structure.
-};
-
-int main( void )
-{
-TaskHandle_t xHandle;
-
-	// Create a task from the const structure defined above.  The task handle
-	// is requested (the second parameter is not NULL) but in this case just for
-	// demonstration purposes as its not actually used.
-	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
-	// Start the scheduler.
-	vTaskStartScheduler();
-
-	// Will only get here if there was insufficient memory to create the idle
-	// and/or timer task.
-	for( ;; );
-}
-   

+ * @code{c}
+ * // Create an TaskParameters_t structure that defines the task to be created.
+ * // The StaticTask_t variable is only included in the structure when
+ * // configSUPPORT_STATIC_ALLOCATION is set to 1.  The PRIVILEGED_DATA macro can
+ * // be used to force the variable into the RTOS kernel's privileged data area.
+ * static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
+ * static const TaskParameters_t xCheckTaskParameters =
+ * {
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *  100,        // usStackDepth - the stack size DEFINED IN WORDS.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
+ *
+ *  &xTaskBuffer; // Holds the task's data structure.
+ * };
+ *
+ * int main( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestrictedStatic( &xRegTest1Parameters, &xHandle );
+ *
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
+ *
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
+ * }
+ * @endcode
  * \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic
  * \ingroup Tasks
  */
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-	BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+    BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+                                            TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
  * task. h
- *
- void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );

+ * @code{c}
+ * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
+ * @endcode
  *
  * Memory regions are assigned to a restricted task when the task is created by
  * a call to xTaskCreateRestricted().  These regions can be redefined using
@@ -627,46 +663,49 @@ TaskHandle_t xHandle;
  *
  * @param xTask The handle of the task being updated.
  *
- * @param xRegions A pointer to an MemoryRegion_t structure that contains the
+ * @param[in] pxRegions A pointer to a MemoryRegion_t structure that contains the
  * new memory region definitions.
  *
  * Example usage:
-   
-// Define an array of MemoryRegion_t structures that configures an MPU region
-// allowing read/write access for 1024 bytes starting at the beginning of the
-// ucOneKByte array.  The other two of the maximum 3 definable regions are
-// unused so set to zero.
-static const MemoryRegion_t xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{
-	// Base address		Length		Parameters
-	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
-	{ 0,				0,			0 },
-	{ 0,				0,			0 }
-};
-
-void vATask( void *pvParameters )
-{
-	// This task was created such that it has access to certain regions of
-	// memory as defined by the MPU configuration.  At some point it is
-	// desired that these MPU regions are replaced with that defined in the
-	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
-	// for this purpose.  NULL is used as the task handle to indicate that this
-	// function should modify the MPU regions of the calling task.
-	vTaskAllocateMPURegions( NULL, xAltRegions );
-
-	// Now the task can continue its function, but from this point on can only
-	// access its stack and the ucOneKByte array (unless any other statically
-	// defined or shared regions have been declared elsewhere).
-}
-   

- * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * @code{c}
+ * // Define an array of MemoryRegion_t structures that configures an MPU region
+ * // allowing read/write access for 1024 bytes starting at the beginning of the
+ * // ucOneKByte array.  The other two of the maximum 3 definable regions are
+ * // unused so set to zero.
+ * static const MemoryRegion_t xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
+ * {
+ *  // Base address     Length      Parameters
+ *  { ucOneKByte,       1024,       portMPU_REGION_READ_WRITE },
+ *  { 0,                0,          0 },
+ *  { 0,                0,          0 }
+ * };
+ *
+ * void vATask( void *pvParameters )
+ * {
+ *  // This task was created such that it has access to certain regions of
+ *  // memory as defined by the MPU configuration.  At some point it is
+ *  // desired that these MPU regions are replaced with that defined in the
+ *  // xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
+ *  // for this purpose.  NULL is used as the task handle to indicate that this
+ *  // function should modify the MPU regions of the calling task.
+ *  vTaskAllocateMPURegions( NULL, xAltRegions );
+ *
+ *  // Now the task can continue its function, but from this point on can only
+ *  // access its stack and the ucOneKByte array (unless any other statically
+ *  // defined or shared regions have been declared elsewhere).
+ * }
+ * @endcode
+ * \defgroup vTaskAllocateMPURegions vTaskAllocateMPURegions
  * \ingroup Tasks
  */
-void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
+void vTaskAllocateMPURegions( TaskHandle_t xTask,
+                              const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskDelete( TaskHandle_t xTask );

+ * @code{c}
+ * void vTaskDelete( TaskHandle_t xTaskToDelete );
+ * @endcode
  *
  * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -684,34 +723,36 @@ void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const p
  * See the demo application file death.c for sample code that utilises
  * vTaskDelete ().
  *
- * @param xTask The handle of the task to be deleted.  Passing NULL will
+ * @param xTaskToDelete The handle of the task to be deleted.  Passing NULL will
  * cause the calling task to be deleted.
  *
  * Example usage:
-   
- void vOtherFunction( void )
- {
- TaskHandle_t xHandle;
-
-	 // Create the task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // Use the handle to delete the task.
-	 vTaskDelete( xHandle );
- }
-   

+ * @code{c}
+ * void vOtherFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create the task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // Use the handle to delete the task.
+ *   vTaskDelete( xHandle );
+ * }
+ * @endcode
  * \defgroup vTaskDelete vTaskDelete
  * \ingroup Tasks
  */
 void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
- * TASK CONTROL API
- *----------------------------------------------------------*/
+* TASK CONTROL API
+*----------------------------------------------------------*/
 
 /**
  * task. h
- * 
void vTaskDelay( const TickType_t xTicksToDelay );

+ * @code{c}
+ * void vTaskDelay( const TickType_t xTicksToDelay );
+ * @endcode
  *
  * Delay a task for a given number of ticks.  The actual time that the
  * task remains blocked depends on the tick rate.  The constant
@@ -727,9 +768,9 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  * period of 100 ticks will cause the task to unblock 100 ticks after
  * vTaskDelay() is called.  vTaskDelay() does not therefore provide a good method
  * of controlling the frequency of a periodic task as the path taken through the
- * code, as well as other task and interrupt activity, will effect the frequency
+ * code, as well as other task and interrupt activity, will affect the frequency
  * at which vTaskDelay() gets called and therefore the time at which the task
- * next executes.  See vTaskDelayUntil() for an alternative API function designed
+ * next executes.  See xTaskDelayUntil() for an alternative API function designed
  * to facilitate fixed frequency execution.  It does this by specifying an
  * absolute time (rather than a relative time) at which the calling task should
  * unblock.
@@ -738,20 +779,20 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  * the calling task should block.
  *
  * Example usage:
-
- void vTaskFunction( void * pvParameters )
- {
- // Block for 500ms.
- const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
-
-	 for( ;; )
-	 {
-		 // Simply toggle the LED every 500ms, blocking between each toggle.
-		 vToggleLED();
-		 vTaskDelay( xDelay );
-	 }
- }
-
+ *
+ * void vTaskFunction( void * pvParameters )
+ * {
+ * // Block for 500ms.
+ * const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
+ *
+ *   for( ;; )
+ *   {
+ *       // Simply toggle the LED every 500ms, blocking between each toggle.
+ *       vToggleLED();
+ *       vTaskDelay( xDelay );
+ *   }
+ * }
+ *
  * \defgroup vTaskDelay vTaskDelay
  * \ingroup TaskCtrl
  */
@@ -759,9 +800,11 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );

+ * @code{c}
+ * BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
+ * @endcode
  *
- * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
+ * INCLUDE_xTaskDelayUntil must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Delay a task until a specified time.  This function can be used by periodic
@@ -776,49 +819,68 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
  * each time it executes].
  *
  * Whereas vTaskDelay () specifies a wake time relative to the time at which the function
- * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
+ * is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
  * unblock.
  *
- * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
+ * The macro pdMS_TO_TICKS() can be used to calculate the number of ticks from a
+ * time specified in milliseconds with a resolution of one tick period.
  *
  * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
  * task was last unblocked.  The variable must be initialised with the current time
  * prior to its first use (see the example below).  Following this the variable is
- * automatically updated within vTaskDelayUntil ().
+ * automatically updated within xTaskDelayUntil ().
  *
  * @param xTimeIncrement The cycle time period.  The task will be unblocked at
- * time *pxPreviousWakeTime + xTimeIncrement.  Calling vTaskDelayUntil with the
+ * time *pxPreviousWakeTime + xTimeIncrement.  Calling xTaskDelayUntil with the
  * same xTimeIncrement parameter value will cause the task to execute with
  * a fixed interface period.
  *
+ * @return Value which can be used to check whether the task was actually delayed.
+ * Will be pdTRUE if the task way delayed and pdFALSE otherwise.  A task will not
+ * be delayed if the next expected wake time is in the past.
+ *
  * Example usage:
-   
- // Perform an action every 10 ticks.
- void vTaskFunction( void * pvParameters )
- {
- TickType_t xLastWakeTime;
- const TickType_t xFrequency = 10;
-
-	 // Initialise the xLastWakeTime variable with the current time.
-	 xLastWakeTime = xTaskGetTickCount ();
-	 for( ;; )
-	 {
-		 // Wait for the next cycle.
-		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
-
-		 // Perform action here.
-	 }
- }
-   

- * \defgroup vTaskDelayUntil vTaskDelayUntil
+ * @code{c}
+ * // Perform an action every 10 ticks.
+ * void vTaskFunction( void * pvParameters )
+ * {
+ * TickType_t xLastWakeTime;
+ * const TickType_t xFrequency = 10;
+ * BaseType_t xWasDelayed;
+ *
+ *     // Initialise the xLastWakeTime variable with the current time.
+ *     xLastWakeTime = xTaskGetTickCount ();
+ *     for( ;; )
+ *     {
+ *         // Wait for the next cycle.
+ *         xWasDelayed = xTaskDelayUntil( &xLastWakeTime, xFrequency );
+ *
+ *         // Perform action here. xWasDelayed value can be used to determine
+ *         // whether a deadline was missed if the code here took too long.
+ *     }
+ * }
+ * @endcode
+ * \defgroup xTaskDelayUntil xTaskDelayUntil
  * \ingroup TaskCtrl
  */
-void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                            const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+
+/*
+ * vTaskDelayUntil() is the older version of xTaskDelayUntil() and does not
+ * return a value.
+ */
+#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement )                   \
+    do {                                                                        \
+        ( void ) xTaskDelayUntil( ( pxPreviousWakeTime ), ( xTimeIncrement ) ); \
+    } while( 0 )
+
 
 /**
  * task. h
- * 
BaseType_t xTaskAbortDelay( TaskHandle_t xTask );

+ * @code{c}
+ * BaseType_t xTaskAbortDelay( TaskHandle_t xTask );
+ * @endcode
  *
  * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this
  * function to be available.
@@ -848,7 +910,9 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );

+ * @code{c}
+ * UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );
+ * @endcode
  *
  * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -861,33 +925,33 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * @return The priority of xTask.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to obtain the priority of the created task.
-	 // It was created with tskIDLE_PRIORITY, but may have changed
-	 // it itself.
-	 if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
-	 {
-		 // The task has changed it's priority.
-	 }
-
-	 // ...
-
-	 // Is our priority higher than the created task?
-	 if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
-	 {
-		 // Our priority (obtained using NULL handle) is higher.
-	 }
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to obtain the priority of the created task.
+ *   // It was created with tskIDLE_PRIORITY, but may have changed
+ *   // it itself.
+ *   if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+ *   {
+ *       // The task has changed it's priority.
+ *   }
+ *
+ *   // ...
+ *
+ *   // Is our priority higher than the created task?
+ *   if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+ *   {
+ *       // Our priority (obtained using NULL handle) is higher.
+ *   }
+ * }
+ * @endcode
  * \defgroup uxTaskPriorityGet uxTaskPriorityGet
  * \ingroup TaskCtrl
  */
@@ -895,7 +959,9 @@ UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );

+ * @code{c}
+ * UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );
+ * @endcode
  *
  * A version of uxTaskPriorityGet() that can be used from an ISR.
  */
@@ -903,7 +969,9 @@ UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNC
 
 /**
  * task. h
- * 
eTaskState eTaskGetState( TaskHandle_t xTask );

+ * @code{c}
+ * eTaskState eTaskGetState( TaskHandle_t xTask );
+ * @endcode
  *
  * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -921,7 +989,9 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );

+ * @code{c}
+ * void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
+ * @endcode
  *
  * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
@@ -935,7 +1005,7 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * filled with information about the task referenced by the handle passed using
  * the xTask parameter.
  *
- * @xGetFreeStackSpace The TaskStatus_t structure contains a member to report
+ * @param xGetFreeStackSpace The TaskStatus_t structure contains a member to report
  * the stack high water mark of the task being queried.  Calculating the stack
  * high water mark takes a relatively long time, and can make the system
  * temporarily unresponsive - so the xGetFreeStackSpace parameter is provided to
@@ -951,33 +1021,38 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * eState will be reported as the task state in the TaskStatus_t structure.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
- TaskStatus_t xTaskDetails;
-
-    // Obtain the handle of a task from its name.
-    xHandle = xTaskGetHandle( "Task_Name" );
-
-    // Check the handle is not NULL.
-    configASSERT( xHandle );
-
-    // Use the handle to obtain further information about the task.
-    vTaskGetInfo( xHandle,
-                  &xTaskDetails,
-                  pdTRUE, // Include the high water mark in xTaskDetails.
-                  eInvalid ); // Include the task state in xTaskDetails.
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ * TaskStatus_t xTaskDetails;
+ *
+ *  // Obtain the handle of a task from its name.
+ *  xHandle = xTaskGetHandle( "Task_Name" );
+ *
+ *  // Check the handle is not NULL.
+ *  configASSERT( xHandle );
+ *
+ *  // Use the handle to obtain further information about the task.
+ *  vTaskGetInfo( xHandle,
+ *                &xTaskDetails,
+ *                pdTRUE, // Include the high water mark in xTaskDetails.
+ *                eInvalid ); // Include the task state in xTaskDetails.
+ * }
+ * @endcode
  * \defgroup vTaskGetInfo vTaskGetInfo
  * \ingroup TaskCtrl
  */
-void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) PRIVILEGED_FUNCTION;
+void vTaskGetInfo( TaskHandle_t xTask,
+                   TaskStatus_t * pxTaskStatus,
+                   BaseType_t xGetFreeStackSpace,
+                   eTaskState eState ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );

+ * @code{c}
+ * void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
+ * @endcode
  *
  * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -993,33 +1068,36 @@ void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xG
  * @param uxNewPriority The priority to which the task will be set.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to raise the priority of the created task.
-	 vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
-
-	 // ...
-
-	 // Use a NULL handle to raise our priority to the same value.
-	 vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to raise the priority of the created task.
+ *   vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+ *
+ *   // ...
+ *
+ *   // Use a NULL handle to raise our priority to the same value.
+ *   vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ * }
+ * @endcode
  * \defgroup vTaskPrioritySet vTaskPrioritySet
  * \ingroup TaskCtrl
  */
-void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
+void vTaskPrioritySet( TaskHandle_t xTask,
+                       UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskSuspend( TaskHandle_t xTaskToSuspend );

+ * @code{c}
+ * void vTaskSuspend( TaskHandle_t xTaskToSuspend );
+ * @endcode
  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -1035,34 +1113,34 @@ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGE
  * handle will cause the calling task to be suspended.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Suspend ourselves.
-	 vTaskSuspend( NULL );
-
-	 // We cannot get here unless another task calls vTaskResume
-	 // with our handle as the parameter.
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to suspend the created task.
+ *   vTaskSuspend( xHandle );
+ *
+ *   // ...
+ *
+ *   // The created task will not run during this period, unless
+ *   // another task calls vTaskResume( xHandle ).
+ *
+ *   //...
+ *
+ *
+ *   // Suspend ourselves.
+ *   vTaskSuspend( NULL );
+ *
+ *   // We cannot get here unless another task calls vTaskResume
+ *   // with our handle as the parameter.
+ * }
+ * @endcode
  * \defgroup vTaskSuspend vTaskSuspend
  * \ingroup TaskCtrl
  */
@@ -1070,7 +1148,9 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskResume( TaskHandle_t xTaskToResume );

+ * @code{c}
+ * void vTaskResume( TaskHandle_t xTaskToResume );
+ * @endcode
  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -1084,34 +1164,34 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
  * @param xTaskToResume Handle to the task being readied.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
-	 // Create a task, storing the handle.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
-	 // ...
-
-	 // Use the handle to suspend the created task.
-	 vTaskSuspend( xHandle );
-
-	 // ...
-
-	 // The created task will not run during this period, unless
-	 // another task calls vTaskResume( xHandle ).
-
-	 //...
-
-
-	 // Resume the suspended task ourselves.
-	 vTaskResume( xHandle );
-
-	 // The created task will once again get microcontroller processing
-	 // time in accordance with its priority within the system.
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
+ *
+ *   // Create a task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *
+ *   // ...
+ *
+ *   // Use the handle to suspend the created task.
+ *   vTaskSuspend( xHandle );
+ *
+ *   // ...
+ *
+ *   // The created task will not run during this period, unless
+ *   // another task calls vTaskResume( xHandle ).
+ *
+ *   //...
+ *
+ *
+ *   // Resume the suspended task ourselves.
+ *   vTaskResume( xHandle );
+ *
+ *   // The created task will once again get microcontroller processing
+ *   // time in accordance with its priority within the system.
+ * }
+ * @endcode
  * \defgroup vTaskResume vTaskResume
  * \ingroup TaskCtrl
  */
@@ -1119,7 +1199,9 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void xTaskResumeFromISR( TaskHandle_t xTaskToResume );

+ * @code{c}
+ * void xTaskResumeFromISR( TaskHandle_t xTaskToResume );
+ * @endcode
  *
  * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
@@ -1147,12 +1229,14 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
- * SCHEDULER CONTROL
- *----------------------------------------------------------*/
+* SCHEDULER CONTROL
+*----------------------------------------------------------*/
 
 /**
  * task. h
- * 
void vTaskStartScheduler( void );

+ * @code{c}
+ * void vTaskStartScheduler( void );
+ * @endcode
  *
  * Starts the real time kernel tick processing.  After calling the kernel
  * has control over which tasks are executed and when.
@@ -1161,18 +1245,18 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  * tasks and starting the kernel.
  *
  * Example usage:
-   
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will not get here unless a task calls vTaskEndScheduler ()
- }
-   

+ * @code{c}
+ * void vAFunction( void )
+ * {
+ *   // Create at least one task before starting the kernel.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+ *
+ *   // Start the real time kernel with preemption.
+ *   vTaskStartScheduler ();
+ *
+ *   // Will not get here unless a task calls vTaskEndScheduler ()
+ * }
+ * @endcode
  *
  * \defgroup vTaskStartScheduler vTaskStartScheduler
  * \ingroup SchedulerControl
@@ -1181,7 +1265,9 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskEndScheduler( void );

+ * @code{c}
+ * void vTaskEndScheduler( void );
+ * @endcode
  *
  * NOTE:  At the time of writing only the x86 real mode port, which runs on a PC
  * in place of DOS, implements this function.
@@ -1203,32 +1289,32 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
  * tasks.
  *
  * Example usage:
-   
- void vTaskCode( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // At some point we want to end the real time kernel processing
-		 // so call ...
-		 vTaskEndScheduler ();
-	 }
- }
-
- void vAFunction( void )
- {
-	 // Create at least one task before starting the kernel.
-	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
-	 // Start the real time kernel with preemption.
-	 vTaskStartScheduler ();
-
-	 // Will only get here when the vTaskCode () task has called
-	 // vTaskEndScheduler ().  When we get here we are back to single task
-	 // execution.
- }
-   

+ * @code{c}
+ * void vTaskCode( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // At some point we want to end the real time kernel processing
+ *       // so call ...
+ *       vTaskEndScheduler ();
+ *   }
+ * }
+ *
+ * void vAFunction( void )
+ * {
+ *   // Create at least one task before starting the kernel.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+ *
+ *   // Start the real time kernel with preemption.
+ *   vTaskStartScheduler ();
+ *
+ *   // Will only get here when the vTaskCode () task has called
+ *   // vTaskEndScheduler ().  When we get here we are back to single task
+ *   // execution.
+ * }
+ * @endcode
  *
  * \defgroup vTaskEndScheduler vTaskEndScheduler
  * \ingroup SchedulerControl
@@ -1237,7 +1323,9 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskSuspendAll( void );

+ * @code{c}
+ * void vTaskSuspendAll( void );
+ * @endcode
  *
  * Suspends the scheduler without disabling interrupts.  Context switches will
  * not occur while the scheduler is suspended.
@@ -1247,40 +1335,40 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
  * made.
  *
  * API functions that have the potential to cause a context switch (for example,
- * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
+ * xTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
  * is suspended.
  *
  * Example usage:
-   
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the kernel
-		 // tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.
-		 xTaskResumeAll ();
-	 }
- }
-   

+ * @code{c}
+ * void vTask1( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // ...
+ *
+ *       // At some point the task wants to perform a long operation during
+ *       // which it does not want to get swapped out.  It cannot use
+ *       // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+ *       // operation may cause interrupts to be missed - including the
+ *       // ticks.
+ *
+ *       // Prevent the real time kernel swapping out the task.
+ *       vTaskSuspendAll ();
+ *
+ *       // Perform the operation here.  There is no need to use critical
+ *       // sections as we have all the microcontroller processing time.
+ *       // During this time interrupts will still operate and the kernel
+ *       // tick count will be maintained.
+ *
+ *       // ...
+ *
+ *       // The operation is complete.  Restart the kernel.
+ *       xTaskResumeAll ();
+ *   }
+ * }
+ * @endcode
  * \defgroup vTaskSuspendAll vTaskSuspendAll
  * \ingroup SchedulerControl
  */
@@ -1288,7 +1376,9 @@ void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
BaseType_t xTaskResumeAll( void );

+ * @code{c}
+ * BaseType_t xTaskResumeAll( void );
+ * @endcode
  *
  * Resumes scheduler activity after it was suspended by a call to
  * vTaskSuspendAll().
@@ -1297,56 +1387,58 @@ void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
  * that were previously suspended by a call to vTaskSuspend().
  *
  * @return If resuming the scheduler caused a context switch then pdTRUE is
- *		  returned, otherwise pdFALSE is returned.
+ *         returned, otherwise pdFALSE is returned.
  *
  * Example usage:
-   
- void vTask1( void * pvParameters )
- {
-	 for( ;; )
-	 {
-		 // Task code goes here.
-
-		 // ...
-
-		 // At some point the task wants to perform a long operation during
-		 // which it does not want to get swapped out.  It cannot use
-		 // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
-		 // operation may cause interrupts to be missed - including the
-		 // ticks.
-
-		 // Prevent the real time kernel swapping out the task.
-		 vTaskSuspendAll ();
-
-		 // Perform the operation here.  There is no need to use critical
-		 // sections as we have all the microcontroller processing time.
-		 // During this time interrupts will still operate and the real
-		 // time kernel tick count will be maintained.
-
-		 // ...
-
-		 // The operation is complete.  Restart the kernel.  We want to force
-		 // a context switch - but there is no point if resuming the scheduler
-		 // caused a context switch already.
-		 if( !xTaskResumeAll () )
-		 {
-			  taskYIELD ();
-		 }
-	 }
- }
-   

+ * @code{c}
+ * void vTask1( void * pvParameters )
+ * {
+ *   for( ;; )
+ *   {
+ *       // Task code goes here.
+ *
+ *       // ...
+ *
+ *       // At some point the task wants to perform a long operation during
+ *       // which it does not want to get swapped out.  It cannot use
+ *       // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+ *       // operation may cause interrupts to be missed - including the
+ *       // ticks.
+ *
+ *       // Prevent the real time kernel swapping out the task.
+ *       vTaskSuspendAll ();
+ *
+ *       // Perform the operation here.  There is no need to use critical
+ *       // sections as we have all the microcontroller processing time.
+ *       // During this time interrupts will still operate and the real
+ *       // time kernel tick count will be maintained.
+ *
+ *       // ...
+ *
+ *       // The operation is complete.  Restart the kernel.  We want to force
+ *       // a context switch - but there is no point if resuming the scheduler
+ *       // caused a context switch already.
+ *       if( !xTaskResumeAll () )
+ *       {
+ *            taskYIELD ();
+ *       }
+ *   }
+ * }
+ * @endcode
  * \defgroup xTaskResumeAll xTaskResumeAll
  * \ingroup SchedulerControl
  */
 BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
- * TASK UTILITIES
- *----------------------------------------------------------*/
+* TASK UTILITIES
+*----------------------------------------------------------*/
 
 /**
  * task. h
- * 
TickType_t xTaskGetTickCount( void );

+ * @code{c}
+ * TickType_t xTaskGetTickCount( void );
+ * @endcode
  *
  * @return The count of ticks since vTaskStartScheduler was called.
  *
@@ -1357,7 +1449,9 @@ TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
TickType_t xTaskGetTickCountFromISR( void );

+ * @code{c}
+ * TickType_t xTaskGetTickCountFromISR( void );
+ * @endcode
  *
  * @return The count of ticks since vTaskStartScheduler was called.
  *
@@ -1373,7 +1467,9 @@ TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
uint16_t uxTaskGetNumberOfTasks( void );

+ * @code{c}
+ * uint16_t uxTaskGetNumberOfTasks( void );
+ * @endcode
  *
  * @return The number of tasks that the real time kernel is currently managing.
  * This includes all ready, blocked and suspended tasks.  A task that
@@ -1387,7 +1483,9 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
char *pcTaskGetName( TaskHandle_t xTaskToQuery );

+ * @code{c}
+ * char *pcTaskGetName( TaskHandle_t xTaskToQuery );
+ * @endcode
  *
  * @return The text (human readable) name of the task referenced by the handle
  * xTaskToQuery.  A task can query its own name by either passing in its own
@@ -1396,11 +1494,13 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
  * \defgroup pcTaskGetName pcTaskGetName
  * \ingroup TaskUtils
  */
-char *pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+char * pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
  * task. h
- * 
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );

+ * @code{c}
+ * TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );
+ * @endcode
  *
  * NOTE:  This function takes a relatively long time to complete and should be
  * used sparingly.
@@ -1412,11 +1512,43 @@ char *pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e9
  * \defgroup pcTaskGetHandle pcTaskGetHandle
  * \ingroup TaskUtils
  */
-TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+
+/**
+ * task. h
+ * @code{c}
+ * BaseType_t xTaskGetStaticBuffers( TaskHandle_t xTask,
+ *                                   StackType_t ** ppuxStackBuffer,
+ *                                   StaticTask_t ** ppxTaskBuffer );
+ * @endcode
+ *
+ * Retrieve pointers to a statically created task's data structure
+ * buffer and stack buffer. These are the same buffers that are supplied
+ * at the time of creation.
+ *
+ * @param xTask The task for which to retrieve the buffers.
+ *
+ * @param ppuxStackBuffer Used to return a pointer to the task's stack buffer.
+ *
+ * @param ppxTaskBuffer Used to return a pointer to the task's data structure
+ * buffer.
+ *
+ * @return pdTRUE if buffers were retrieved, pdFALSE otherwise.
+ *
+ * \defgroup xTaskGetStaticBuffers xTaskGetStaticBuffers
+ * \ingroup TaskUtils
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xTaskGetStaticBuffers( TaskHandle_t xTask,
+                                      StackType_t ** ppuxStackBuffer,
+                                      StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * task.h
- * 
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );

+ * @code{c}
+ * UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
+ * @endcode
  *
  * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
  * this function to be available.
@@ -1443,7 +1575,9 @@ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTIO
 
 /**
  * task.h
- * 
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );

+ * @code{c}
+ * configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );
+ * @endcode
  *
  * INCLUDE_uxTaskGetStackHighWaterMark2 must be set to 1 in FreeRTOSConfig.h for
  * this function to be available.
@@ -1469,59 +1603,144 @@ UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTIO
 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /* When using trace macros it is sometimes necessary to include task.h before
-FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
-so the following two prototypes will cause a compilation error.  This can be
-fixed by simply guarding against the inclusion of these two prototypes unless
-they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
-constant. */
+ * FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
+ * so the following two prototypes will cause a compilation error.  This can be
+ * fixed by simply guarding against the inclusion of these two prototypes unless
+ * they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
+ * constant. */
 #ifdef configUSE_APPLICATION_TASK_TAG
-	#if configUSE_APPLICATION_TASK_TAG == 1
-		/**
-		 * task.h
-		 * 
void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );

-		 *
-		 * Sets pxHookFunction to be the task hook function used by the task xTask.
-		 * Passing xTask as NULL has the effect of setting the calling tasks hook
-		 * function.
-		 */
-		void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION;
+    #if configUSE_APPLICATION_TASK_TAG == 1
 
-		/**
-		 * task.h
-		 * 
void xTaskGetApplicationTaskTag( TaskHandle_t xTask );

-		 *
-		 * Returns the pxHookFunction value assigned to the task xTask.  Do not
-		 * call from an interrupt service routine - call
-		 * xTaskGetApplicationTaskTagFromISR() instead.
-		 */
-		TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+/**
+ * task.h
+ * @code{c}
+ * void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
+ * @endcode
+ *
+ * Sets pxHookFunction to be the task hook function used by the task xTask.
+ * Passing xTask as NULL has the effect of setting the calling tasks hook
+ * function.
+ */
+        void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
+                                         TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION;
 
-		/**
-		 * task.h
-		 * 
void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );

-		 *
-		 * Returns the pxHookFunction value assigned to the task xTask.  Can
-		 * be called from an interrupt service routine.
-		 */
-		TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-	#endif /* configUSE_APPLICATION_TASK_TAG ==1 */
+/**
+ * task.h
+ * @code{c}
+ * void xTaskGetApplicationTaskTag( TaskHandle_t xTask );
+ * @endcode
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.  Do not
+ * call from an interrupt service routine - call
+ * xTaskGetApplicationTaskTagFromISR() instead.
+ */
+        TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * @code{c}
+ * void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );
+ * @endcode
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.  Can
+ * be called from an interrupt service routine.
+ */
+        TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+    #endif /* configUSE_APPLICATION_TASK_TAG ==1 */
 #endif /* ifdef configUSE_APPLICATION_TASK_TAG */
 
-#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
 
-	/* Each task contains an array of pointers that is dimensioned by the
-	configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.  The
-	kernel does not use the pointers itself, so the application writer can use
-	the pointers for any purpose they wish.  The following two functions are
-	used to set and query a pointer respectively. */
-	void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) PRIVILEGED_FUNCTION;
-	void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) PRIVILEGED_FUNCTION;
+/* Each task contains an array of pointers that is dimensioned by the
+ * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.  The
+ * kernel does not use the pointers itself, so the application writer can use
+ * the pointers for any purpose they wish.  The following two functions are
+ * used to set and query a pointer respectively. */
+    void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
+                                            BaseType_t xIndex,
+                                            void * pvValue ) PRIVILEGED_FUNCTION;
+    void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
+                                               BaseType_t xIndex ) PRIVILEGED_FUNCTION;
 
 #endif
 
+#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName);
+ * @endcode
+ *
+ * The application stack overflow hook is called when a stack overflow is detected for a task.
+ *
+ * Details on stack overflow detection can be found here: https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
+ *
+ * @param xTask the task that just exceeded its stack boundaries.
+ * @param pcTaskName A character string containing the name of the offending task.
+ */
+    void vApplicationStackOverflowHook( TaskHandle_t xTask,
+                                        char * pcTaskName );
+
+#endif
+
+#if ( configUSE_IDLE_HOOK == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationIdleHook( void );
+ * @endcode
+ *
+ * The application idle hook is called by the idle task.
+ * This allows the application designer to add background functionality without
+ * the overhead of a separate task.
+ * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
+ */
+    void vApplicationIdleHook( void );
+
+#endif
+
+
+#if  ( configUSE_TICK_HOOK != 0 )
+
+/**
+ *  task.h
+ * @code{c}
+ * void vApplicationTickHook( void );
+ * @endcode
+ *
+ * This hook function is called in the system tick handler after any OS work is completed.
+ */
+    void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
+
+#endif
+
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, StackType_t ** ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
+ * @endcode
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Idle Task 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
+ *
+ * @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
+ */
+    void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                        StackType_t ** ppxIdleTaskStackBuffer,
+                                        uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
+#endif
+
 /**
  * task.h
- * 
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );

+ * @code{c}
+ * BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
+ * @endcode
  *
  * Calls the hook function associated with xTask.  Passing xTask as NULL has
  * the effect of calling the Running tasks (the calling task) hook function.
@@ -1530,7 +1749,8 @@ constant. */
  * wants.  The return value is the value returned by the task hook function
  * registered by the user.
  */
-BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                         void * pvParameter ) PRIVILEGED_FUNCTION;
 
 /**
  * xTaskGetIdleTaskHandle() is only available if
@@ -1567,7 +1787,7 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
  * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in
  * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the
  * total run time (as defined by the run time stats clock, see
- * http://www.freertos.org/rtos-run-time-stats.html) since the target booted.
+ * https://www.FreeRTOS.org/rtos-run-time-stats.html) since the target booted.
  * pulTotalRunTime can be set to NULL to omit the total run time information.
  *
  * @return The number of TaskStatus_t structures that were populated by
@@ -1576,73 +1796,77 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
  * in the uxArraySize parameter was too small.
  *
  * Example usage:
-   
-    // This example demonstrates how a human readable table of run time stats
-	// information is generated from raw data provided by uxTaskGetSystemState().
-	// The human readable table is written to pcWriteBuffer
-	void vTaskGetRunTimeStats( char *pcWriteBuffer )
-	{
-	TaskStatus_t *pxTaskStatusArray;
-	volatile UBaseType_t uxArraySize, x;
-	uint32_t ulTotalRunTime, ulStatsAsPercentage;
-
-		// Make sure the write buffer does not contain a string.
-		*pcWriteBuffer = 0x00;
-
-		// Take a snapshot of the number of tasks in case it changes while this
-		// function is executing.
-		uxArraySize = uxTaskGetNumberOfTasks();
-
-		// Allocate a TaskStatus_t structure for each task.  An array could be
-		// allocated statically at compile time.
-		pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
-
-		if( pxTaskStatusArray != NULL )
-		{
-			// Generate raw status information about each task.
-			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
-
-			// For percentage calculations.
-			ulTotalRunTime /= 100UL;
-
-			// Avoid divide by zero errors.
-			if( ulTotalRunTime > 0 )
-			{
-				// For each populated position in the pxTaskStatusArray array,
-				// format the raw data as human readable ASCII data
-				for( x = 0; x < uxArraySize; x++ )
-				{
-					// What percentage of the total run time has the task used?
-					// This will always be rounded down to the nearest integer.
-					// ulTotalRunTimeDiv100 has already been divided by 100.
-					ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
-
-					if( ulStatsAsPercentage > 0UL )
-					{
-						sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
-					}
-					else
-					{
-						// If the percentage is zero here then the task has
-						// consumed less than 1% of the total run time.
-						sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
-					}
-
-					pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
-				}
-			}
-
-			// The array is no longer needed, free the memory it consumes.
-			vPortFree( pxTaskStatusArray );
-		}
-	}
-	

+ * @code{c}
+ *  // This example demonstrates how a human readable table of run time stats
+ *  // information is generated from raw data provided by uxTaskGetSystemState().
+ *  // The human readable table is written to pcWriteBuffer
+ *  void vTaskGetRunTimeStats( char *pcWriteBuffer )
+ *  {
+ *  TaskStatus_t *pxTaskStatusArray;
+ *  volatile UBaseType_t uxArraySize, x;
+ *  configRUN_TIME_COUNTER_TYPE ulTotalRunTime, ulStatsAsPercentage;
+ *
+ *      // Make sure the write buffer does not contain a string.
+ * pcWriteBuffer = 0x00;
+ *
+ *      // Take a snapshot of the number of tasks in case it changes while this
+ *      // function is executing.
+ *      uxArraySize = uxTaskGetNumberOfTasks();
+ *
+ *      // Allocate a TaskStatus_t structure for each task.  An array could be
+ *      // allocated statically at compile time.
+ *      pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
+ *
+ *      if( pxTaskStatusArray != NULL )
+ *      {
+ *          // Generate raw status information about each task.
+ *          uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+ *
+ *          // For percentage calculations.
+ *          ulTotalRunTime /= 100UL;
+ *
+ *          // Avoid divide by zero errors.
+ *          if( ulTotalRunTime > 0 )
+ *          {
+ *              // For each populated position in the pxTaskStatusArray array,
+ *              // format the raw data as human readable ASCII data
+ *              for( x = 0; x < uxArraySize; x++ )
+ *              {
+ *                  // What percentage of the total run time has the task used?
+ *                  // This will always be rounded down to the nearest integer.
+ *                  // ulTotalRunTimeDiv100 has already been divided by 100.
+ *                  ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
+ *
+ *                  if( ulStatsAsPercentage > 0UL )
+ *                  {
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+ *                  }
+ *                  else
+ *                  {
+ *                      // If the percentage is zero here then the task has
+ *                      // consumed less than 1% of the total run time.
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+ *                  }
+ *
+ *                  pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+ *              }
+ *          }
+ *
+ *          // The array is no longer needed, free the memory it consumes.
+ *          vPortFree( pxTaskStatusArray );
+ *      }
+ *  }
+ *  @endcode
  */
-UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
+UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                  const UBaseType_t uxArraySize,
+                                  configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskList( char *pcWriteBuffer );

+ * @code{c}
+ * void vTaskList( char *pcWriteBuffer );
+ * @endcode
  *
  * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must
  * both be defined as 1 for this function to be available.  See the
@@ -1663,8 +1887,10 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const
  * demo applications.  Do not consider it to be part of the scheduler.
  *
  * vTaskList() calls uxTaskGetSystemState(), then formats part of the
- * uxTaskGetSystemState() output into a human readable table that displays task
- * names, states and stack usage.
+ * uxTaskGetSystemState() output into a human readable table that displays task:
+ * names, states, priority, stack usage and task number.
+ * Stack usage specified as the number of unused StackType_t words stack can hold
+ * on top of stack - not the number of bytes.
  *
  * vTaskList() has a dependency on the sprintf() C library function that might
  * bloat the code size, use a lot of stack, and provide different results on
@@ -1689,7 +1915,9 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
 
 /**
  * task. h
- * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );

+ * @code{c}
+ * void vTaskGetRunTimeStats( char *pcWriteBuffer );
+ * @endcode
  *
  * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
  * must both be defined as 1 for this function to be available.  The application
@@ -1739,47 +1967,104 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
  * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
  * \ingroup TaskUtils
  */
-void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
-* task. h
-* 
uint32_t ulTaskGetIdleRunTimeCounter( void );

-*
-* configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
-* must both be defined as 1 for this function to be available.  The application
-* must also then provide definitions for
-* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
-* to configure a peripheral timer/counter and return the timers current count
-* value respectively.  The counter should be at least 10 times the frequency of
-* the tick count.
-*
-* Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
-* accumulated execution time being stored for each task.  The resolution
-* of the accumulated time value depends on the frequency of the timer
-* configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
-* While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
-* execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
-* returns the total execution time of just the idle task.
-*
-* @return The total run time of the idle task.  This is the amount of time the
-* idle task has actually been executing.  The unit of time is dependent on the
-* frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
-* portGET_RUN_TIME_COUNTER_VALUE() macros.
-*
-* \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
-* \ingroup TaskUtils
-*/
-uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
+void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
  * task. h
- * 
BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );

+ * @code{c}
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask );
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask );
+ * @endcode
  *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
+ * configGENERATE_RUN_TIME_STATS must be defined as 1 for these functions to be
+ * available.  The application must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() to configure a peripheral timer/counter and
+ * return the timers current count value respectively.  The counter should be
+ * at least 10 times the frequency of the tick count.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task.  The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
+ * execution time of each task into a buffer, ulTaskGetRunTimeCounter()
+ * returns the total execution time of just one task and
+ * ulTaskGetRunTimePercent() returns the percentage of the CPU time used by
+ * just one task.
+ *
+ * @return The total run time of the given task or the percentage of the total
+ * run time consumed by the given task.  This is the amount of time the task
+ * has actually been executing.  The unit of time is dependent on the frequency
+ * configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() macros.
+ *
+ * \defgroup ulTaskGetRunTimeCounter ulTaskGetRunTimeCounter
+ * \ingroup TaskUtils
+ */
+configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * @code{c}
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void );
+ * configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void );
+ * @endcode
+ *
+ * configGENERATE_RUN_TIME_STATS must be defined as 1 for these functions to be
+ * available.  The application must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() to configure a peripheral timer/counter and
+ * return the timers current count value respectively.  The counter should be
+ * at least 10 times the frequency of the tick count.
+ *
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task.  The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
+ * execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
+ * returns the total execution time of just the idle task and
+ * ulTaskGetIdleRunTimePercent() returns the percentage of the CPU time used by
+ * just the idle task.
+ *
+ * Note the amount of idle time is only a good measure of the slack time in a
+ * system if there are no other tasks executing at the idle priority, tickless
+ * idle is not used, and configIDLE_SHOULD_YIELD is set to 0.
+ *
+ * @return The total run time of the idle task or the percentage of the total
+ * run time consumed by the idle task.  This is the amount of time the
+ * idle task has actually been executing.  The unit of time is dependent on the
+ * frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() macros.
+ *
+ * \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
+ * \ingroup TaskUtils
+ */
+configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
+configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * @code{c}
+ * BaseType_t xTaskNotifyIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction );
+ * BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );
+ * @endcode
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
+ * functions to be available.
+ *
+ * Sends a direct to task notification to a task, with an optional value and
+ * action.
+ *
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -1787,28 +2072,45 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
- * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake().  If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
- *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value.  The task does
+ * A task can use xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() to
+ * [optionally] block to wait for a notification to be pending.  The task does
  * not consume any CPU time while it is in the Blocked state.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ * A notification sent to a task will remain pending until it is cleared by the
+ * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
+ * un-indexed equivalents).  If the task was already in the Blocked state to
+ * wait for a notification when the notification arrives then the task will
+ * automatically be removed from the Blocked state (unblocked) and the
+ * notification cleared.
+ *
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotify() is the original API function, and remains backward
+ * compatible by always operating on the notification value at index 0 in the
+ * array. Calling xTaskNotify() is equivalent to calling xTaskNotifyIndexed()
+ * with the uxIndexToNotify parameter set to 0.
  *
  * @param xTaskToNotify The handle of the task being notified.  The handle to a
  * task can be returned from the xTaskCreate() API function used to create the
  * task, and the handle of the currently running task can be obtained by calling
  * xTaskGetCurrentTaskHandle().
  *
+ * @param uxIndexToNotify The index within the target task's array of
+ * notification values to which the notification is to be sent.  uxIndexToNotify
+ * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.  xTaskNotify() does
+ * not have this parameter and always sends notifications to index 0.
+ *
  * @param ulValue Data that can be sent with the notification.  How the data is
  * used depends on the value of the eAction parameter.
  *
@@ -1816,56 +2118,100 @@ uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
  * value, if at all.  Valid values for eAction are as follows:
  *
  * eSetBits -
- * The task's notification value is bitwise ORed with ulValue.  xTaskNofify()
- * always returns pdPASS in this case.
+ * The target notification value is bitwise ORed with ulValue.
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
  *
  * eIncrement -
- * The task's notification value is incremented.  ulValue is not used and
- * xTaskNotify() always returns pdPASS in this case.
+ * The target notification value is incremented.  ulValue is not used and
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
  *
  * eSetValueWithOverwrite -
- * The task's notification value is set to the value of ulValue, even if the
- * task being notified had not yet processed the previous notification (the
- * task already had a notification pending).  xTaskNotify() always returns
- * pdPASS in this case.
+ * The target notification value is set to the value of ulValue, even if the
+ * task being notified had not yet processed the previous notification at the
+ * same array index (the task already had a notification pending at that index).
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
  *
  * eSetValueWithoutOverwrite -
- * If the task being notified did not already have a notification pending then
- * the task's notification value is set to ulValue and xTaskNotify() will
- * return pdPASS.  If the task being notified already had a notification
- * pending then no action is performed and pdFAIL is returned.
+ * If the task being notified did not already have a notification pending at the
+ * same array index then the target notification value is set to ulValue and
+ * xTaskNotifyIndexed() will return pdPASS.  If the task being notified already
+ * had a notification pending at the same array index then no action is
+ * performed and pdFAIL is returned.
  *
  * eNoAction -
- * The task receives a notification without its notification value being
- * updated.  ulValue is not used and xTaskNotify() always returns pdPASS in
- * this case.
+ * The task receives a notification at the specified array index without the
+ * notification value at that index being updated.  ulValue is not used and
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
  *
- *  pulPreviousNotificationValue -
- *  Can be used to pass out the subject task's notification value before any
- *  bits are modified by the notify function.
+ * pulPreviousNotificationValue -
+ * Can be used to pass out the subject task's notification value before any
+ * bits are modified by the notify function.
  *
  * @return Dependent on the value of eAction.  See the description of the
  * eAction parameter.
  *
- * \defgroup xTaskNotify xTaskNotify
+ * \defgroup xTaskNotifyIndexed xTaskNotifyIndexed
  * \ingroup TaskNotifications
  */
-BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) PRIVILEGED_FUNCTION;
-#define xTaskNotify( xTaskToNotify, ulValue, eAction ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL )
-#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
+BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
+                               UBaseType_t uxIndexToNotify,
+                               uint32_t ulValue,
+                               eNotifyAction eAction,
+                               uint32_t * pulPreviousNotificationValue ) PRIVILEGED_FUNCTION;
+#define xTaskNotify( xTaskToNotify, ulValue, eAction ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL )
+#define xTaskNotifyIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL )
 
 /**
  * task. h
- * 
BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );

+ * @code{c}
+ * BaseType_t xTaskNotifyAndQueryIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
+ * BaseType_t xTaskNotifyAndQuery( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotifyValue );
+ * @endcode
  *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
+ * xTaskNotifyAndQueryIndexed() performs the same operation as
+ * xTaskNotifyIndexed() with the addition that it also returns the subject
+ * task's prior notification value (the notification value at the time the
+ * function is called rather than when the function returns) in the additional
+ * pulPreviousNotifyValue parameter.
  *
- * A version of xTaskNotify() that can be used from an interrupt service routine
- * (ISR).
+ * xTaskNotifyAndQuery() performs the same operation as xTaskNotify() with the
+ * addition that it also returns the subject task's prior notification value
+ * (the notification value as it was at the time the function is called, rather
+ * than when the function returns) in the additional pulPreviousNotifyValue
+ * parameter.
+ *
+ * \defgroup xTaskNotifyAndQueryIndexed xTaskNotifyAndQueryIndexed
+ * \ingroup TaskNotifications
+ */
+#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
+#define xTaskNotifyAndQueryIndexed( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotifyValue ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
+
+/**
+ * task. h
+ * @code{c}
+ * BaseType_t xTaskNotifyIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
+ * functions to be available.
+ *
+ * A version of xTaskNotifyIndexed() that can be used from an interrupt service
+ * routine (ISR).
+ *
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -1873,22 +2219,40 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
- * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake().  If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
- *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value.  The task does
+ * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a
+ * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
+ * to wait for a notification value to have a non-zero value.  The task does
  * not consume any CPU time while it is in the Blocked state.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ * A notification sent to a task will remain pending until it is cleared by the
+ * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
+ * un-indexed equivalents).  If the task was already in the Blocked state to
+ * wait for a notification when the notification arrives then the task will
+ * automatically be removed from the Blocked state (unblocked) and the
+ * notification cleared.
+ *
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotifyFromISR() is the original API function, and remains
+ * backward compatible by always operating on the notification value at index 0
+ * within the array. Calling xTaskNotifyFromISR() is equivalent to calling
+ * xTaskNotifyIndexedFromISR() with the uxIndexToNotify parameter set to 0.
+ *
+ * @param uxIndexToNotify The index within the target task's array of
+ * notification values to which the notification is to be sent.  uxIndexToNotify
+ * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.  xTaskNotifyFromISR()
+ * does not have this parameter and always sends notifications to index 0.
  *
  * @param xTaskToNotify The handle of the task being notified.  The handle to a
  * task can be returned from the xTaskCreate() API function used to create the
@@ -1902,7 +2266,7 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
  * value, if at all.  Valid values for eAction are as follows:
  *
  * eSetBits -
- * The task's notification value is bitwise ORed with ulValue.  xTaskNofify()
+ * The task's notification value is bitwise ORed with ulValue.  xTaskNotify()
  * always returns pdPASS in this case.
  *
  * eIncrement -
@@ -1938,22 +2302,70 @@ BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNo
  * @return Dependent on the value of eAction.  See the description of the
  * eAction parameter.
  *
- * \defgroup xTaskNotify xTaskNotify
+ * \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR
  * \ingroup TaskNotifications
  */
-BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
-#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
+BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
+                                      UBaseType_t uxIndexToNotify,
+                                      uint32_t ulValue,
+                                      eNotifyAction eAction,
+                                      uint32_t * pulPreviousNotificationValue,
+                                      BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \
+    xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
+#define xTaskNotifyIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) \
+    xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
  * task. h
- * 
BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );

+ * @code{c}
+ * BaseType_t xTaskNotifyAndQueryIndexedFromISR( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTaskNotifyAndQueryFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * xTaskNotifyAndQueryIndexedFromISR() performs the same operation as
+ * xTaskNotifyIndexedFromISR() with the addition that it also returns the
+ * subject task's prior notification value (the notification value at the time
+ * the function is called rather than at the time the function returns) in the
+ * additional pulPreviousNotifyValue parameter.
+ *
+ * xTaskNotifyAndQueryFromISR() performs the same operation as
+ * xTaskNotifyFromISR() with the addition that it also returns the subject
+ * task's prior notification value (the notification value at the time the
+ * function is called rather than at the time the function returns) in the
+ * additional pulPreviousNotifyValue parameter.
+ *
+ * \defgroup xTaskNotifyAndQueryIndexedFromISR xTaskNotifyAndQueryIndexedFromISR
+ * \ingroup TaskNotifications
+ */
+#define xTaskNotifyAndQueryIndexedFromISR( xTaskToNotify, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \
+    xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
+#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) \
+    xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
+
+/**
+ * task. h
+ * @code{c}
+ * BaseType_t xTaskNotifyWaitIndexed( UBaseType_t uxIndexToWaitOn, uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
+ *
+ * BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );
+ * @endcode
+ *
+ * Waits for a direct to task notification to be pending at a given index within
+ * an array of direct to task notifications.
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
  * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
  * function to be available.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -1961,22 +2373,41 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
  * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake().  If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
+ * task calling xTaskNotifyWaitIndexed() or ulTaskNotifyTakeIndexed() (or their
+ * un-indexed equivalents).  If the task was already in the Blocked state to
+ * wait for a notification when the notification arrives then the task will
+ * automatically be removed from the Blocked state (unblocked) and the
+ * notification cleared.
  *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value.  The task does
+ * A task can use xTaskNotifyWaitIndexed() to [optionally] block to wait for a
+ * notification to be pending, or ulTaskNotifyTakeIndexed() to [optionally] block
+ * to wait for a notification value to have a non-zero value.  The task does
  * not consume any CPU time while it is in the Blocked state.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotifyWait() is the original API function, and remains backward
+ * compatible by always operating on the notification value at index 0 in the
+ * array. Calling xTaskNotifyWait() is equivalent to calling
+ * xTaskNotifyWaitIndexed() with the uxIndexToWaitOn parameter set to 0.
+ *
+ * @param uxIndexToWaitOn The index within the calling task's array of
+ * notification values on which the calling task will wait for a notification to
+ * be received.  uxIndexToWaitOn must be less than
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES.  xTaskNotifyWait() does
+ * not have this parameter and always waits for notifications on index 0.
  *
  * @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value
  * will be cleared in the calling task's notification value before the task
@@ -2007,7 +2438,7 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
  * the Blocked state for a notification to be received, should a notification
  * not already be pending when xTaskNotifyWait() was called.  The task
  * will not consume any processing time while it is in the Blocked state.  This
- * is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be
+ * is specified in kernel ticks, the macro pdMS_TO_TICKS( value_in_ms ) can be
  * used to convert a time specified in milliseconds to a time specified in
  * ticks.
  *
@@ -2015,20 +2446,39 @@ BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulVal
  * already pending when xTaskNotifyWait was called) then pdPASS is
  * returned.  Otherwise pdFAIL is returned.
  *
- * \defgroup xTaskNotifyWait xTaskNotifyWait
+ * \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed
  * \ingroup TaskNotifications
  */
-BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
+                                   uint32_t ulBitsToClearOnEntry,
+                                   uint32_t ulBitsToClearOnExit,
+                                   uint32_t * pulNotificationValue,
+                                   TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+#define xTaskNotifyWait( ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \
+    xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) )
+#define xTaskNotifyWaitIndexed( uxIndexToWaitOn, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait ) \
+    xTaskGenericNotifyWait( ( uxIndexToWaitOn ), ( ulBitsToClearOnEntry ), ( ulBitsToClearOnExit ), ( pulNotificationValue ), ( xTicksToWait ) )
 
 /**
  * task. h
- * 
BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );

+ * @code{c}
+ * BaseType_t xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );
+ * BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );
+ * @endcode
  *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
- * to be available.
+ * Sends a direct to task notification to a particular index in the target
+ * task's notification array in a manner similar to giving a counting semaphore.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
+ *
+ * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
+ * macros to be available.
+ *
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -2036,48 +2486,76 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
- * xTaskNotifyGive() is a helper macro intended for use when task notifications
- * are used as light weight and faster binary or counting semaphore equivalents.
- * Actual FreeRTOS semaphores are given using the xSemaphoreGive() API function,
- * the equivalent action that instead uses a task notification is
- * xTaskNotifyGive().
+ * xTaskNotifyGiveIndexed() is a helper macro intended for use when task
+ * notifications are used as light weight and faster binary or counting
+ * semaphore equivalents.  Actual FreeRTOS semaphores are given using the
+ * xSemaphoreGive() API function, the equivalent action that instead uses a task
+ * notification is xTaskNotifyGiveIndexed().
  *
  * When task notifications are being used as a binary or counting semaphore
  * equivalent then the task being notified should wait for the notification
- * using the ulTaskNotificationTake() API function rather than the
- * xTaskNotifyWait() API function.
+ * using the ulTaskNotifyTakeIndexed() API function rather than the
+ * xTaskNotifyWaitIndexed() API function.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotifyGive() is the original API function, and remains backward
+ * compatible by always operating on the notification value at index 0 in the
+ * array. Calling xTaskNotifyGive() is equivalent to calling
+ * xTaskNotifyGiveIndexed() with the uxIndexToNotify parameter set to 0.
  *
  * @param xTaskToNotify The handle of the task being notified.  The handle to a
  * task can be returned from the xTaskCreate() API function used to create the
  * task, and the handle of the currently running task can be obtained by calling
  * xTaskGetCurrentTaskHandle().
  *
+ * @param uxIndexToNotify The index within the target task's array of
+ * notification values to which the notification is to be sent.  uxIndexToNotify
+ * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.  xTaskNotifyGive()
+ * does not have this parameter and always sends notifications to index 0.
+ *
  * @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the
  * eAction parameter set to eIncrement - so pdPASS is always returned.
  *
- * \defgroup xTaskNotifyGive xTaskNotifyGive
+ * \defgroup xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed
  * \ingroup TaskNotifications
  */
-#define xTaskNotifyGive( xTaskToNotify ) xTaskGenericNotify( ( xTaskToNotify ), ( 0 ), eIncrement, NULL )
+#define xTaskNotifyGive( xTaskToNotify ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( 0 ), eIncrement, NULL )
+#define xTaskNotifyGiveIndexed( xTaskToNotify, uxIndexToNotify ) \
+    xTaskGenericNotify( ( xTaskToNotify ), ( uxIndexToNotify ), ( 0 ), eIncrement, NULL )
 
 /**
  * task. h
- * 
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
+ * @code{c}
+ * void vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );
+ * void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * A version of xTaskNotifyGiveIndexed() that can be called from an interrupt
+ * service routine (ISR).
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
  *
  * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
  * to be available.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * A version of xTaskNotifyGive() that can be called from an interrupt service
- * routine (ISR).
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -2085,28 +2563,46 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
- * vTaskNotifyGiveFromISR() is intended for use when task notifications are
- * used as light weight and faster binary or counting semaphore equivalents.
+ * vTaskNotifyGiveIndexedFromISR() is intended for use when task notifications
+ * are used as light weight and faster binary or counting semaphore equivalents.
  * Actual FreeRTOS semaphores are given from an ISR using the
  * xSemaphoreGiveFromISR() API function, the equivalent action that instead uses
- * a task notification is vTaskNotifyGiveFromISR().
+ * a task notification is vTaskNotifyGiveIndexedFromISR().
  *
  * When task notifications are being used as a binary or counting semaphore
  * equivalent then the task being notified should wait for the notification
- * using the ulTaskNotificationTake() API function rather than the
- * xTaskNotifyWait() API function.
+ * using the ulTaskNotifyTakeIndexed() API function rather than the
+ * xTaskNotifyWaitIndexed() API function.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotifyFromISR() is the original API function, and remains
+ * backward compatible by always operating on the notification value at index 0
+ * within the array. Calling xTaskNotifyGiveFromISR() is equivalent to calling
+ * xTaskNotifyGiveIndexedFromISR() with the uxIndexToNotify parameter set to 0.
  *
  * @param xTaskToNotify The handle of the task being notified.  The handle to a
  * task can be returned from the xTaskCreate() API function used to create the
  * task, and the handle of the currently running task can be obtained by calling
  * xTaskGetCurrentTaskHandle().
  *
+ * @param uxIndexToNotify The index within the target task's array of
+ * notification values to which the notification is to be sent.  uxIndexToNotify
+ * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
+ * xTaskNotifyGiveFromISR() does not have this parameter and always sends
+ * notifications to index 0.
+ *
  * @param pxHigherPriorityTaskWoken  vTaskNotifyGiveFromISR() will set
  * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
  * task to which the notification was sent to leave the Blocked state, and the
@@ -2116,20 +2612,38 @@ BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClea
  * requested from an ISR is dependent on the port - see the documentation page
  * for the port in use.
  *
- * \defgroup xTaskNotifyWait xTaskNotifyWait
+ * \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR
  * \ingroup TaskNotifications
  */
-void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
+                                    UBaseType_t uxIndexToNotify,
+                                    BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+#define vTaskNotifyGiveFromISR( xTaskToNotify, pxHigherPriorityTaskWoken ) \
+    vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( pxHigherPriorityTaskWoken ) )
+#define vTaskNotifyGiveIndexedFromISR( xTaskToNotify, uxIndexToNotify, pxHigherPriorityTaskWoken ) \
+    vTaskGenericNotifyGiveFromISR( ( xTaskToNotify ), ( uxIndexToNotify ), ( pxHigherPriorityTaskWoken ) )
 
 /**
  * task. h
- * 
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );

+ * @code{c}
+ * uint32_t ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
+ *
+ * uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );
+ * @endcode
+ *
+ * Waits for a direct to task notification on a particular index in the calling
+ * task's notification array in a manner similar to taking a counting semaphore.
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
  *
  * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
  * function to be available.
  *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
  *
  * Events can be sent to a task using an intermediary object.  Examples of such
  * objects are queues, semaphores, mutexes and event groups.  Task notifications
@@ -2137,35 +2651,54 @@ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPri
  * an intermediary object.
  *
  * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value.  In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
+ * update, overwrite or increment one of the task's notification values.  In
+ * that way task notifications can be used to send data to a task, or be used as
+ * light weight and fast binary or counting semaphores.
  *
- * ulTaskNotifyTake() is intended for use when a task notification is used as a
- * faster and lighter weight binary or counting semaphore alternative.  Actual
- * FreeRTOS semaphores are taken using the xSemaphoreTake() API function, the
- * equivalent action that instead uses a task notification is
- * ulTaskNotifyTake().
+ * ulTaskNotifyTakeIndexed() is intended for use when a task notification is
+ * used as a faster and lighter weight binary or counting semaphore alternative.
+ * Actual FreeRTOS semaphores are taken using the xSemaphoreTake() API function,
+ * the equivalent action that instead uses a task notification is
+ * ulTaskNotifyTakeIndexed().
  *
  * When a task is using its notification value as a binary or counting semaphore
- * other tasks should send notifications to it using the xTaskNotifyGive()
- * macro, or xTaskNotify() function with the eAction parameter set to
+ * other tasks should send notifications to it using the xTaskNotifyGiveIndexed()
+ * macro, or xTaskNotifyIndex() function with the eAction parameter set to
  * eIncrement.
  *
- * ulTaskNotifyTake() can either clear the task's notification value to
- * zero on exit, in which case the notification value acts like a binary
- * semaphore, or decrement the task's notification value on exit, in which case
- * the notification value acts like a counting semaphore.
+ * ulTaskNotifyTakeIndexed() can either clear the task's notification value at
+ * the array index specified by the uxIndexToWaitOn parameter to zero on exit,
+ * in which case the notification value acts like a binary semaphore, or
+ * decrement the notification value on exit, in which case the notification
+ * value acts like a counting semaphore.
  *
- * A task can use ulTaskNotifyTake() to [optionally] block to wait for a
- * the task's notification value to be non-zero.  The task does not consume any
- * CPU time while it is in the Blocked state.
+ * A task can use ulTaskNotifyTakeIndexed() to [optionally] block to wait for
+ * a notification.  The task does not consume any CPU time while it is in the
+ * Blocked state.
  *
- * Where as xTaskNotifyWait() will return when a notification is pending,
- * ulTaskNotifyTake() will return when the task's notification value is
+ * Where as xTaskNotifyWaitIndexed() will return when a notification is pending,
+ * ulTaskNotifyTakeIndexed() will return when the task's notification value is
  * not zero.
  *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ * **NOTE** Each notification within the array operates independently - a task
+ * can only block on one notification within the array at a time and will not be
+ * unblocked by a notification sent to any other array index.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  ulTaskNotifyTake() is the original API function, and remains backward
+ * compatible by always operating on the notification value at index 0 in the
+ * array. Calling ulTaskNotifyTake() is equivalent to calling
+ * ulTaskNotifyTakeIndexed() with the uxIndexToWaitOn parameter set to 0.
+ *
+ * @param uxIndexToWaitOn The index within the calling task's array of
+ * notification values on which the calling task will wait for a notification to
+ * be non-zero.  uxIndexToWaitOn must be less than
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES.  xTaskNotifyTake() does
+ * not have this parameter and always waits for notifications on index 0.
  *
  * @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's
  * notification value is decremented when the function exits.  In this way the
@@ -2179,54 +2712,158 @@ void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPri
  * should the count not already be greater than zero when
  * ulTaskNotifyTake() was called.  The task will not consume any processing
  * time while it is in the Blocked state.  This is specified in kernel ticks,
- * the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time
+ * the macro pdMS_TO_TICKS( value_in_ms ) can be used to convert a time
  * specified in milliseconds to a time specified in ticks.
  *
  * @return The task's notification count before it is either cleared to zero or
  * decremented (see the xClearCountOnExit parameter).
  *
- * \defgroup ulTaskNotifyTake ulTaskNotifyTake
+ * \defgroup ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed
  * \ingroup TaskNotifications
  */
-uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
+                                  BaseType_t xClearCountOnExit,
+                                  TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+#define ulTaskNotifyTake( xClearCountOnExit, xTicksToWait ) \
+    ulTaskGenericNotifyTake( ( tskDEFAULT_INDEX_TO_NOTIFY ), ( xClearCountOnExit ), ( xTicksToWait ) )
+#define ulTaskNotifyTakeIndexed( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait ) \
+    ulTaskGenericNotifyTake( ( uxIndexToWaitOn ), ( xClearCountOnExit ), ( xTicksToWait ) )
 
 /**
  * task. h
- * 
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );

+ * @code{c}
+ * BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );
  *
- * If the notification state of the task referenced by the handle xTask is
- * eNotified, then set the task's notification state to eNotWaitingNotification.
- * The task's notification value is not altered.  Set xTask to NULL to clear the
- * notification state of the calling task.
+ * BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
+ * @endcode
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
+ * functions to be available.
+ *
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
+ *
+ * If a notification is sent to an index within the array of notifications then
+ * the notification at that index is said to be 'pending' until it is read or
+ * explicitly cleared by the receiving task.  xTaskNotifyStateClearIndexed()
+ * is the function that clears a pending notification without reading the
+ * notification value.  The notification value at the same array index is not
+ * altered.  Set xTask to NULL to clear the notification state of the calling
+ * task.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  xTaskNotifyStateClear() is the original API function, and remains
+ * backward compatible by always operating on the notification value at index 0
+ * within the array. Calling xTaskNotifyStateClear() is equivalent to calling
+ * xTaskNotifyStateClearIndexed() with the uxIndexToNotify parameter set to 0.
+ *
+ * @param xTask The handle of the RTOS task that will have a notification state
+ * cleared.  Set xTask to NULL to clear a notification state in the calling
+ * task.  To obtain a task's handle create the task using xTaskCreate() and
+ * make use of the pxCreatedTask parameter, or create the task using
+ * xTaskCreateStatic() and store the returned value, or use the task's name in
+ * a call to xTaskGetHandle().
+ *
+ * @param uxIndexToClear The index within the target task's array of
+ * notification values to act upon.  For example, setting uxIndexToClear to 1
+ * will clear the state of the notification at index 1 within the array.
+ * uxIndexToClear must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
+ * ulTaskNotifyStateClear() does not have this parameter and always acts on the
+ * notification at index 0.
  *
  * @return pdTRUE if the task's notification state was set to
  * eNotWaitingNotification, otherwise pdFALSE.
- * \defgroup xTaskNotifyStateClear xTaskNotifyStateClear
+ *
+ * \defgroup xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed
  * \ingroup TaskNotifications
  */
-BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
+BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
+                                         UBaseType_t uxIndexToClear ) PRIVILEGED_FUNCTION;
+#define xTaskNotifyStateClear( xTask ) \
+    xTaskGenericNotifyStateClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ) )
+#define xTaskNotifyStateClearIndexed( xTask, uxIndexToClear ) \
+    xTaskGenericNotifyStateClear( ( xTask ), ( uxIndexToClear ) )
 
 /**
-* task. h
-* 
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );

-*
-* Clears the bits specified by the ulBitsToClear bit mask in the notification
-* value of the task referenced by xTask.
-*
-* Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
-* the notification value to 0.  Set ulBitsToClear to 0 to query the task's
-* notification value without clearing any bits.
-*
-* @return The value of the target task's notification value before the bits
-* specified by ulBitsToClear were cleared.
-* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
-* \ingroup TaskNotifications
-*/
-uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
+ * task. h
+ * @code{c}
+ * uint32_t ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );
+ *
+ * uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );
+ * @endcode
+ *
+ * See https://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for these
+ * functions to be available.
+ *
+ * Each task has a private array of "notification values" (or 'notifications'),
+ * each of which is a 32-bit unsigned integer (uint32_t).  The constant
+ * configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
+ * array, and (for backward compatibility) defaults to 1 if left undefined.
+ * Prior to FreeRTOS V10.4.0 there was only one notification value per task.
+ *
+ * ulTaskNotifyValueClearIndexed() clears the bits specified by the
+ * ulBitsToClear bit mask in the notification value at array index uxIndexToClear
+ * of the task referenced by xTask.
+ *
+ * Backward compatibility information:
+ * Prior to FreeRTOS V10.4.0 each task had a single "notification value", and
+ * all task notification API functions operated on that value. Replacing the
+ * single notification value with an array of notification values necessitated a
+ * new set of API functions that could address specific notifications within the
+ * array.  ulTaskNotifyValueClear() is the original API function, and remains
+ * backward compatible by always operating on the notification value at index 0
+ * within the array. Calling ulTaskNotifyValueClear() is equivalent to calling
+ * ulTaskNotifyValueClearIndexed() with the uxIndexToClear parameter set to 0.
+ *
+ * @param xTask The handle of the RTOS task that will have bits in one of its
+ * notification values cleared. Set xTask to NULL to clear bits in a
+ * notification value of the calling task.  To obtain a task's handle create the
+ * task using xTaskCreate() and make use of the pxCreatedTask parameter, or
+ * create the task using xTaskCreateStatic() and store the returned value, or
+ * use the task's name in a call to xTaskGetHandle().
+ *
+ * @param uxIndexToClear The index within the target task's array of
+ * notification values in which to clear the bits.  uxIndexToClear
+ * must be less than configTASK_NOTIFICATION_ARRAY_ENTRIES.
+ * ulTaskNotifyValueClear() does not have this parameter and always clears bits
+ * in the notification value at index 0.
+ *
+ * @param ulBitsToClear Bit mask of the bits to clear in the notification value of
+ * xTask. Set a bit to 1 to clear the corresponding bits in the task's notification
+ * value. Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
+ * the notification value to 0.  Set ulBitsToClear to 0 to query the task's
+ * notification value without clearing any bits.
+ *
+ *
+ * @return The value of the target task's notification value before the bits
+ * specified by ulBitsToClear were cleared.
+ * \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
+ * \ingroup TaskNotifications
+ */
+uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
+                                        UBaseType_t uxIndexToClear,
+                                        uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
+#define ulTaskNotifyValueClear( xTask, ulBitsToClear ) \
+    ulTaskGenericNotifyValueClear( ( xTask ), ( tskDEFAULT_INDEX_TO_NOTIFY ), ( ulBitsToClear ) )
+#define ulTaskNotifyValueClearIndexed( xTask, uxIndexToClear, ulBitsToClear ) \
+    ulTaskGenericNotifyValueClear( ( xTask ), ( uxIndexToClear ), ( ulBitsToClear ) )
 
 /**
  * task.h
- * 
void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )

+ * @code{c}
+ * void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut );
+ * @endcode
  *
  * Capture the current time for future use with xTaskCheckForTimeOut().
  *
@@ -2240,7 +2877,9 @@ void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
 
 /**
  * task.h
- * 
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );

+ * @code{c}
+ * BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );
+ * @endcode
  *
  * Determines if pxTicksToWait ticks has passed since a time was captured
  * using a call to vTaskSetTimeOutState().  The captured time includes the tick
@@ -2252,78 +2891,108 @@ void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
  * @param pxTicksToWait The number of ticks to check for timeout i.e. if
  * pxTicksToWait ticks have passed since pxTimeOut was last updated (either by
  * vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred.
- * If the timeout has not occurred, pxTIcksToWait is updated to reflect the
+ * If the timeout has not occurred, pxTicksToWait is updated to reflect the
  * number of remaining ticks.
  *
  * @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is
  * returned and pxTicksToWait is updated to reflect the number of remaining
  * ticks.
  *
- * @see https://www.freertos.org/xTaskCheckForTimeOut.html
+ * @see https://www.FreeRTOS.org/xTaskCheckForTimeOut.html
  *
  * Example Usage:
- * 
-	// Driver library function used to receive uxWantedBytes from an Rx buffer
-	// that is filled by a UART interrupt. If there are not enough bytes in the
-	// Rx buffer then the task enters the Blocked state until it is notified that
-	// more data has been placed into the buffer. If there is still not enough
-	// data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
-	// is used to re-calculate the Block time to ensure the total amount of time
-	// spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
-	// continues until either the buffer contains at least uxWantedBytes bytes,
-	// or the total amount of time spent in the Blocked state reaches
-	// MAX_TIME_TO_WAIT – at which point the task reads however many bytes are
-	// available up to a maximum of uxWantedBytes.
-
-	size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
-	{
-	size_t uxReceived = 0;
-	TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
-	TimeOut_t xTimeOut;
-
-		// Initialize xTimeOut.  This records the time at which this function
-		// was entered.
-		vTaskSetTimeOutState( &xTimeOut );
-
-		// Loop until the buffer contains the wanted number of bytes, or a
-		// timeout occurs.
-		while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
-		{
-			// The buffer didn't contain enough data so this task is going to
-			// enter the Blocked state. Adjusting xTicksToWait to account for
-			// any time that has been spent in the Blocked state within this
-			// function so far to ensure the total amount of time spent in the
-			// Blocked state does not exceed MAX_TIME_TO_WAIT.
-			if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
-			{
-				//Timed out before the wanted number of bytes were available,
-				// exit the loop.
-				break;
-			}
-
-			// Wait for a maximum of xTicksToWait ticks to be notified that the
-			// receive interrupt has placed more data into the buffer.
-			ulTaskNotifyTake( pdTRUE, xTicksToWait );
-		}
-
-		// Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
-		// The actual number of bytes read (which might be less than
-		// uxWantedBytes) is returned.
-		uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
-													pucBuffer,
-													uxWantedBytes );
-
-		return uxReceived;
-	}
- 

+ * @code{c}
+ *  // Driver library function used to receive uxWantedBytes from an Rx buffer
+ *  // that is filled by a UART interrupt. If there are not enough bytes in the
+ *  // Rx buffer then the task enters the Blocked state until it is notified that
+ *  // more data has been placed into the buffer. If there is still not enough
+ *  // data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
+ *  // is used to re-calculate the Block time to ensure the total amount of time
+ *  // spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
+ *  // continues until either the buffer contains at least uxWantedBytes bytes,
+ *  // or the total amount of time spent in the Blocked state reaches
+ *  // MAX_TIME_TO_WAIT - at which point the task reads however many bytes are
+ *  // available up to a maximum of uxWantedBytes.
+ *
+ *  size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
+ *  {
+ *  size_t uxReceived = 0;
+ *  TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
+ *  TimeOut_t xTimeOut;
+ *
+ *      // Initialize xTimeOut.  This records the time at which this function
+ *      // was entered.
+ *      vTaskSetTimeOutState( &xTimeOut );
+ *
+ *      // Loop until the buffer contains the wanted number of bytes, or a
+ *      // timeout occurs.
+ *      while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
+ *      {
+ *          // The buffer didn't contain enough data so this task is going to
+ *          // enter the Blocked state. Adjusting xTicksToWait to account for
+ *          // any time that has been spent in the Blocked state within this
+ *          // function so far to ensure the total amount of time spent in the
+ *          // Blocked state does not exceed MAX_TIME_TO_WAIT.
+ *          if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
+ *          {
+ *              //Timed out before the wanted number of bytes were available,
+ *              // exit the loop.
+ *              break;
+ *          }
+ *
+ *          // Wait for a maximum of xTicksToWait ticks to be notified that the
+ *          // receive interrupt has placed more data into the buffer.
+ *          ulTaskNotifyTake( pdTRUE, xTicksToWait );
+ *      }
+ *
+ *      // Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
+ *      // The actual number of bytes read (which might be less than
+ *      // uxWantedBytes) is returned.
+ *      uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
+ *                                                  pucBuffer,
+ *                                                  uxWantedBytes );
+ *
+ *      return uxReceived;
+ *  }
+ * @endcode
  * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
  * \ingroup TaskCtrl
  */
-BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
+                                 TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * @code{c}
+ * BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp );
+ * @endcode
+ *
+ * This function corrects the tick count value after the application code has held
+ * interrupts disabled for an extended period resulting in tick interrupts having
+ * been missed.
+ *
+ * This function is similar to vTaskStepTick(), however, unlike
+ * vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a
+ * time at which a task should be removed from the blocked state.  That means
+ * tasks may have to be removed from the blocked state as the tick count is
+ * moved.
+ *
+ * @param xTicksToCatchUp The number of tick interrupts that have been missed due to
+ * interrupts being disabled.  Its value is not computed automatically, so must be
+ * computed by the application writer.
+ *
+ * @return pdTRUE if moving the tick count forward resulted in a task leaving the
+ * blocked state and a context switch being performed.  Otherwise pdFALSE.
+ *
+ * \defgroup xTaskCatchUpTicks xTaskCatchUpTicks
+ * \ingroup TaskCtrl
+ */
+BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
+
 
 /*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- *----------------------------------------------------------*/
+* SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+*----------------------------------------------------------*/
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
@@ -2359,7 +3028,7 @@ BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * xItemValue value, and inserts the list item at the end of the list.
  *
  * The 'ordered' version uses the existing event list item value (which is the
- * owning tasks priority) to insert the list item into the event list is task
+ * owning task's priority) to insert the list item into the event list in task
  * priority order.
  *
  * @param pxEventList The list containing tasks that are blocked waiting
@@ -2369,12 +3038,15 @@ BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * event list is not ordered by task priority.
  *
  * @param xTicksToWait The maximum amount of time that the task should wait
- * for the event to occur.  This is specified in kernel ticks,the constant
+ * for the event to occur.  This is specified in kernel ticks, the constant
  * portTICK_PERIOD_MS can be used to convert kernel ticks into a real time
  * period.
  */
-void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventList( List_t * const pxEventList,
+                            const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
+                                     const TickType_t xItemValue,
+                                     const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -2387,7 +3059,9 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xIte
  * indefinitely, whereas vTaskPlaceOnEventList() does.
  *
  */
-void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
+                                      TickType_t xTicksToWait,
+                                      const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -2414,7 +3088,8 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTi
  * making the call, otherwise pdFALSE.
  */
 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
-void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
+void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
+                                        const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
@@ -2469,10 +3144,11 @@ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGE
  * the highest priority task that is still waiting for the mutex (if there were
  * more than one task waiting for the mutex).
  */
-void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
+void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
+                                          UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
 
 /*
- * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
+ * Get the uxTaskNumber assigned to the task referenced by the xTask parameter.
  */
 UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
@@ -2480,7 +3156,8 @@ UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * Set the uxTaskNumber of the task referenced by the xTask parameter to
  * uxHandle.
  */
-void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION;
+void vTaskSetTaskNumber( TaskHandle_t xTask,
+                         const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION;
 
 /*
  * Only available when configUSE_TICKLESS_IDLE is set to 1.
@@ -2490,20 +3167,7 @@ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVIL
  * to date with the actual execution time by being skipped forward by a time
  * equal to the idle period.
  */
-void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
-
-/* Correct the tick count value after the application code has held
-interrupts disabled for an extended period.  xTicksToCatchUp is the number
-of tick interrupts that have been missed due to interrupts being disabled.
-Its value is not computed automatically, so must be computed by the
-application writer.
-
-This function is similar to vTaskStepTick(), however, unlike
-vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a
-time at which a task should be removed from the blocked state.  That means
-tasks may have to be removed from the blocked state as the tick count is
-moved. */
-BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
+void vTaskStepTick( TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
 
 /*
  * Only available when configUSE_TICKLESS_IDLE is set to 1.
@@ -2528,16 +3192,44 @@ eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
 TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
 
 /*
- * For internal use only.  Same as vTaskSetTimeOutState(), but without a critial
+ * For internal use only.  Same as vTaskSetTimeOutState(), but without a critical
  * section.
  */
 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
 
+#if ( portUSING_MPU_WRAPPERS == 1 )
 
+/*
+ * For internal use only.  Get MPU settings associated with a task.
+ */
+    xMPU_SETTINGS * xTaskGetMPUSettings( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+#endif /* portUSING_MPU_WRAPPERS */
+
+
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+/*
+ * For internal use only.  Grant/Revoke a task's access to a kernel object.
+ */
+    void vGrantAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
+                                     int32_t lExternalKernelObjectHandle ) PRIVILEGED_FUNCTION;
+    void vRevokeAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
+                                      int32_t lExternalKernelObjectHandle ) PRIVILEGED_FUNCTION;
+
+/*
+ * For internal use only.  Grant/Revoke a task's access to a kernel object.
+ */
+    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                         int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
+    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
+                                          int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
+
+#endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 #endif /* INC_TASK_H */
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h b/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
index 307ea1f..0900edb 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/include/timers.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
@@ -30,41 +31,43 @@
 #define TIMERS_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include timers.h"
+    #error "include FreeRTOS.h must appear in source files before include timers.h"
 #endif
 
 /*lint -save -e537 This headers are only multiply included if the application code
-happens to also be including task.h. */
+ * happens to also be including task.h. */
 #include "task.h"
 /*lint -restore */
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
+* MACROS AND DEFINITIONS
+*----------------------------------------------------------*/
 
 /* IDs for commands that can be sent/received on the timer queue.  These are to
-be used solely through the macros that make up the public software timer API,
-as defined below.  The commands that are sent from interrupts must use the
-highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
-or interrupt version of the queue send function should be used. */
-#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR 	( ( BaseType_t ) -2 )
-#define tmrCOMMAND_EXECUTE_CALLBACK				( ( BaseType_t ) -1 )
-#define tmrCOMMAND_START_DONT_TRACE				( ( BaseType_t ) 0 )
-#define tmrCOMMAND_START					    ( ( BaseType_t ) 1 )
-#define tmrCOMMAND_RESET						( ( BaseType_t ) 2 )
-#define tmrCOMMAND_STOP							( ( BaseType_t ) 3 )
-#define tmrCOMMAND_CHANGE_PERIOD				( ( BaseType_t ) 4 )
-#define tmrCOMMAND_DELETE						( ( BaseType_t ) 5 )
+ * be used solely through the macros that make up the public software timer API,
+ * as defined below.  The commands that are sent from interrupts must use the
+ * highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
+ * or interrupt version of the queue send function should be used. */
+#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR    ( ( BaseType_t ) -2 )
+#define tmrCOMMAND_EXECUTE_CALLBACK             ( ( BaseType_t ) -1 )
+#define tmrCOMMAND_START_DONT_TRACE             ( ( BaseType_t ) 0 )
+#define tmrCOMMAND_START                        ( ( BaseType_t ) 1 )
+#define tmrCOMMAND_RESET                        ( ( BaseType_t ) 2 )
+#define tmrCOMMAND_STOP                         ( ( BaseType_t ) 3 )
+#define tmrCOMMAND_CHANGE_PERIOD                ( ( BaseType_t ) 4 )
+#define tmrCOMMAND_DELETE                       ( ( BaseType_t ) 5 )
 
-#define tmrFIRST_FROM_ISR_COMMAND				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_START_FROM_ISR				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_RESET_FROM_ISR				( ( BaseType_t ) 7 )
-#define tmrCOMMAND_STOP_FROM_ISR				( ( BaseType_t ) 8 )
-#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR		( ( BaseType_t ) 9 )
+#define tmrFIRST_FROM_ISR_COMMAND               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_START_FROM_ISR               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_RESET_FROM_ISR               ( ( BaseType_t ) 7 )
+#define tmrCOMMAND_STOP_FROM_ISR                ( ( BaseType_t ) 8 )
+#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR       ( ( BaseType_t ) 9 )
 
 
 /**
@@ -79,20 +82,21 @@ typedef struct tmrTimerControl * TimerHandle_t;
 /*
  * Defines the prototype to which timer callback functions must conform.
  */
-typedef void (*TimerCallbackFunction_t)( TimerHandle_t xTimer );
+typedef void (* TimerCallbackFunction_t)( TimerHandle_t xTimer );
 
 /*
  * Defines the prototype to which functions used with the
  * xTimerPendFunctionCallFromISR() function must conform.
  */
-typedef void (*PendedFunction_t)( void *, uint32_t );
+typedef void (* PendedFunction_t)( void *,
+                                   uint32_t );
 
 /**
- * TimerHandle_t xTimerCreate( 	const char * const pcTimerName,
- * 								TickType_t xTimerPeriodInTicks,
- * 								UBaseType_t uxAutoReload,
- * 								void * pvTimerID,
- * 								TimerCallbackFunction_t pxCallbackFunction );
+ * TimerHandle_t xTimerCreate(  const char * const pcTimerName,
+ *                              TickType_t xTimerPeriodInTicks,
+ *                              BaseType_t xAutoReload,
+ *                              void * pvTimerID,
+ *                              TimerCallbackFunction_t pxCallbackFunction );
  *
  * Creates a new software timer instance, and returns a handle by which the
  * created software timer can be referenced.
@@ -101,7 +105,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * of memory, in which the timer data structure is stored.  If a software timer
  * is created using xTimerCreate() then the required memory is automatically
  * dynamically allocated inside the xTimerCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a software timer is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
  * xTimerCreateStatic() then the application writer must provide the memory that
  * will get used by the software timer.  xTimerCreateStatic() therefore allows a
  * software timer to be created without using any dynamic memory allocation.
@@ -123,9 +127,9 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
  * equal to 1000.  Time timer period must be greater than 0.
  *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * @param xAutoReload If xAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
- * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * If xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
  * enter the dormant state after it expires.
  *
  * @param pvTimerID An identifier that is assigned to the timer being created.
@@ -135,7 +139,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  * @param pxCallbackFunction The function to call when the timer expires.
  * Callback functions must have the prototype defined by TimerCallbackFunction_t,
- * which is	"void vCallbackFunction( TimerHandle_t xTimer );".
+ * which is "void vCallbackFunction( TimerHandle_t xTimer );".
  *
  * @return If the timer is successfully created then a handle to the newly
  * created timer is returned.  If the timer cannot be created because there is
@@ -161,8 +165,8 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * int32_t lArrayIndex;
  * const int32_t xMaxExpiryCountBeforeStopping = 10;
  *
- * 	   // Optionally do something if the pxTimer parameter is NULL.
- * 	   configASSERT( pxTimer );
+ *     // Optionally do something if the pxTimer parameter is NULL.
+ *     configASSERT( pxTimer );
  *
  *     // Which timer expired?
  *     lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
@@ -188,11 +192,11 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *     // the scheduler starts.
  *     for( x = 0; x < NUM_TIMERS; x++ )
  *     {
- *         xTimers[ x ] = xTimerCreate(    "Timer",       // Just a text name, not used by the kernel.
- *                                         ( 100 * x ),   // The timer period in ticks.
- *                                         pdTRUE,        // The timers will auto-reload themselves when they expire.
- *                                         ( void * ) x,  // Assign each timer a unique id equal to its array index.
- *                                         vTimerCallback // Each timer calls the same callback when it expires.
+ *         xTimers[ x ] = xTimerCreate(    "Timer",             // Just a text name, not used by the kernel.
+ *                                         ( 100 * ( x + 1 ) ), // The timer period in ticks.
+ *                                         pdTRUE,              // The timers will auto-reload themselves when they expire.
+ *                                         ( void * ) x,        // Assign each timer a unique id equal to its array index.
+ *                                         vTimerCallback       // Each timer calls the same callback when it expires.
  *                                     );
  *
  *         if( xTimers[ x ] == NULL )
@@ -224,21 +228,21 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * }
  * @endverbatim
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	TimerHandle_t xTimerCreate(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-								const TickType_t xTimerPeriodInTicks,
-								const UBaseType_t uxAutoReload,
-								void * const pvTimerID,
-								TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                const TickType_t xTimerPeriodInTicks,
+                                const BaseType_t xAutoReload,
+                                void * const pvTimerID,
+                                TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
  * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
- * 									TickType_t xTimerPeriodInTicks,
- * 									UBaseType_t uxAutoReload,
- * 									void * pvTimerID,
- * 									TimerCallbackFunction_t pxCallbackFunction,
- *									StaticTimer_t *pxTimerBuffer );
+ *                                  TickType_t xTimerPeriodInTicks,
+ *                                  BaseType_t xAutoReload,
+ *                                  void * pvTimerID,
+ *                                  TimerCallbackFunction_t pxCallbackFunction,
+ *                                  StaticTimer_t *pxTimerBuffer );
  *
  * Creates a new software timer instance, and returns a handle by which the
  * created software timer can be referenced.
@@ -247,7 +251,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * of memory, in which the timer data structure is stored.  If a software timer
  * is created using xTimerCreate() then the required memory is automatically
  * dynamically allocated inside the xTimerCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a software timer is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
  * xTimerCreateStatic() then the application writer must provide the memory that
  * will get used by the software timer.  xTimerCreateStatic() therefore allows a
  * software timer to be created without using any dynamic memory allocation.
@@ -269,9 +273,9 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
  * equal to 1000.  The timer period must be greater than 0.
  *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * @param xAutoReload If xAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
- * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * If xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
  * enter the dormant state after it expires.
  *
  * @param pvTimerID An identifier that is assigned to the timer being created.
@@ -354,13 +358,13 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * }
  * @endverbatim
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	TimerHandle_t xTimerCreateStatic(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-										const TickType_t xTimerPeriodInTicks,
-										const UBaseType_t uxAutoReload,
-										void * const pvTimerID,
-										TimerCallbackFunction_t pxCallbackFunction,
-										StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                      const TickType_t xTimerPeriodInTicks,
+                                      const BaseType_t xAutoReload,
+                                      void * const pvTimerID,
+                                      TimerCallbackFunction_t pxCallbackFunction,
+                                      StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
@@ -383,7 +387,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
  * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
@@ -404,7 +408,8 @@ void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION;
+void vTimerSetTimerID( TimerHandle_t xTimer,
+                       void * pvNewID ) PRIVILEGED_FUNCTION;
 
 /**
  * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
@@ -501,7 +506,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerStart( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -543,12 +549,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
+#define xTimerStop( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
 
 /**
- * BaseType_t xTimerChangePeriod( 	TimerHandle_t xTimer,
- *										TickType_t xNewPeriod,
- *										TickType_t xTicksToWait );
+ * BaseType_t xTimerChangePeriod(   TimerHandle_t xTimer,
+ *                                  TickType_t xNewPeriod,
+ *                                  TickType_t xTicksToWait );
  *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
@@ -623,7 +630,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
- #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
+#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -661,7 +669,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerChangePeriod() API function example usage scenario.
  */
-#define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+#define xTimerDelete( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -785,11 +794,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerReset( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
- * BaseType_t xTimerStartFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerStartFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerStart() that can be called from an interrupt service
  * routine.
@@ -871,11 +881,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
- * BaseType_t xTimerStopFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerStopFromISR(    TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerStop() that can be called from an interrupt service
  * routine.
@@ -934,12 +945,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
  * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer,
- *										 TickType_t xNewPeriod,
- *										 BaseType_t *pxHigherPriorityTaskWoken );
+ *                                       TickType_t xNewPeriod,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerChangePeriod() that can be called from an interrupt
  * service routine.
@@ -1007,11 +1019,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
- * BaseType_t xTimerResetFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerResetFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerReset() that can be called from an interrupt service
  * routine.
@@ -1093,7 +1106,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 
 /**
@@ -1146,79 +1160,85 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * Example usage:
  * @verbatim
  *
- *	// The callback function that will execute in the context of the daemon task.
+ *  // The callback function that will execute in the context of the daemon task.
  *  // Note callback functions must all use this same prototype.
  *  void vProcessInterface( void *pvParameter1, uint32_t ulParameter2 )
- *	{
- *		BaseType_t xInterfaceToService;
+ *  {
+ *      BaseType_t xInterfaceToService;
  *
- *		// The interface that requires servicing is passed in the second
+ *      // The interface that requires servicing is passed in the second
  *      // parameter.  The first parameter is not used in this case.
- *		xInterfaceToService = ( BaseType_t ) ulParameter2;
+ *      xInterfaceToService = ( BaseType_t ) ulParameter2;
  *
- *		// ...Perform the processing here...
- *	}
+ *      // ...Perform the processing here...
+ *  }
  *
- *	// An ISR that receives data packets from multiple interfaces
+ *  // An ISR that receives data packets from multiple interfaces
  *  void vAnISR( void )
- *	{
- *		BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
+ *  {
+ *      BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
  *
- *		// Query the hardware to determine which interface needs processing.
- *		xInterfaceToService = prvCheckInterfaces();
+ *      // Query the hardware to determine which interface needs processing.
+ *      xInterfaceToService = prvCheckInterfaces();
  *
  *      // The actual processing is to be deferred to a task.  Request the
  *      // vProcessInterface() callback function is executed, passing in the
- *		// number of the interface that needs processing.  The interface to
- *		// service is passed in the second parameter.  The first parameter is
- *		// not used in this case.
- *		xHigherPriorityTaskWoken = pdFALSE;
- *		xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
+ *      // number of the interface that needs processing.  The interface to
+ *      // service is passed in the second parameter.  The first parameter is
+ *      // not used in this case.
+ *      xHigherPriorityTaskWoken = pdFALSE;
+ *      xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
  *
- *		// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
- *		// switch should be requested.  The macro used is port specific and will
- *		// be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
- *		// the documentation page for the port being used.
- *		portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ *      // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
+ *      // switch should be requested.  The macro used is port specific and will
+ *      // be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
+ *      // the documentation page for the port being used.
+ *      portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  *
- *	}
+ *  }
  * @endverbatim
  */
-BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+                                          void * pvParameter1,
+                                          uint32_t ulParameter2,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
- /**
-  * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
-  *                                    void *pvParameter1,
-  *                                    uint32_t ulParameter2,
-  *                                    TickType_t xTicksToWait );
-  *
-  *
-  * Used to defer the execution of a function to the RTOS daemon task (the timer
-  * service task, hence this function is implemented in timers.c and is prefixed
-  * with 'Timer').
-  *
-  * @param xFunctionToPend The function to execute from the timer service/
-  * daemon task.  The function must conform to the PendedFunction_t
-  * prototype.
-  *
-  * @param pvParameter1 The value of the callback function's first parameter.
-  * The parameter has a void * type to allow it to be used to pass any type.
-  * For example, unsigned longs can be cast to a void *, or the void * can be
-  * used to point to a structure.
-  *
-  * @param ulParameter2 The value of the callback function's second parameter.
-  *
-  * @param xTicksToWait Calling this function will result in a message being
-  * sent to the timer daemon task on a queue.  xTicksToWait is the amount of
-  * time the calling task should remain in the Blocked state (so not using any
-  * processing time) for space to become available on the timer queue if the
-  * queue is found to be full.
-  *
-  * @return pdPASS is returned if the message was successfully sent to the
-  * timer daemon task, otherwise pdFALSE is returned.
-  *
-  */
-BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+/**
+ * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+ *                                    void *pvParameter1,
+ *                                    uint32_t ulParameter2,
+ *                                    TickType_t xTicksToWait );
+ *
+ *
+ * Used to defer the execution of a function to the RTOS daemon task (the timer
+ * service task, hence this function is implemented in timers.c and is prefixed
+ * with 'Timer').
+ *
+ * @param xFunctionToPend The function to execute from the timer service/
+ * daemon task.  The function must conform to the PendedFunction_t
+ * prototype.
+ *
+ * @param pvParameter1 The value of the callback function's first parameter.
+ * The parameter has a void * type to allow it to be used to pass any type.
+ * For example, unsigned longs can be cast to a void *, or the void * can be
+ * used to point to a structure.
+ *
+ * @param ulParameter2 The value of the callback function's second parameter.
+ *
+ * @param xTicksToWait Calling this function will result in a message being
+ * sent to the timer daemon task on a queue.  xTicksToWait is the amount of
+ * time the calling task should remain in the Blocked state (so not using any
+ * processing time) for space to become available on the timer queue if the
+ * queue is found to be full.
+ *
+ * @return pdPASS is returned if the message was successfully sent to the
+ * timer daemon task, otherwise pdFALSE is returned.
+ *
+ */
+BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+                                   void * pvParameter1,
+                                   uint32_t ulParameter2,
+                                   TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * const char * const pcTimerGetName( TimerHandle_t xTimer );
@@ -1232,7 +1252,7 @@ BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvPar
 const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
- * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload );
+ * void vTimerSetReloadMode( TimerHandle_t xTimer, const BaseType_t xAutoReload );
  *
  * Updates a timer to be either an auto-reload timer, in which case the timer
  * automatically resets itself each time it expires, or a one-shot timer, in
@@ -1240,26 +1260,41 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
  *
  * @param xTimer The handle of the timer being updated.
  *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * @param xAutoReload If xAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the timer's period (see the
  * xTimerPeriodInTicks parameter of the xTimerCreate() API function).  If
- * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
  * enter the dormant state after it expires.
  */
-void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
+void vTimerSetReloadMode( TimerHandle_t xTimer,
+                          const BaseType_t xAutoReload ) PRIVILEGED_FUNCTION;
 
 /**
-* UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
-*
-* Queries a timer to determine if it is an auto-reload timer, in which case the timer
-* automatically resets itself each time it expires, or a one-shot timer, in
-* which case the timer will only expire once unless it is manually restarted.
-*
-* @param xTimer The handle of the timer being queried.
-*
-* @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
-* pdFALSE is returned.
-*/
+ * BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer );
+ *
+ * Queries a timer to determine if it is an auto-reload timer, in which case the timer
+ * automatically resets itself each time it expires, or a one-shot timer, in
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
+ * pdFALSE is returned.
+ */
+BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
+ *
+ * Queries a timer to determine if it is an auto-reload timer, in which case the timer
+ * automatically resets itself each time it expires, or a one-shot timer, in
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
+ * pdFALSE is returned.
+ */
 UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
@@ -1274,36 +1309,95 @@ UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
-* TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
-*
-* Returns the time in ticks at which the timer will expire.  If this is less
-* than the current tick count then the expiry time has overflowed from the
-* current time.
-*
-* @param xTimer The handle of the timer being queried.
-*
-* @return If the timer is running then the time in ticks at which the timer
-* will next expire is returned.  If the timer is not running then the return
-* value is undefined.
-*/
+ * TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
+ *
+ * Returns the time in ticks at which the timer will expire.  If this is less
+ * than the current tick count then the expiry time has overflowed from the
+ * current time.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is running then the time in ticks at which the timer
+ * will next expire is returned.  If the timer is not running then the return
+ * value is undefined.
+ */
 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
+/**
+ * BaseType_t xTimerGetStaticBuffer( TimerHandle_t xTimer,
+ *                                   StaticTimer_t ** ppxTimerBuffer );
+ *
+ * Retrieve pointer to a statically created timer's data structure
+ * buffer. This is the same buffer that is supplied at the time of
+ * creation.
+ *
+ * @param xTimer The timer for which to retrieve the buffer.
+ *
+ * @param ppxTaskBuffer Used to return a pointer to the timers's data
+ * structure buffer.
+ *
+ * @return pdTRUE if the buffer was retrieved, pdFALSE otherwise.
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                      StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
 /*
  * Functions beyond this part are not part of the public API and are intended
  * for use by the kernel only.
  */
 BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xTimerGenericCommand( TimerHandle_t xTimer,
+                                 const BaseType_t xCommandID,
+                                 const TickType_t xOptionalValue,
+                                 BaseType_t * const pxHigherPriorityTaskWoken,
+                                 const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
-#if( configUSE_TRACE_FACILITY == 1 )
-	void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
-	UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vTimerSetTimerNumber( TimerHandle_t xTimer,
+                               UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 #endif
 
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, StackType_t ** ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
+ * @endcode
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Timer Task 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
+ *
+ * @param ppxTimerTaskTCBBuffer   A handle to a statically allocated TCB buffer
+ * @param ppxTimerTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
+ * @param pulTimerTaskStackSize   A pointer to the number of elements that will fit in the allocated stack buffer
+ */
+    void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                         StackType_t ** ppxTimerTaskStackBuffer,
+                                         uint32_t * pulTimerTaskStackSize );
+
+#endif
+
+#if ( configUSE_DAEMON_TASK_STARTUP_HOOK != 0 )
+
+/**
+ *  timers.h
+ * @code{c}
+ * void vApplicationDaemonTaskStartupHook( void );
+ * @endcode
+ *
+ * This hook function is called form the timer task once when the task starts running.
+ */
+    void vApplicationDaemonTaskStartupHook( void );
+
+#endif
+
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 #endif /* TIMERS_H */
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/list.c b/Middlewares/Third_Party/FreeRTOS/Source/list.c
index 7618ee8..6129aff 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/list.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/list.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,180 +21,206 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
 #include 
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
 #include "FreeRTOS.h"
 #include "list.h"
 
+/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
+ * defined for the header files above, but not in this file, in order to
+ * generate the correct privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
+
 /*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
+* PUBLIC LIST API documented in list.h
+*----------------------------------------------------------*/
 
 void vListInitialise( List_t * const pxList )
 {
-	/* The list structure contains a list item which is used to mark the
-	end of the list.  To initialise the list the list end is inserted
-	as the only list entry. */
-	pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd );			/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+    /* The list structure contains a list item which is used to mark the
+     * end of the list.  To initialise the list the list end is inserted
+     * as the only list entry. */
+    pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
-	/* The list end value is the highest possible value in the list to
-	ensure it remains at the end of the list. */
-	pxList->xListEnd.xItemValue = portMAX_DELAY;
+    listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
 
-	/* The list end next and previous pointers point to itself so we know
-	when the list is empty. */
-	pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );	/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
-	pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+    /* The list end value is the highest possible value in the list to
+     * ensure it remains at the end of the list. */
+    pxList->xListEnd.xItemValue = portMAX_DELAY;
 
-	pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
+    /* The list end next and previous pointers point to itself so we know
+     * when the list is empty. */
+    pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );     /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+    pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
-	/* Write known values into the list if
-	configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
-	listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
+    /* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
+    #if ( configUSE_MINI_LIST_ITEM == 0 )
+    {
+        pxList->xListEnd.pvOwner = NULL;
+        pxList->xListEnd.pxContainer = NULL;
+        listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
+    }
+    #endif
+
+    pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
+
+    /* Write known values into the list if
+     * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
+    listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
 }
 /*-----------------------------------------------------------*/
 
 void vListInitialiseItem( ListItem_t * const pxItem )
 {
-	/* Make sure the list item is not recorded as being on a list. */
-	pxItem->pxContainer = NULL;
+    /* Make sure the list item is not recorded as being on a list. */
+    pxItem->pxContainer = NULL;
 
-	/* Write known values into the list item if
-	configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
-	listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
+    /* Write known values into the list item if
+     * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
+    listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
 }
 /*-----------------------------------------------------------*/
 
-void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
+void vListInsertEnd( List_t * const pxList,
+                     ListItem_t * const pxNewListItem )
 {
-ListItem_t * const pxIndex = pxList->pxIndex;
+    ListItem_t * const pxIndex = pxList->pxIndex;
 
-	/* Only effective when configASSERT() is also defined, these tests may catch
-	the list data structures being overwritten in memory.  They will not catch
-	data errors caused by incorrect configuration or use of FreeRTOS. */
-	listTEST_LIST_INTEGRITY( pxList );
-	listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
+    /* Only effective when configASSERT() is also defined, these tests may catch
+     * the list data structures being overwritten in memory.  They will not catch
+     * data errors caused by incorrect configuration or use of FreeRTOS. */
+    listTEST_LIST_INTEGRITY( pxList );
+    listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
 
-	/* Insert a new list item into pxList, but rather than sort the list,
-	makes the new list item the last item to be removed by a call to
-	listGET_OWNER_OF_NEXT_ENTRY(). */
-	pxNewListItem->pxNext = pxIndex;
-	pxNewListItem->pxPrevious = pxIndex->pxPrevious;
+    /* Insert a new list item into pxList, but rather than sort the list,
+     * makes the new list item the last item to be removed by a call to
+     * listGET_OWNER_OF_NEXT_ENTRY(). */
+    pxNewListItem->pxNext = pxIndex;
+    pxNewListItem->pxPrevious = pxIndex->pxPrevious;
 
-	/* Only used during decision coverage testing. */
-	mtCOVERAGE_TEST_DELAY();
+    /* Only used during decision coverage testing. */
+    mtCOVERAGE_TEST_DELAY();
 
-	pxIndex->pxPrevious->pxNext = pxNewListItem;
-	pxIndex->pxPrevious = pxNewListItem;
+    pxIndex->pxPrevious->pxNext = pxNewListItem;
+    pxIndex->pxPrevious = pxNewListItem;
 
-	/* Remember which list the item is in. */
-	pxNewListItem->pxContainer = pxList;
+    /* Remember which list the item is in. */
+    pxNewListItem->pxContainer = pxList;
 
-	( pxList->uxNumberOfItems )++;
+    ( pxList->uxNumberOfItems )++;
 }
 /*-----------------------------------------------------------*/
 
-void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
+void vListInsert( List_t * const pxList,
+                  ListItem_t * const pxNewListItem )
 {
-ListItem_t *pxIterator;
-const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
+    ListItem_t * pxIterator;
+    const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
 
-	/* Only effective when configASSERT() is also defined, these tests may catch
-	the list data structures being overwritten in memory.  They will not catch
-	data errors caused by incorrect configuration or use of FreeRTOS. */
-	listTEST_LIST_INTEGRITY( pxList );
-	listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
+    /* Only effective when configASSERT() is also defined, these tests may catch
+     * the list data structures being overwritten in memory.  They will not catch
+     * data errors caused by incorrect configuration or use of FreeRTOS. */
+    listTEST_LIST_INTEGRITY( pxList );
+    listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
 
-	/* Insert the new list item into the list, sorted in xItemValue order.
+    /* Insert the new list item into the list, sorted in xItemValue order.
+     *
+     * If the list already contains a list item with the same item value then the
+     * new list item should be placed after it.  This ensures that TCBs which are
+     * stored in ready lists (all of which have the same xItemValue value) get a
+     * share of the CPU.  However, if the xItemValue is the same as the back marker
+     * the iteration loop below will not end.  Therefore the value is checked
+     * first, and the algorithm slightly modified if necessary. */
+    if( xValueOfInsertion == portMAX_DELAY )
+    {
+        pxIterator = pxList->xListEnd.pxPrevious;
+    }
+    else
+    {
+        /* *** NOTE ***********************************************************
+        *  If you find your application is crashing here then likely causes are
+        *  listed below.  In addition see https://www.FreeRTOS.org/FAQHelp.html for
+        *  more tips, and ensure configASSERT() is defined!
+        *  https://www.FreeRTOS.org/a00110.html#configASSERT
+        *
+        *   1) Stack overflow -
+        *      see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
+        *   2) Incorrect interrupt priority assignment, especially on Cortex-M
+        *      parts where numerically high priority values denote low actual
+        *      interrupt priorities, which can seem counter intuitive.  See
+        *      https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition
+        *      of configMAX_SYSCALL_INTERRUPT_PRIORITY on
+        *      https://www.FreeRTOS.org/a00110.html
+        *   3) Calling an API function from within a critical section or when
+        *      the scheduler is suspended, or calling an API function that does
+        *      not end in "FromISR" from an interrupt.
+        *   4) Using a queue or semaphore before it has been initialised or
+        *      before the scheduler has been started (are interrupts firing
+        *      before vTaskStartScheduler() has been called?).
+        *   5) If the FreeRTOS port supports interrupt nesting then ensure that
+        *      the priority of the tick interrupt is at or below
+        *      configMAX_SYSCALL_INTERRUPT_PRIORITY.
+        **********************************************************************/
 
-	If the list already contains a list item with the same item value then the
-	new list item should be placed after it.  This ensures that TCBs which are
-	stored in ready lists (all of which have the same xItemValue value) get a
-	share of the CPU.  However, if the xItemValue is the same as the back marker
-	the iteration loop below will not end.  Therefore the value is checked
-	first, and the algorithm slightly modified if necessary. */
-	if( xValueOfInsertion == portMAX_DELAY )
-	{
-		pxIterator = pxList->xListEnd.pxPrevious;
-	}
-	else
-	{
-		/* *** NOTE ***********************************************************
-		If you find your application is crashing here then likely causes are
-		listed below.  In addition see https://www.freertos.org/FAQHelp.html for
-		more tips, and ensure configASSERT() is defined!
-		https://www.freertos.org/a00110.html#configASSERT
+        for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */
+        {
+            /* There is nothing to do here, just iterating to the wanted
+             * insertion position. */
+        }
+    }
 
-			1) Stack overflow -
-			   see https://www.freertos.org/Stacks-and-stack-overflow-checking.html
-			2) Incorrect interrupt priority assignment, especially on Cortex-M
-			   parts where numerically high priority values denote low actual
-			   interrupt priorities, which can seem counter intuitive.  See
-			   https://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
-			   of configMAX_SYSCALL_INTERRUPT_PRIORITY on
-			   https://www.freertos.org/a00110.html
-			3) Calling an API function from within a critical section or when
-			   the scheduler is suspended, or calling an API function that does
-			   not end in "FromISR" from an interrupt.
-			4) Using a queue or semaphore before it has been initialised or
-			   before the scheduler has been started (are interrupts firing
-			   before vTaskStartScheduler() has been called?).
-		**********************************************************************/
+    pxNewListItem->pxNext = pxIterator->pxNext;
+    pxNewListItem->pxNext->pxPrevious = pxNewListItem;
+    pxNewListItem->pxPrevious = pxIterator;
+    pxIterator->pxNext = pxNewListItem;
 
-		for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM.  This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */
-		{
-			/* There is nothing to do here, just iterating to the wanted
-			insertion position. */
-		}
-	}
+    /* Remember which list the item is in.  This allows fast removal of the
+     * item later. */
+    pxNewListItem->pxContainer = pxList;
 
-	pxNewListItem->pxNext = pxIterator->pxNext;
-	pxNewListItem->pxNext->pxPrevious = pxNewListItem;
-	pxNewListItem->pxPrevious = pxIterator;
-	pxIterator->pxNext = pxNewListItem;
-
-	/* Remember which list the item is in.  This allows fast removal of the
-	item later. */
-	pxNewListItem->pxContainer = pxList;
-
-	( pxList->uxNumberOfItems )++;
+    ( pxList->uxNumberOfItems )++;
 }
 /*-----------------------------------------------------------*/
 
 UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
 {
 /* The list item knows which list it is in.  Obtain the list from the list
-item. */
-List_t * const pxList = pxItemToRemove->pxContainer;
+ * item. */
+    List_t * const pxList = pxItemToRemove->pxContainer;
 
-	pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
-	pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
+    pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
+    pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
 
-	/* Only used during decision coverage testing. */
-	mtCOVERAGE_TEST_DELAY();
+    /* Only used during decision coverage testing. */
+    mtCOVERAGE_TEST_DELAY();
 
-	/* Make sure the index is left pointing to a valid item. */
-	if( pxList->pxIndex == pxItemToRemove )
-	{
-		pxList->pxIndex = pxItemToRemove->pxPrevious;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* Make sure the index is left pointing to a valid item. */
+    if( pxList->pxIndex == pxItemToRemove )
+    {
+        pxList->pxIndex = pxItemToRemove->pxPrevious;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	pxItemToRemove->pxContainer = NULL;
-	( pxList->uxNumberOfItems )--;
+    pxItemToRemove->pxContainer = NULL;
+    ( pxList->uxNumberOfItems )--;
 
-	return pxList->uxNumberOfItems;
+    return pxList->uxNumberOfItems;
 }
 /*-----------------------------------------------------------*/
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c
new file mode 100644
index 0000000..f82762d
--- /dev/null
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c
@@ -0,0 +1,5054 @@
+/*
+ * FreeRTOS Kernel V10.6.2
+ * 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
+ *
+ */
+
+/*
+ * Implementation of the wrapper functions used to raise the processor privilege
+ * before calling a standard FreeRTOS API function.
+ */
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Scheduler includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "timers.h"
+#include "event_groups.h"
+#include "stream_buffer.h"
+#include "mpu_prototypes.h"
+#include "mpu_syscall_numbers.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/*-----------------------------------------------------------*/
+
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+
+    #ifndef configPROTECTED_KERNEL_OBJECT_POOL_SIZE
+        #error configPROTECTED_KERNEL_OBJECT_POOL_SIZE must be defined to maximum number of kernel objects in the application.
+    #endif
+
+/**
+ * @brief Offset added to the index before returning to the user.
+ *
+ * If the actual handle is stored at index i, ( i + INDEX_OFFSET )
+ * is returned to the user.
+ */
+    #define INDEX_OFFSET    1
+
+/**
+ * @brief Opaque type for a kernel object.
+ */
+    struct OpaqueObject;
+    typedef struct OpaqueObject * OpaqueObjectHandle_t;
+
+/**
+ * @brief Defines kernel object in the kernel object pool.
+ */
+    typedef struct KernelObject
+    {
+        OpaqueObjectHandle_t xInternalObjectHandle;
+        uint32_t ulKernelObjectType;
+        void * pvKernelObjectData;
+    } KernelObject_t;
+
+/**
+ * @brief Kernel object types.
+ */
+    #define KERNEL_OBJECT_TYPE_INVALID          ( 0UL )
+    #define KERNEL_OBJECT_TYPE_QUEUE            ( 1UL )
+    #define KERNEL_OBJECT_TYPE_TASK             ( 2UL )
+    #define KERNEL_OBJECT_TYPE_STREAM_BUFFER    ( 3UL )
+    #define KERNEL_OBJECT_TYPE_EVENT_GROUP      ( 4UL )
+    #define KERNEL_OBJECT_TYPE_TIMER            ( 5UL )
+
+/**
+ * @brief Checks whether an external index is valid or not.
+ */
+    #define IS_EXTERNAL_INDEX_VALID( lIndex ) \
+    ( ( ( lIndex ) >= INDEX_OFFSET ) &&       \
+      ( ( lIndex ) < ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE + INDEX_OFFSET ) ) )
+
+/**
+ * @brief Checks whether an internal index is valid or not.
+ */
+    #define IS_INTERNAL_INDEX_VALID( lIndex ) \
+    ( ( ( lIndex ) >= 0 ) &&                  \
+      ( ( lIndex ) < ( configPROTECTED_KERNEL_OBJECT_POOL_SIZE ) ) )
+
+/**
+ * @brief Converts an internal index into external.
+ */
+    #define CONVERT_TO_EXTERNAL_INDEX( lIndex )    ( ( lIndex ) + INDEX_OFFSET )
+
+/**
+ * @brief Converts an external index into internal.
+ */
+    #define CONVERT_TO_INTERNAL_INDEX( lIndex )    ( ( lIndex ) - INDEX_OFFSET )
+
+/**
+ * @brief Max value that fits in a uint32_t type.
+ */
+    #define mpuUINT32_MAX    ( ~( ( uint32_t ) 0 ) )
+
+/**
+ * @brief Check if multiplying a and b will result in overflow.
+ */
+    #define mpuMULTIPLY_UINT32_WILL_OVERFLOW( a, b )    ( ( ( a ) > 0 ) && ( ( b ) > ( mpuUINT32_MAX / ( a ) ) ) )
+
+/**
+ * @brief Get the index of a free slot in the kernel object pool.
+ *
+ * If a free slot is found, this function marks the slot as
+ * "not free".
+ *
+ * @return Index of a free slot is returned, if a free slot is
+ *         found. Otherwise -1 is returned.
+ */
+    static int32_t MPU_GetFreeIndexInKernelObjectPool( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Set the given index as free in the kernel object pool.
+ *
+ * @param lIndex The index to set as free.
+ */
+    static void MPU_SetIndexFreeInKernelObjectPool( int32_t lIndex ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Get the index at which a given kernel object is stored.
+ *
+ * @param xHandle The given kernel object handle.
+ * @param ulKernelObjectType The kernel object type.
+ *
+ * @return Index at which the kernel object is stored if it is a valid
+ *         handle, -1 otherwise.
+ */
+    static int32_t MPU_GetIndexForHandle( OpaqueObjectHandle_t xHandle,
+                                          uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Store the given kernel object handle at the given index in
+ *        the kernel object pool.
+ *
+ * @param lIndex Index to store the given handle at.
+ * @param xHandle Kernel object handle to store.
+ * @param pvKernelObjectData The data associated with the kernel object.
+ *        Currently, only used for timer objects to store timer callback.
+ * @param ulKernelObjectType The kernel object type.
+ */
+    static void MPU_StoreHandleAndDataAtIndex( int32_t lIndex,
+                                               OpaqueObjectHandle_t xHandle,
+                                               void * pvKernelObjectData,
+                                               uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
+
+/**
+ * @brief Get the kernel object handle at the given index from
+ *        the kernel object pool.
+ *
+ * @param lIndex Index at which to get the kernel object handle.
+ * @param ulKernelObjectType The kernel object type.
+ *
+ * @return The kernel object handle at the index.
+ */
+    static OpaqueObjectHandle_t MPU_GetHandleAtIndex( int32_t lIndex,
+                                                      uint32_t ulKernelObjectType ) PRIVILEGED_FUNCTION;
+
+    #if ( configUSE_TIMERS == 1 )
+
+/**
+ * @brief The function registered as callback for all the timers.
+ *
+ * We intercept all the timer callbacks so that we can call application
+ * callbacks with opaque handle.
+ *
+ * @param xInternalHandle The internal timer handle.
+ */
+        static void MPU_TimerCallback( TimerHandle_t xInternalHandle ) PRIVILEGED_FUNCTION;
+
+    #endif /* #if ( configUSE_TIMERS == 1 ) */
+
+/*
+ * Wrappers to keep all the casting in one place.
+ */
+    #define MPU_StoreQueueHandleAtIndex( lIndex, xHandle )                 MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_QUEUE )
+    #define MPU_GetQueueHandleAtIndex( lIndex )                            ( QueueHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_QUEUE )
+
+    #if ( configUSE_QUEUE_SETS == 1 )
+        #define MPU_StoreQueueSetHandleAtIndex( lIndex, xHandle )          MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_QUEUE )
+        #define MPU_GetQueueSetHandleAtIndex( lIndex )                     ( QueueSetHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_QUEUE )
+        #define MPU_StoreQueueSetMemberHandleAtIndex( lIndex, xHandle )    MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_QUEUE )
+        #define MPU_GetQueueSetMemberHandleAtIndex( lIndex )               ( QueueSetMemberHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_QUEUE )
+        #define MPU_GetIndexForQueueSetMemberHandle( xHandle )             MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) xHandle, KERNEL_OBJECT_TYPE_QUEUE )
+    #endif
+
+/*
+ * Wrappers to keep all the casting in one place for Task APIs.
+ */
+    #define MPU_StoreTaskHandleAtIndex( lIndex, xHandle )            MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_TASK )
+    #define MPU_GetTaskHandleAtIndex( lIndex )                       ( TaskHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_TASK )
+    #define MPU_GetIndexForTaskHandle( xHandle )                     MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) xHandle, KERNEL_OBJECT_TYPE_TASK )
+
+/*
+ * Wrappers to keep all the casting in one place for Event Group APIs.
+ */
+    #define MPU_StoreEventGroupHandleAtIndex( lIndex, xHandle )      MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_EVENT_GROUP )
+    #define MPU_GetEventGroupHandleAtIndex( lIndex )                 ( EventGroupHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_EVENT_GROUP )
+    #define MPU_GetIndexForEventGroupHandle( xHandle )               MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) xHandle, KERNEL_OBJECT_TYPE_EVENT_GROUP )
+
+/*
+ * Wrappers to keep all the casting in one place for Stream Buffer APIs.
+ */
+    #define MPU_StoreStreamBufferHandleAtIndex( lIndex, xHandle )    MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, NULL, KERNEL_OBJECT_TYPE_STREAM_BUFFER )
+    #define MPU_GetStreamBufferHandleAtIndex( lIndex )               ( StreamBufferHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_STREAM_BUFFER )
+    #define MPU_GetIndexForStreamBufferHandle( xHandle )             MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) xHandle, KERNEL_OBJECT_TYPE_STREAM_BUFFER )
+
+    #if ( configUSE_TIMERS == 1 )
+
+/*
+ * Wrappers to keep all the casting in one place for Timer APIs.
+ */
+        #define MPU_StoreTimerHandleAtIndex( lIndex, xHandle, pxApplicationCallback )    MPU_StoreHandleAndDataAtIndex( lIndex, ( OpaqueObjectHandle_t ) xHandle, ( void * ) pxApplicationCallback, KERNEL_OBJECT_TYPE_TIMER )
+        #define MPU_GetTimerHandleAtIndex( lIndex )                                      ( TimerHandle_t ) MPU_GetHandleAtIndex( lIndex, KERNEL_OBJECT_TYPE_TIMER )
+        #define MPU_GetIndexForTimerHandle( xHandle )                                    MPU_GetIndexForHandle( ( OpaqueObjectHandle_t ) xHandle, KERNEL_OBJECT_TYPE_TIMER )
+
+    #endif /* #if ( configUSE_TIMERS == 1 ) */
+
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Kernel object pool.
+ */
+    PRIVILEGED_DATA static KernelObject_t xKernelObjectPool[ configPROTECTED_KERNEL_OBJECT_POOL_SIZE ] = { NULL };
+/*-----------------------------------------------------------*/
+
+    static int32_t MPU_GetFreeIndexInKernelObjectPool( void ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t i, lFreeIndex = -1;
+
+        /* This function is called only from resource create APIs
+         * which are not supposed to be called from ISRs. Therefore,
+         * we only need to suspend the scheduler and do not require
+         * critical section. */
+        vTaskSuspendAll();
+        {
+            for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
+            {
+                if( xKernelObjectPool[ i ].xInternalObjectHandle == NULL )
+                {
+                    /* Mark this index as not free. */
+                    xKernelObjectPool[ i ].xInternalObjectHandle = ( OpaqueObjectHandle_t ) ( ~0 );
+                    lFreeIndex = i;
+                    break;
+                }
+            }
+        }
+        xTaskResumeAll();
+
+        return lFreeIndex;
+    }
+/*-----------------------------------------------------------*/
+
+    static void MPU_SetIndexFreeInKernelObjectPool( int32_t lIndex ) /* PRIVILEGED_FUNCTION */
+    {
+        configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
+
+        taskENTER_CRITICAL();
+        {
+            xKernelObjectPool[ lIndex ].xInternalObjectHandle = NULL;
+            xKernelObjectPool[ lIndex ].ulKernelObjectType = KERNEL_OBJECT_TYPE_INVALID;
+            xKernelObjectPool[ lIndex ].pvKernelObjectData = NULL;
+        }
+        taskEXIT_CRITICAL();
+    }
+/*-----------------------------------------------------------*/
+
+    static int32_t MPU_GetIndexForHandle( OpaqueObjectHandle_t xHandle,
+                                          uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t i, lIndex = -1;
+
+        configASSERT( xHandle != NULL );
+
+        for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
+        {
+            if( ( xKernelObjectPool[ i ].xInternalObjectHandle == xHandle ) &&
+                ( xKernelObjectPool[ i ].ulKernelObjectType == ulKernelObjectType ) )
+            {
+                lIndex = i;
+                break;
+            }
+        }
+
+        return lIndex;
+    }
+/*-----------------------------------------------------------*/
+
+    static void MPU_StoreHandleAndDataAtIndex( int32_t lIndex,
+                                               OpaqueObjectHandle_t xHandle,
+                                               void * pvKernelObjectData,
+                                               uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
+    {
+        configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
+        xKernelObjectPool[ lIndex ].xInternalObjectHandle = xHandle;
+        xKernelObjectPool[ lIndex ].ulKernelObjectType = ulKernelObjectType;
+        xKernelObjectPool[ lIndex ].pvKernelObjectData = pvKernelObjectData;
+    }
+/*-----------------------------------------------------------*/
+
+    static OpaqueObjectHandle_t MPU_GetHandleAtIndex( int32_t lIndex,
+                                                      uint32_t ulKernelObjectType ) /* PRIVILEGED_FUNCTION */
+    {
+        OpaqueObjectHandle_t xObjectHandle = NULL;
+
+        configASSERT( IS_INTERNAL_INDEX_VALID( lIndex ) != pdFALSE );
+
+        if( xKernelObjectPool[ lIndex ].ulKernelObjectType == ulKernelObjectType )
+        {
+            xObjectHandle = xKernelObjectPool[ lIndex ].xInternalObjectHandle;
+        }
+
+        return xObjectHandle;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        void vGrantAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
+                                         int32_t lExternalKernelObjectHandle ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lExternalTaskIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( IS_EXTERNAL_INDEX_VALID( lExternalKernelObjectHandle ) != pdFALSE )
+            {
+                if( xExternalTaskHandle == NULL )
+                {
+                    vPortGrantAccessToKernelObject( xExternalTaskHandle, CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
+                }
+                else
+                {
+                    lExternalTaskIndex = ( int32_t ) xExternalTaskHandle;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lExternalTaskIndex ) != pdFALSE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lExternalTaskIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            vPortGrantAccessToKernelObject( xInternalTaskHandle,
+                                                            CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+
+        void vRevokeAccessToKernelObject( TaskHandle_t xExternalTaskHandle,
+                                          int32_t lExternalKernelObjectHandle ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lExternalTaskIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( IS_EXTERNAL_INDEX_VALID( lExternalKernelObjectHandle ) != pdFALSE )
+            {
+                if( xExternalTaskHandle == NULL )
+                {
+                    vPortRevokeAccessToKernelObject( xExternalTaskHandle, CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
+                }
+                else
+                {
+                    lExternalTaskIndex = ( int32_t ) xExternalTaskHandle;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lExternalTaskIndex ) != pdFALSE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lExternalTaskIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            vPortRevokeAccessToKernelObject( xInternalTaskHandle,
+                                                             CONVERT_TO_INTERNAL_INDEX( lExternalKernelObjectHandle ) );
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        static void MPU_TimerCallback( TimerHandle_t xInternalHandle ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t i, lIndex = -1;
+            TimerHandle_t xExternalHandle = NULL;
+            TimerCallbackFunction_t pxApplicationCallBack = NULL;
+
+            /* Coming from the timer task and therefore, should be valid. */
+            configASSERT( xInternalHandle != NULL );
+
+            for( i = 0; i < configPROTECTED_KERNEL_OBJECT_POOL_SIZE; i++ )
+            {
+                if( ( ( TimerHandle_t ) xKernelObjectPool[ i ].xInternalObjectHandle == xInternalHandle ) &&
+                    ( xKernelObjectPool[ i ].ulKernelObjectType == KERNEL_OBJECT_TYPE_TIMER ) )
+                {
+                    lIndex = i;
+                    break;
+                }
+            }
+
+            configASSERT( lIndex != -1 );
+            xExternalHandle = ( TimerHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+
+            pxApplicationCallBack = ( TimerCallbackFunction_t ) xKernelObjectPool[ lIndex ].pvKernelObjectData;
+            pxApplicationCallBack( xExternalHandle );
+        }
+
+    #endif /* #if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/*            MPU wrappers for tasks APIs.                   */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_xTaskDelayUntil == 1 )
+
+        BaseType_t MPU_xTaskDelayUntilImpl( TickType_t * const pxPreviousWakeTime,
+                                            TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskDelayUntilImpl( TickType_t * const pxPreviousWakeTime,
+                                            TickType_t xTimeIncrement ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            BaseType_t xIsPreviousWakeTimeAccessible = pdFALSE;
+
+            if( ( pxPreviousWakeTime != NULL ) && ( xTimeIncrement > 0U ) )
+            {
+                xIsPreviousWakeTimeAccessible = xPortIsAuthorizedToAccessBuffer( pxPreviousWakeTime,
+                                                                                 sizeof( TickType_t ),
+                                                                                 ( tskMPU_WRITE_PERMISSION | tskMPU_READ_PERMISSION ) );
+
+                if( xIsPreviousWakeTimeAccessible == pdTRUE )
+                {
+                    xReturn = xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( INCLUDE_xTaskDelayUntil == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_xTaskAbortDelay == 1 )
+
+        BaseType_t MPU_xTaskAbortDelayImpl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskAbortDelayImpl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xTask;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        xReturn = xTaskAbortDelay( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( INCLUDE_xTaskAbortDelay == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_vTaskDelay == 1 )
+
+        void MPU_vTaskDelayImpl( TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskDelayImpl( TickType_t xTicksToDelay ) /* PRIVILEGED_FUNCTION */
+        {
+            vTaskDelay( xTicksToDelay );
+        }
+
+    #endif /* if ( INCLUDE_vTaskDelay == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+        UBaseType_t MPU_uxTaskPriorityGetImpl( const TaskHandle_t pxTask ) PRIVILEGED_FUNCTION;
+
+        UBaseType_t MPU_uxTaskPriorityGetImpl( const TaskHandle_t pxTask ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = configMAX_PRIORITIES;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( pxTask == NULL )
+            {
+                uxReturn = uxTaskPriorityGet( pxTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) pxTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            uxReturn = uxTaskPriorityGet( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* if ( INCLUDE_uxTaskPriorityGet == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_eTaskGetState == 1 )
+
+        eTaskState MPU_eTaskGetStateImpl( TaskHandle_t pxTask ) PRIVILEGED_FUNCTION;
+
+        eTaskState MPU_eTaskGetStateImpl( TaskHandle_t pxTask ) /* PRIVILEGED_FUNCTION */
+        {
+            eTaskState eReturn = eInvalid;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            lIndex = ( int32_t ) pxTask;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        eReturn = eTaskGetState( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return eReturn;
+        }
+
+    #endif /* if ( INCLUDE_eTaskGetState == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        void MPU_vTaskGetInfoImpl( TaskHandle_t xTask,
+                                   TaskStatus_t * pxTaskStatus,
+                                   BaseType_t xGetFreeStackSpace,
+                                   eTaskState eState ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskGetInfoImpl( TaskHandle_t xTask,
+                                   TaskStatus_t * pxTaskStatus,
+                                   BaseType_t xGetFreeStackSpace,
+                                   eTaskState eState ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xIsTaskStatusWriteable = pdFALSE;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            xIsTaskStatusWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatus,
+                                                                      sizeof( TaskStatus_t ),
+                                                                      tskMPU_WRITE_PERMISSION );
+
+            if( xIsTaskStatusWriteable == pdTRUE )
+            {
+                if( xTask == NULL )
+                {
+                    vTaskGetInfo( xTask, pxTaskStatus, xGetFreeStackSpace, eState );
+                }
+                else
+                {
+                    lIndex = ( int32_t ) xTask;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                    {
+                        xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                        {
+                            xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xInternalTaskHandle != NULL )
+                            {
+                                vTaskGetInfo( xInternalTaskHandle, pxTaskStatus, xGetFreeStackSpace, eState );
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( configUSE_TRACE_FACILITY == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+
+        TaskHandle_t MPU_xTaskGetIdleTaskHandleImpl( void ) PRIVILEGED_FUNCTION;
+
+        TaskHandle_t MPU_xTaskGetIdleTaskHandleImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xIdleTaskHandle = NULL;
+
+            xIdleTaskHandle = xTaskGetIdleTaskHandle();
+
+            return xIdleTaskHandle;
+        }
+
+    #endif /* if ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_vTaskSuspend == 1 )
+
+        void MPU_vTaskSuspendImpl( TaskHandle_t pxTaskToSuspend ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskSuspendImpl( TaskHandle_t pxTaskToSuspend ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( pxTaskToSuspend == NULL )
+            {
+                vTaskSuspend( pxTaskToSuspend );
+            }
+            else
+            {
+                /* After the scheduler starts, only privileged tasks are allowed
+                 * to suspend other tasks. */
+                #if ( INCLUDE_xTaskGetSchedulerState == 1 )
+                    if( ( xTaskGetSchedulerState() == taskSCHEDULER_NOT_STARTED ) || ( portIS_TASK_PRIVILEGED() == pdTRUE ) )
+                #else
+                    if( portIS_TASK_PRIVILEGED() == pdTRUE )
+                #endif
+                {
+                    lIndex = ( int32_t ) pxTaskToSuspend;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                    {
+                        xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                        {
+                            xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xInternalTaskHandle != NULL )
+                            {
+                                vTaskSuspend( xInternalTaskHandle );
+                            }
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_vTaskSuspend == 1 )
+
+        void MPU_vTaskResumeImpl( TaskHandle_t pxTaskToResume ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskResumeImpl( TaskHandle_t pxTaskToResume ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            lIndex = ( int32_t ) pxTaskToResume;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        vTaskResume( xInternalTaskHandle );
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
+/*-----------------------------------------------------------*/
+
+    TickType_t MPU_xTaskGetTickCountImpl( void ) PRIVILEGED_FUNCTION;
+
+    TickType_t MPU_xTaskGetTickCountImpl( void ) /* PRIVILEGED_FUNCTION */
+    {
+        TickType_t xReturn;
+
+        xReturn = xTaskGetTickCount();
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    UBaseType_t MPU_uxTaskGetNumberOfTasksImpl( void ) PRIVILEGED_FUNCTION;
+
+    UBaseType_t MPU_uxTaskGetNumberOfTasksImpl( void ) /* PRIVILEGED_FUNCTION */
+    {
+        UBaseType_t uxReturn;
+
+        uxReturn = uxTaskGetNumberOfTasks();
+
+        return uxReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    char * MPU_pcTaskGetNameImpl( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;
+
+    char * MPU_pcTaskGetNameImpl( TaskHandle_t xTaskToQuery ) /* PRIVILEGED_FUNCTION */
+    {
+        char * pcReturn = NULL;
+        int32_t lIndex;
+        TaskHandle_t xInternalTaskHandle = NULL;
+
+        if( xTaskToQuery == NULL )
+        {
+            pcReturn = pcTaskGetName( xTaskToQuery );
+        }
+        else
+        {
+            lIndex = ( int32_t ) xTaskToQuery;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    pcReturn = pcTaskGetName( xInternalTaskHandle );
+                }
+            }
+        }
+
+        return pcReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounterImpl( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounterImpl( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            configRUN_TIME_COUNTER_TYPE xReturn = 0;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                xReturn = ulTaskGetRunTimeCounter( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            xReturn = ulTaskGetRunTimeCounter( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercentImpl( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercentImpl( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            configRUN_TIME_COUNTER_TYPE xReturn = 0;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                xReturn = ulTaskGetRunTimePercent( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            xReturn = ulTaskGetRunTimePercent( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercentImpl( void ) PRIVILEGED_FUNCTION;
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercentImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            configRUN_TIME_COUNTER_TYPE xReturn;
+
+            xReturn = ulTaskGetIdleRunTimePercent();
+
+            return xReturn;
+        }
+
+    #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounterImpl( void ) PRIVILEGED_FUNCTION;
+
+        configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounterImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            configRUN_TIME_COUNTER_TYPE xReturn;
+
+            xReturn = ulTaskGetIdleRunTimeCounter();
+
+            return xReturn;
+        }
+
+    #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+        void MPU_vTaskSetApplicationTaskTagImpl( TaskHandle_t xTask,
+                                                 TaskHookFunction_t pxTagValue ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskSetApplicationTaskTagImpl( TaskHandle_t xTask,
+                                                 TaskHookFunction_t pxTagValue ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                vTaskSetApplicationTaskTag( xTask, pxTagValue );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            vTaskSetApplicationTaskTag( xInternalTaskHandle, pxTagValue );
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+        TaskHookFunction_t MPU_xTaskGetApplicationTaskTagImpl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        TaskHookFunction_t MPU_xTaskGetApplicationTaskTagImpl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHookFunction_t xReturn = NULL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                xReturn = xTaskGetApplicationTaskTag( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            xReturn = xTaskGetApplicationTaskTag( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+        void MPU_vTaskSetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToSet,
+                                                        BaseType_t xIndex,
+                                                        void * pvValue ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTaskSetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToSet,
+                                                        BaseType_t xIndex,
+                                                        void * pvValue ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTaskToSet == NULL )
+            {
+                vTaskSetThreadLocalStoragePointer( xTaskToSet, xIndex, pvValue );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTaskToSet;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            vTaskSetThreadLocalStoragePointer( xInternalTaskHandle, xIndex, pvValue );
+                        }
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+
+        void * MPU_pvTaskGetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToQuery,
+                                                           BaseType_t xIndex ) PRIVILEGED_FUNCTION;
+
+        void * MPU_pvTaskGetThreadLocalStoragePointerImpl( TaskHandle_t xTaskToQuery,
+                                                           BaseType_t xIndex ) /* PRIVILEGED_FUNCTION */
+        {
+            void * pvReturn = NULL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTaskToQuery == NULL )
+            {
+                pvReturn = pvTaskGetThreadLocalStoragePointer( xTaskToQuery, xIndex );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTaskToQuery;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            pvReturn = pvTaskGetThreadLocalStoragePointer( xInternalTaskHandle, xIndex );
+                        }
+                    }
+                }
+            }
+
+            return pvReturn;
+        }
+
+    #endif /* if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        UBaseType_t MPU_uxTaskGetSystemStateImpl( TaskStatus_t * pxTaskStatusArray,
+                                                  UBaseType_t uxArraySize,
+                                                  configRUN_TIME_COUNTER_TYPE * pulTotalRunTime ) PRIVILEGED_FUNCTION;
+
+        UBaseType_t MPU_uxTaskGetSystemStateImpl( TaskStatus_t * pxTaskStatusArray,
+                                                  UBaseType_t uxArraySize,
+                                                  configRUN_TIME_COUNTER_TYPE * pulTotalRunTime ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = 0;
+            UBaseType_t xIsTaskStatusArrayWriteable = pdFALSE;
+            UBaseType_t xIsTotalRunTimeWriteable = pdFALSE;
+            uint32_t ulArraySize = ( uint32_t ) uxArraySize;
+            uint32_t ulTaskStatusSize = ( uint32_t ) sizeof( TaskStatus_t );
+
+            if( mpuMULTIPLY_UINT32_WILL_OVERFLOW( ulTaskStatusSize, ulArraySize ) == 0 )
+            {
+                xIsTaskStatusArrayWriteable = xPortIsAuthorizedToAccessBuffer( pxTaskStatusArray,
+                                                                               ulTaskStatusSize * ulArraySize,
+                                                                               tskMPU_WRITE_PERMISSION );
+
+                if( pulTotalRunTime != NULL )
+                {
+                    xIsTotalRunTimeWriteable = xPortIsAuthorizedToAccessBuffer( pulTotalRunTime,
+                                                                                sizeof( configRUN_TIME_COUNTER_TYPE ),
+                                                                                tskMPU_WRITE_PERMISSION );
+                }
+
+                if( ( xIsTaskStatusArrayWriteable == pdTRUE ) &&
+                    ( ( pulTotalRunTime == NULL ) || ( xIsTotalRunTimeWriteable == pdTRUE ) ) )
+                {
+                    uxReturn = uxTaskGetSystemState( pxTaskStatusArray, ( UBaseType_t ) ulArraySize, pulTotalRunTime );
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* if ( configUSE_TRACE_FACILITY == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+        UBaseType_t MPU_uxTaskGetStackHighWaterMarkImpl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        UBaseType_t MPU_uxTaskGetStackHighWaterMarkImpl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = 0;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                uxReturn = uxTaskGetStackHighWaterMark( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            uxReturn = uxTaskGetStackHighWaterMark( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
+
+        configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2Impl( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+        configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2Impl( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            configSTACK_DEPTH_TYPE uxReturn = 0;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                uxReturn = uxTaskGetStackHighWaterMark2( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                    {
+                        xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalTaskHandle != NULL )
+                        {
+                            uxReturn = uxTaskGetStackHighWaterMark2( xInternalTaskHandle );
+                        }
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+
+        TaskHandle_t MPU_xTaskGetCurrentTaskHandleImpl( void ) PRIVILEGED_FUNCTION;
+
+        TaskHandle_t MPU_xTaskGetCurrentTaskHandleImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            TaskHandle_t xExternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            xInternalTaskHandle = xTaskGetCurrentTaskHandle();
+
+            if( xInternalTaskHandle != NULL )
+            {
+                lIndex = MPU_GetIndexForTaskHandle( xInternalTaskHandle );
+
+                if( lIndex != -1 )
+                {
+                    xExternalTaskHandle = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+            }
+
+            return xExternalTaskHandle;
+        }
+
+    #endif /* if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_xTaskGetSchedulerState == 1 )
+
+        BaseType_t MPU_xTaskGetSchedulerStateImpl( void ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskGetSchedulerStateImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = taskSCHEDULER_NOT_STARTED;
+
+            xReturn = xTaskGetSchedulerState();
+
+            return xReturn;
+        }
+
+    #endif /* if ( INCLUDE_xTaskGetSchedulerState == 1 ) */
+/*-----------------------------------------------------------*/
+
+    void MPU_vTaskSetTimeOutStateImpl( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
+
+    void MPU_vTaskSetTimeOutStateImpl( TimeOut_t * const pxTimeOut ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xIsTimeOutWriteable = pdFALSE;
+
+        if( pxTimeOut != NULL )
+        {
+            xIsTimeOutWriteable = xPortIsAuthorizedToAccessBuffer( pxTimeOut,
+                                                                   sizeof( TimeOut_t ),
+                                                                   tskMPU_WRITE_PERMISSION );
+
+            if( xIsTimeOutWriteable == pdTRUE )
+            {
+                vTaskSetTimeOutState( pxTimeOut );
+            }
+        }
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xTaskCheckForTimeOutImpl( TimeOut_t * const pxTimeOut,
+                                             TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xTaskCheckForTimeOutImpl( TimeOut_t * const pxTimeOut,
+                                             TickType_t * const pxTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        BaseType_t xIsTimeOutWriteable = pdFALSE;
+        BaseType_t xIsTicksToWaitWriteable = pdFALSE;
+
+        if( ( pxTimeOut != NULL ) && ( pxTicksToWait != NULL ) )
+        {
+            xIsTimeOutWriteable = xPortIsAuthorizedToAccessBuffer( pxTimeOut,
+                                                                   sizeof( TimeOut_t ),
+                                                                   tskMPU_WRITE_PERMISSION );
+            xIsTicksToWaitWriteable = xPortIsAuthorizedToAccessBuffer( pxTicksToWait,
+                                                                       sizeof( TickType_t ),
+                                                                       tskMPU_WRITE_PERMISSION );
+
+            if( ( xIsTimeOutWriteable == pdTRUE ) && ( xIsTicksToWaitWriteable == pdTRUE ) )
+            {
+                xReturn = xTaskCheckForTimeOut( pxTimeOut, pxTicksToWait );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
+                                           UBaseType_t uxIndexToNotify,
+                                           uint32_t ulValue,
+                                           eNotifyAction eAction,
+                                           uint32_t * pulPreviousNotificationValue ) /* FREERTOS_SYSTEM_CALL */
+        {
+            BaseType_t xReturn = pdFAIL;
+            xTaskGenericNotifyParams_t xParams;
+
+            xParams.xTaskToNotify = xTaskToNotify;
+            xParams.uxIndexToNotify = uxIndexToNotify;
+            xParams.ulValue = ulValue;
+            xParams.eAction = eAction;
+            xParams.pulPreviousNotificationValue = pulPreviousNotificationValue;
+
+            xReturn = MPU_xTaskGenericNotifyEntry( &( xParams ) );
+
+            return xReturn;
+        }
+
+        BaseType_t MPU_xTaskGenericNotifyImpl( const xTaskGenericNotifyParams_t * pxParams ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskGenericNotifyImpl( const xTaskGenericNotifyParams_t * pxParams ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xIsPreviousNotificationValueWriteable = pdFALSE;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+            BaseType_t xAreParamsReadable = pdFALSE;
+
+            if( pxParams != NULL )
+            {
+                xAreParamsReadable = xPortIsAuthorizedToAccessBuffer( pxParams,
+                                                                      sizeof( xTaskGenericNotifyParams_t ),
+                                                                      tskMPU_READ_PERMISSION );
+            }
+
+            if( xAreParamsReadable == pdTRUE )
+            {
+                if( ( pxParams->uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES ) &&
+                    ( ( pxParams->eAction == eNoAction ) ||
+                      ( pxParams->eAction == eSetBits ) ||
+                      ( pxParams->eAction == eIncrement ) ||
+                      ( pxParams->eAction == eSetValueWithOverwrite ) ||
+                      ( pxParams->eAction == eSetValueWithoutOverwrite ) ) )
+                {
+                    if( pxParams->pulPreviousNotificationValue != NULL )
+                    {
+                        xIsPreviousNotificationValueWriteable = xPortIsAuthorizedToAccessBuffer( pxParams->pulPreviousNotificationValue,
+                                                                                                 sizeof( uint32_t ),
+                                                                                                 tskMPU_WRITE_PERMISSION );
+                    }
+
+                    if( ( pxParams->pulPreviousNotificationValue == NULL ) ||
+                        ( xIsPreviousNotificationValueWriteable == pdTRUE ) )
+                    {
+                        lIndex = ( int32_t ) ( pxParams->xTaskToNotify );
+
+                        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                        {
+                            xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                            {
+                                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                                if( xInternalTaskHandle != NULL )
+                                {
+                                    xReturn = xTaskGenericNotify( xInternalTaskHandle,
+                                                                  pxParams->uxIndexToNotify,
+                                                                  pxParams->ulValue,
+                                                                  pxParams->eAction,
+                                                                  pxParams->pulPreviousNotificationValue );
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
+                                               uint32_t ulBitsToClearOnEntry,
+                                               uint32_t ulBitsToClearOnExit,
+                                               uint32_t * pulNotificationValue,
+                                               TickType_t xTicksToWait )
+        {
+            BaseType_t xReturn = pdFAIL;
+            xTaskGenericNotifyWaitParams_t xParams;
+
+            xParams.uxIndexToWaitOn = uxIndexToWaitOn;
+            xParams.ulBitsToClearOnEntry = ulBitsToClearOnEntry;
+            xParams.ulBitsToClearOnExit = ulBitsToClearOnExit;
+            xParams.pulNotificationValue = pulNotificationValue;
+            xParams.xTicksToWait = xTicksToWait;
+
+            xReturn = MPU_xTaskGenericNotifyWaitEntry( &( xParams ) );
+
+            return xReturn;
+        }
+
+        BaseType_t MPU_xTaskGenericNotifyWaitImpl( const xTaskGenericNotifyWaitParams_t * pxParams ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskGenericNotifyWaitImpl( const xTaskGenericNotifyWaitParams_t * pxParams ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            BaseType_t xIsNotificationValueWritable = pdFALSE;
+            BaseType_t xAreParamsReadable = pdFALSE;
+
+            if( pxParams != NULL )
+            {
+                xAreParamsReadable = xPortIsAuthorizedToAccessBuffer( pxParams,
+                                                                      sizeof( xTaskGenericNotifyWaitParams_t ),
+                                                                      tskMPU_READ_PERMISSION );
+            }
+
+            if( xAreParamsReadable == pdTRUE )
+            {
+                if( pxParams->uxIndexToWaitOn < configTASK_NOTIFICATION_ARRAY_ENTRIES )
+                {
+                    if( pxParams->pulNotificationValue != NULL )
+                    {
+                        xIsNotificationValueWritable = xPortIsAuthorizedToAccessBuffer( pxParams->pulNotificationValue,
+                                                                                        sizeof( uint32_t ),
+                                                                                        tskMPU_WRITE_PERMISSION );
+                    }
+
+                    if( ( pxParams->pulNotificationValue == NULL ) ||
+                        ( xIsNotificationValueWritable == pdTRUE ) )
+                    {
+                        xReturn = xTaskGenericNotifyWait( pxParams->uxIndexToWaitOn,
+                                                          pxParams->ulBitsToClearOnEntry,
+                                                          pxParams->ulBitsToClearOnExit,
+                                                          pxParams->pulNotificationValue,
+                                                          pxParams->xTicksToWait );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        uint32_t MPU_ulTaskGenericNotifyTakeImpl( UBaseType_t uxIndexToWaitOn,
+                                                  BaseType_t xClearCountOnExit,
+                                                  TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+        uint32_t MPU_ulTaskGenericNotifyTakeImpl( UBaseType_t uxIndexToWaitOn,
+                                                  BaseType_t xClearCountOnExit,
+                                                  TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulReturn = 0;
+
+            if( uxIndexToWaitOn < configTASK_NOTIFICATION_ARRAY_ENTRIES )
+            {
+                ulReturn = ulTaskGenericNotifyTake( uxIndexToWaitOn, xClearCountOnExit, xTicksToWait );
+            }
+
+            return ulReturn;
+        }
+
+    #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        BaseType_t MPU_xTaskGenericNotifyStateClearImpl( TaskHandle_t xTask,
+                                                         UBaseType_t uxIndexToClear ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTaskGenericNotifyStateClearImpl( TaskHandle_t xTask,
+                                                         UBaseType_t uxIndexToClear ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES )
+            {
+                if( xTask == NULL )
+                {
+                    xReturn = xTaskGenericNotifyStateClear( xTask, uxIndexToClear );
+                }
+                else
+                {
+                    lIndex = ( int32_t ) xTask;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                    {
+                        xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                        {
+                            xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xInternalTaskHandle != NULL )
+                            {
+                                xReturn = xTaskGenericNotifyStateClear( xInternalTaskHandle, uxIndexToClear );
+                            }
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        uint32_t MPU_ulTaskGenericNotifyValueClearImpl( TaskHandle_t xTask,
+                                                        UBaseType_t uxIndexToClear,
+                                                        uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
+
+        uint32_t MPU_ulTaskGenericNotifyValueClearImpl( TaskHandle_t xTask,
+                                                        UBaseType_t uxIndexToClear,
+                                                        uint32_t ulBitsToClear ) /* PRIVILEGED_FUNCTION */
+        {
+            uint32_t ulReturn = 0;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTask = pdFALSE;
+
+            if( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES )
+            {
+                if( xTask == NULL )
+                {
+                    ulReturn = ulTaskGenericNotifyValueClear( xTask, uxIndexToClear, ulBitsToClear );
+                }
+                else
+                {
+                    lIndex = ( int32_t ) xTask;
+
+                    if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                    {
+                        xCallingTaskIsAuthorizedToAccessTask = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xCallingTaskIsAuthorizedToAccessTask == pdTRUE )
+                        {
+                            xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xInternalTaskHandle != NULL )
+                            {
+                                ulReturn = ulTaskGenericNotifyValueClear( xInternalTaskHandle, uxIndexToClear, ulBitsToClear );
+                            }
+                        }
+                    }
+                }
+            }
+
+            return ulReturn;
+        }
+
+    #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*-----------------------------------------------------------*/
+
+/* Privileged only wrappers for Task APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xTaskCreate( TaskFunction_t pvTaskCode,
+                                    const char * const pcName,
+                                    uint16_t usStackDepth,
+                                    void * pvParameters,
+                                    UBaseType_t uxPriority,
+                                    TaskHandle_t * pxCreatedTask ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                /* xTaskCreate() can only be used to create privileged tasks in MPU port. */
+                if( ( uxPriority & portPRIVILEGE_BIT ) != 0 )
+                {
+                    xReturn = xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, &( xInternalTaskHandle ) );
+
+                    if( ( xReturn == pdPASS ) && ( xInternalTaskHandle != NULL ) )
+                    {
+                        MPU_StoreTaskHandleAtIndex( lIndex, xInternalTaskHandle );
+
+                        if( pxCreatedTask != NULL )
+                        {
+                            *pxCreatedTask = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                        }
+                    }
+                    else
+                    {
+                        MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                            const char * const pcName,
+                                            const uint32_t ulStackDepth,
+                                            void * const pvParameters,
+                                            UBaseType_t uxPriority,
+                                            StackType_t * const puxStackBuffer,
+                                            StaticTask_t * const pxTaskBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xExternalTaskHandle = NULL;
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalTaskHandle = xTaskCreateStatic( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    MPU_StoreTaskHandleAtIndex( lIndex, xInternalTaskHandle );
+
+                    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                    {
+                        /* By default, an unprivileged task has access to itself. */
+                        if( ( uxPriority & portPRIVILEGE_BIT ) == 0 )
+                        {
+                            vPortGrantAccessToKernelObject( xInternalTaskHandle, lIndex );
+                        }
+                    }
+                    #endif
+
+                    xExternalTaskHandle = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalTaskHandle;
+        }
+
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_vTaskDelete == 1 )
+
+        void MPU_vTaskDelete( TaskHandle_t pxTaskToDelete ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            if( pxTaskToDelete == NULL )
+            {
+                xInternalTaskHandle = xTaskGetCurrentTaskHandle();
+                lIndex = MPU_GetIndexForTaskHandle( xInternalTaskHandle );
+
+                vTaskDelete( xInternalTaskHandle );
+
+                if( lIndex != -1 )
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+            else
+            {
+                lIndex = ( int32_t ) pxTaskToDelete;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        vTaskDelete( xInternalTaskHandle );
+                        MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+                    }
+                }
+            }
+        }
+
+    #endif /* #if ( INCLUDE_vTaskDelete == 1 ) */
+/*-----------------------------------------------------------*/
+
+
+    #if ( INCLUDE_vTaskPrioritySet == 1 )
+
+        void MPU_vTaskPrioritySet( TaskHandle_t pxTask,
+                                   UBaseType_t uxNewPriority ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            if( pxTask == NULL )
+            {
+                vTaskPrioritySet( pxTask, uxNewPriority );
+            }
+            else
+            {
+                lIndex = ( int32_t ) pxTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        vTaskPrioritySet( xInternalTaskHandle, uxNewPriority );
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( INCLUDE_vTaskPrioritySet == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_xTaskGetHandle == 1 )
+
+        TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            TaskHandle_t xExternalTaskHandle = NULL;
+            int32_t lIndex;
+
+            xInternalTaskHandle = xTaskGetHandle( pcNameToQuery );
+
+            if( xInternalTaskHandle != NULL )
+            {
+                lIndex = MPU_GetIndexForTaskHandle( xInternalTaskHandle );
+
+                if( lIndex != -1 )
+                {
+                    xExternalTaskHandle = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+            }
+
+            return xExternalTaskHandle;
+        }
+
+    #endif /* if ( INCLUDE_xTaskGetHandle == 1 ) */
+/*-----------------------------------------------------------*/
+
+
+    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+        BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                                     void * pvParameter ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( xTask == NULL )
+            {
+                xReturn = xTaskCallApplicationTaskHook( xTask, pvParameter );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        xReturn = xTaskCallApplicationTaskHook( xInternalTaskHandle, pvParameter );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+                                              TaskHandle_t * pxCreatedTask ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xReturn = xTaskCreateRestricted( pxTaskDefinition, &( xInternalTaskHandle ) );
+
+                if( ( xReturn == pdPASS ) && ( xInternalTaskHandle != NULL ) )
+                {
+                    MPU_StoreTaskHandleAtIndex( lIndex, xInternalTaskHandle );
+
+                    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                    {
+                        /* By default, an unprivileged task has access to itself. */
+                        if( ( pxTaskDefinition->uxPriority & portPRIVILEGE_BIT ) == 0 )
+                        {
+                            vPortGrantAccessToKernelObject( xInternalTaskHandle, lIndex );
+                        }
+                    }
+                    #endif
+
+                    if( pxCreatedTask != NULL )
+                    {
+                        *pxCreatedTask = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                    }
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+                                                    TaskHandle_t * pxCreatedTask ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xReturn = xTaskCreateRestrictedStatic( pxTaskDefinition, &( xInternalTaskHandle ) );
+
+                if( ( xReturn == pdPASS ) && ( xInternalTaskHandle != NULL ) )
+                {
+                    MPU_StoreTaskHandleAtIndex( lIndex, xInternalTaskHandle );
+
+                    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )
+                    {
+                        /* By default, an unprivileged task has access to itself. */
+                        if( ( pxTaskDefinition->uxPriority & portPRIVILEGE_BIT ) == 0 )
+                        {
+                            vPortGrantAccessToKernelObject( xInternalTaskHandle, lIndex );
+                        }
+                    }
+                    #endif
+
+                    if( pxCreatedTask != NULL )
+                    {
+                        *pxCreatedTask = ( TaskHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                    }
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    void MPU_vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
+                                      const MemoryRegion_t * const xRegions ) /* PRIVILEGED_FUNCTION */
+    {
+        TaskHandle_t xInternalTaskHandle = NULL;
+        int32_t lIndex;
+
+        if( xTaskToModify == NULL )
+        {
+            vTaskAllocateMPURegions( xTaskToModify, xRegions );
+        }
+        else
+        {
+            lIndex = ( int32_t ) xTaskToModify;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    vTaskAllocateMPURegions( xInternalTaskHandle, xRegions );
+                }
+            }
+        }
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
+                                              StackType_t ** ppuxStackBuffer,
+                                              StaticTask_t ** ppxTaskBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xInternalTaskHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xReturn = pdFALSE;
+
+            if( xTask == NULL )
+            {
+                xInternalTaskHandle = xTaskGetCurrentTaskHandle();
+                xReturn = xTaskGetStaticBuffers( xInternalTaskHandle, ppuxStackBuffer, ppxTaskBuffer );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        xReturn = xTaskGetStaticBuffers( xInternalTaskHandle, ppuxStackBuffer, ppxTaskBuffer );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+        UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = configMAX_PRIORITIES;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( xTask == NULL )
+            {
+                uxReturn = uxTaskPriorityGetFromISR( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        uxReturn = uxTaskPriorityGetFromISR( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* #if ( INCLUDE_uxTaskPriorityGet == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+        BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = ( int32_t ) xTaskToResume;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    xReturn = xTaskResumeFromISR( xInternalTaskHandle );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )*/
+/*---------------------------------------------------------------------------------------*/
+
+    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+        TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHookFunction_t xReturn = NULL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            if( xTask == NULL )
+            {
+                xReturn = xTaskGetApplicationTaskTagFromISR( xTask );
+            }
+            else
+            {
+                lIndex = ( int32_t ) xTask;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTaskHandle != NULL )
+                    {
+                        xReturn = xTaskGetApplicationTaskTagFromISR( xInternalTaskHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* #if ( configUSE_APPLICATION_TASK_TAG == 1 ) */
+/*---------------------------------------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
+                                                  UBaseType_t uxIndexToNotify,
+                                                  uint32_t ulValue,
+                                                  eNotifyAction eAction,
+                                                  uint32_t * pulPreviousNotificationValue,
+                                                  BaseType_t * pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = ( int32_t ) xTaskToNotify;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    xReturn = xTaskGenericNotifyFromISR( xInternalTaskHandle, uxIndexToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* #if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+/*---------------------------------------------------------------------------------------*/
+
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+
+        void MPU_vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
+                                                UBaseType_t uxIndexToNotify,
+                                                BaseType_t * pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            TaskHandle_t xInternalTaskHandle = NULL;
+
+            lIndex = ( int32_t ) xTaskToNotify;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTaskHandle = MPU_GetTaskHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTaskHandle != NULL )
+                {
+                    vTaskGenericNotifyGiveFromISR( xInternalTaskHandle, uxIndexToNotify, pxHigherPriorityTaskWoken );
+                }
+            }
+        }
+    #endif /*#if ( configUSE_TASK_NOTIFICATIONS == 1 )*/
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/*            MPU wrappers for queue APIs.                   */
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueGenericSendImpl( QueueHandle_t xQueue,
+                                          const void * const pvItemToQueue,
+                                          TickType_t xTicksToWait,
+                                          BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xQueueGenericSendImpl( QueueHandle_t xQueue,
+                                          const void * const pvItemToQueue,
+                                          TickType_t xTicksToWait,
+                                          BaseType_t xCopyPosition ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        BaseType_t xReturn = pdFAIL;
+        BaseType_t xIsItemToQueueReadable = pdFALSE;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+        UBaseType_t uxQueueItemSize, uxQueueLength;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxQueueItemSize = uxQueueGetQueueItemSize( xInternalQueueHandle );
+                    uxQueueLength = uxQueueGetQueueLength( xInternalQueueHandle );
+
+                    if( ( !( ( pvItemToQueue == NULL ) && ( uxQueueItemSize != ( UBaseType_t ) 0U ) ) ) &&
+                        ( !( ( xCopyPosition == queueOVERWRITE ) && ( uxQueueLength != ( UBaseType_t ) 1U ) ) )
+                        #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                            && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) )
+                        #endif
+                        )
+                    {
+                        if( pvItemToQueue != NULL )
+                        {
+                            xIsItemToQueueReadable = xPortIsAuthorizedToAccessBuffer( pvItemToQueue,
+                                                                                      uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                      tskMPU_READ_PERMISSION );
+                        }
+
+                        if( ( pvItemToQueue == NULL ) || ( xIsItemToQueueReadable == pdTRUE ) )
+                        {
+                            xReturn = xQueueGenericSend( xInternalQueueHandle, pvItemToQueue, xTicksToWait, xCopyPosition );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    UBaseType_t MPU_uxQueueMessagesWaitingImpl( const QueueHandle_t pxQueue ) PRIVILEGED_FUNCTION;
+
+    UBaseType_t MPU_uxQueueMessagesWaitingImpl( const QueueHandle_t pxQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        UBaseType_t uxReturn = 0;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+        lIndex = ( int32_t ) pxQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxReturn = uxQueueMessagesWaiting( xInternalQueueHandle );
+                }
+            }
+        }
+
+        return uxReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    UBaseType_t MPU_uxQueueSpacesAvailableImpl( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+
+    UBaseType_t MPU_uxQueueSpacesAvailableImpl( const QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        UBaseType_t uxReturn = 0;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxReturn = uxQueueSpacesAvailable( xInternalQueueHandle );
+                }
+            }
+        }
+
+        return uxReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueReceiveImpl( QueueHandle_t pxQueue,
+                                      void * const pvBuffer,
+                                      TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xQueueReceiveImpl( QueueHandle_t pxQueue,
+                                      void * const pvBuffer,
+                                      TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        BaseType_t xReturn = pdFAIL;
+        BaseType_t xIsReceiveBufferWritable = pdFALSE;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+        UBaseType_t uxQueueItemSize;
+
+        lIndex = ( int32_t ) pxQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxQueueItemSize = uxQueueGetQueueItemSize( xInternalQueueHandle );
+
+                    if( ( !( ( ( pvBuffer ) == NULL ) && ( uxQueueItemSize != ( UBaseType_t ) 0U ) ) )
+                        #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                            && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) )
+                        #endif
+                        )
+                    {
+                        xIsReceiveBufferWritable = xPortIsAuthorizedToAccessBuffer( pvBuffer,
+                                                                                    uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                    tskMPU_WRITE_PERMISSION );
+
+                        if( xIsReceiveBufferWritable == pdTRUE )
+                        {
+                            xReturn = xQueueReceive( xInternalQueueHandle, pvBuffer, xTicksToWait );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueuePeekImpl( QueueHandle_t xQueue,
+                                   void * const pvBuffer,
+                                   TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xQueuePeekImpl( QueueHandle_t xQueue,
+                                   void * const pvBuffer,
+                                   TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        BaseType_t xReturn = pdFAIL;
+        BaseType_t xIsReceiveBufferWritable = pdFALSE;
+        UBaseType_t uxQueueItemSize;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxQueueItemSize = uxQueueGetQueueItemSize( xInternalQueueHandle );
+
+                    if( ( !( ( ( pvBuffer ) == NULL ) && ( uxQueueItemSize != ( UBaseType_t ) 0U ) ) )
+                        #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                            && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) )
+                        #endif
+                        )
+                    {
+                        xIsReceiveBufferWritable = xPortIsAuthorizedToAccessBuffer( pvBuffer,
+                                                                                    uxQueueGetQueueItemSize( xInternalQueueHandle ),
+                                                                                    tskMPU_WRITE_PERMISSION );
+
+                        if( xIsReceiveBufferWritable == pdTRUE )
+                        {
+                            xReturn = xQueuePeek( xInternalQueueHandle, pvBuffer, xTicksToWait );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueSemaphoreTakeImpl( QueueHandle_t xQueue,
+                                            TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xQueueSemaphoreTakeImpl( QueueHandle_t xQueue,
+                                            TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        BaseType_t xReturn = pdFAIL;
+        UBaseType_t uxQueueItemSize;
+        BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    uxQueueItemSize = uxQueueGetQueueItemSize( xInternalQueueHandle );
+
+                    if( ( uxQueueItemSize == 0 )
+                        #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                            && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) )
+                        #endif
+                        )
+                    {
+                        xReturn = xQueueSemaphoreTake( xInternalQueueHandle, xTicksToWait );
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+
+        TaskHandle_t MPU_xQueueGetMutexHolderImpl( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
+
+        TaskHandle_t MPU_xQueueGetMutexHolderImpl( QueueHandle_t xSemaphore ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xMutexHolderTaskInternalHandle = NULL;
+            TaskHandle_t xMutexHolderTaskExternalHandle = NULL;
+            int32_t lIndex, lMutexHolderTaskIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+
+            lIndex = ( int32_t ) xSemaphore;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        xMutexHolderTaskInternalHandle = xQueueGetMutexHolder( xInternalQueueHandle );
+
+                        if( xMutexHolderTaskInternalHandle != NULL )
+                        {
+                            lMutexHolderTaskIndex = MPU_GetIndexForTaskHandle( xMutexHolderTaskInternalHandle );
+
+                            if( lMutexHolderTaskIndex != -1 )
+                            {
+                                xMutexHolderTaskExternalHandle = ( TaskHandle_t ) ( CONVERT_TO_EXTERNAL_INDEX( lMutexHolderTaskIndex ) );
+                            }
+                        }
+                    }
+                }
+            }
+
+            return xMutexHolderTaskExternalHandle;
+        }
+
+    #endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_RECURSIVE_MUTEXES == 1 )
+
+        BaseType_t MPU_xQueueTakeMutexRecursiveImpl( QueueHandle_t xMutex,
+                                                     TickType_t xBlockTime ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xQueueTakeMutexRecursiveImpl( QueueHandle_t xMutex,
+                                                     TickType_t xBlockTime ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+            int32_t lIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            UBaseType_t uxQueueItemSize;
+
+            lIndex = ( int32_t ) xMutex;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        uxQueueItemSize = uxQueueGetQueueItemSize( xInternalQueueHandle );
+
+                        if( uxQueueItemSize == 0 )
+                        {
+                            xReturn = xQueueTakeMutexRecursive( xInternalQueueHandle, xBlockTime );
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_RECURSIVE_MUTEXES == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_RECURSIVE_MUTEXES == 1 )
+
+        BaseType_t MPU_xQueueGiveMutexRecursiveImpl( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xQueueGiveMutexRecursiveImpl( QueueHandle_t xMutex ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+            int32_t lIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+
+            lIndex = ( int32_t ) xMutex;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        xReturn = xQueueGiveMutexRecursive( xInternalQueueHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_RECURSIVE_MUTEXES == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_QUEUE_SETS == 1 )
+
+        QueueSetMemberHandle_t MPU_xQueueSelectFromSetImpl( QueueSetHandle_t xQueueSet,
+                                                            TickType_t xBlockTimeTicks ) PRIVILEGED_FUNCTION;
+
+        QueueSetMemberHandle_t MPU_xQueueSelectFromSetImpl( QueueSetHandle_t xQueueSet,
+                                                            TickType_t xBlockTimeTicks ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            QueueSetMemberHandle_t xSelectedMemberInternal = NULL;
+            QueueSetMemberHandle_t xSelectedMemberExternal = NULL;
+            int32_t lIndexQueueSet, lIndexSelectedMember;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueueSet = pdFALSE;
+
+            lIndexQueueSet = ( int32_t ) xQueueSet;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndexQueueSet ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueueSet = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueueSet == pdTRUE )
+                {
+                    xInternalQueueSetHandle = MPU_GetQueueSetHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+
+                    if( xInternalQueueSetHandle != NULL )
+                    {
+                        xSelectedMemberInternal = xQueueSelectFromSet( xInternalQueueSetHandle, xBlockTimeTicks );
+
+                        if( xSelectedMemberInternal != NULL )
+                        {
+                            lIndexSelectedMember = MPU_GetIndexForQueueSetMemberHandle( xSelectedMemberInternal );
+
+                            if( lIndexSelectedMember != -1 )
+                            {
+                                xSelectedMemberExternal = ( QueueSetMemberHandle_t ) ( CONVERT_TO_EXTERNAL_INDEX( lIndexSelectedMember ) );
+                            }
+                        }
+                    }
+                }
+            }
+
+            return xSelectedMemberExternal;
+        }
+
+    #endif /* if ( configUSE_QUEUE_SETS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_QUEUE_SETS == 1 )
+
+        BaseType_t MPU_xQueueAddToSetImpl( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                           QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xQueueAddToSetImpl( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                           QueueSetHandle_t xQueueSet ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            QueueSetMemberHandle_t xInternalQueueSetMemberHandle = NULL;
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            int32_t lIndexQueueSet, lIndexQueueSetMember;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueueSet = pdFALSE;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueueSetMember = pdFALSE;
+
+            lIndexQueueSet = ( int32_t ) xQueueSet;
+            lIndexQueueSetMember = ( int32_t ) xQueueOrSemaphore;
+
+            if( ( IS_EXTERNAL_INDEX_VALID( lIndexQueueSet ) != pdFALSE ) &&
+                ( IS_EXTERNAL_INDEX_VALID( lIndexQueueSetMember ) != pdFALSE ) )
+            {
+                xCallingTaskIsAuthorizedToAccessQueueSet = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+                xCallingTaskIsAuthorizedToAccessQueueSetMember = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSetMember ) );
+
+                if( ( xCallingTaskIsAuthorizedToAccessQueueSet == pdTRUE ) && ( xCallingTaskIsAuthorizedToAccessQueueSetMember == pdTRUE ) )
+                {
+                    xInternalQueueSetHandle = MPU_GetQueueSetHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+                    xInternalQueueSetMemberHandle = MPU_GetQueueSetMemberHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSetMember ) );
+
+                    if( ( xInternalQueueSetHandle != NULL ) && ( xInternalQueueSetMemberHandle != NULL ) )
+                    {
+                        xReturn = xQueueAddToSet( xInternalQueueSetMemberHandle, xInternalQueueSetHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_QUEUE_SETS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if configQUEUE_REGISTRY_SIZE > 0
+
+        void MPU_vQueueAddToRegistryImpl( QueueHandle_t xQueue,
+                                          const char * pcName ) PRIVILEGED_FUNCTION;
+
+        void MPU_vQueueAddToRegistryImpl( QueueHandle_t xQueue,
+                                          const char * pcName ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+            lIndex = ( int32_t ) xQueue;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        vQueueAddToRegistry( xInternalQueueHandle, pcName );
+                    }
+                }
+            }
+        }
+
+    #endif /* if configQUEUE_REGISTRY_SIZE > 0 */
+/*-----------------------------------------------------------*/
+
+    #if configQUEUE_REGISTRY_SIZE > 0
+
+        void MPU_vQueueUnregisterQueueImpl( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+
+        void MPU_vQueueUnregisterQueueImpl( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+            lIndex = ( int32_t ) xQueue;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        vQueueUnregisterQueue( xInternalQueueHandle );
+                    }
+                }
+            }
+        }
+
+    #endif /* if configQUEUE_REGISTRY_SIZE > 0 */
+/*-----------------------------------------------------------*/
+
+    #if configQUEUE_REGISTRY_SIZE > 0
+
+        const char * MPU_pcQueueGetNameImpl( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+
+        const char * MPU_pcQueueGetNameImpl( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            const char * pcReturn = NULL;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessQueue = pdFALSE;
+
+            lIndex = ( int32_t ) xQueue;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessQueue = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessQueue == pdTRUE )
+                {
+                    xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalQueueHandle != NULL )
+                    {
+                        pcReturn = pcQueueGetName( xInternalQueueHandle );
+                    }
+                }
+            }
+
+            return pcReturn;
+        }
+
+    #endif /* if configQUEUE_REGISTRY_SIZE > 0 */
+/*-----------------------------------------------------------*/
+
+/* Privileged only wrappers for Queue APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+/*-----------------------------------------------------------*/
+
+    void MPU_vQueueDelete( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        QueueHandle_t xInternalQueueHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                vQueueDelete( xInternalQueueHandle );
+                MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+            }
+        }
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+        QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueCreateMutex( ucQueueType );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+        QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                                   StaticQueue_t * pxStaticQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueCreateMutexStatic( ucQueueType, pxStaticQueue );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+        QueueHandle_t MPU_xQueueCreateCountingSemaphore( UBaseType_t uxCountValue,
+                                                         UBaseType_t uxInitialCount ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueCreateCountingSemaphore( uxCountValue, uxInitialCount );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+
+        QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                               const UBaseType_t uxInitialCount,
+                                                               StaticQueue_t * pxStaticQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueCreateCountingSemaphoreStatic( uxMaxCount, uxInitialCount, pxStaticQueue );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+        QueueHandle_t MPU_xQueueGenericCreate( UBaseType_t uxQueueLength,
+                                               UBaseType_t uxItemSize,
+                                               uint8_t ucQueueType ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueGenericCreate( uxQueueLength, uxItemSize, ucQueueType );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                                     const UBaseType_t uxItemSize,
+                                                     uint8_t * pucQueueStorage,
+                                                     StaticQueue_t * pxStaticQueue,
+                                                     const uint8_t ucQueueType ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueHandle_t xInternalQueueHandle = NULL;
+            QueueHandle_t xExternalQueueHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueHandle = xQueueGenericCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxStaticQueue, ucQueueType );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    MPU_StoreQueueHandleAtIndex( lIndex, xInternalQueueHandle );
+                    xExternalQueueHandle = ( QueueHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueHandle;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
+                                       BaseType_t xNewQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+        BaseType_t xReturn = pdFAIL;
+
+        lIndex = ( uint32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueGenericReset( xInternalQueueHandle, xNewQueue );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+
+        QueueSetHandle_t MPU_xQueueCreateSet( UBaseType_t uxEventQueueLength ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            QueueSetHandle_t xExternalQueueSetHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalQueueSetHandle = xQueueCreateSet( uxEventQueueLength );
+
+                if( xInternalQueueSetHandle != NULL )
+                {
+                    MPU_StoreQueueSetHandleAtIndex( lIndex, xInternalQueueSetHandle );
+                    xExternalQueueSetHandle = ( QueueSetHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalQueueSetHandle;
+        }
+
+    #endif /* if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_QUEUE_SETS == 1 )
+
+        BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                            QueueSetHandle_t xQueueSet ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFAIL;
+            QueueSetMemberHandle_t xInternalQueueSetMemberHandle = NULL;
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            int32_t lIndexQueueSet, lIndexQueueSetMember;
+
+            lIndexQueueSet = ( int32_t ) xQueueSet;
+            lIndexQueueSetMember = ( int32_t ) xQueueOrSemaphore;
+
+            if( ( IS_EXTERNAL_INDEX_VALID( lIndexQueueSet ) != pdFALSE ) &&
+                ( IS_EXTERNAL_INDEX_VALID( lIndexQueueSetMember ) != pdFALSE ) )
+            {
+                xInternalQueueSetHandle = MPU_GetQueueSetHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+                xInternalQueueSetMemberHandle = MPU_GetQueueSetMemberHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSetMember ) );
+
+                if( ( xInternalQueueSetHandle != NULL ) && ( xInternalQueueSetMemberHandle != NULL ) )
+                {
+                    xReturn = xQueueRemoveFromSet( xInternalQueueSetMemberHandle, xInternalQueueSetHandle );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_QUEUE_SETS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
+                                                      uint8_t ** ppucQueueStorage,
+                                                      StaticQueue_t ** ppxStaticQueue ) /* PRIVILEGED_FUNCTION */
+        {
+            int32_t lIndex;
+            QueueHandle_t xInternalQueueHandle = NULL;
+            BaseType_t xReturn = pdFALSE;
+
+            lIndex = ( int32_t ) xQueue;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalQueueHandle != NULL )
+                {
+                    xReturn = xQueueGenericGetStaticBuffers( xInternalQueueHandle, ppucQueueStorage, ppxStaticQueue );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /*if ( configSUPPORT_STATIC_ALLOCATION == 1 )*/
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                             const void * const pvItemToQueue,
+                                             BaseType_t * const pxHigherPriorityTaskWoken,
+                                             const BaseType_t xCopyPosition ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueGenericSendFromISR( xInternalQueueHandle, pvItemToQueue, pxHigherPriorityTaskWoken, xCopyPosition );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueGiveFromISR( QueueHandle_t xQueue,
+                                      BaseType_t * const pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueGiveFromISR( xInternalQueueHandle, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueuePeekFromISR( QueueHandle_t xQueue,
+                                      void * const pvBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueuePeekFromISR( xInternalQueueHandle, pvBuffer );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                         void * const pvBuffer,
+                                         BaseType_t * const pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueReceiveFromISR( xInternalQueueHandle, pvBuffer, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueIsQueueEmptyFromISR( xInternalQueueHandle );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFAIL;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                xReturn = xQueueIsQueueFullFromISR( xInternalQueueHandle );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    UBaseType_t MPU_uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+    {
+        UBaseType_t uxReturn = 0;
+        int32_t lIndex;
+        QueueHandle_t xInternalQueueHandle = NULL;
+
+        lIndex = ( int32_t ) xQueue;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalQueueHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalQueueHandle != NULL )
+            {
+                uxReturn = uxQueueMessagesWaitingFromISR( xInternalQueueHandle );
+            }
+        }
+
+        return uxReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+
+        TaskHandle_t MPU_xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xMutexHolderTaskInternalHandle = NULL;
+            TaskHandle_t xMutexHolderTaskExternalHandle = NULL;
+            int32_t lIndex, lMutexHolderTaskIndex;
+            QueueHandle_t xInternalSemaphoreHandle = NULL;
+
+            lIndex = ( int32_t ) xSemaphore;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalSemaphoreHandle = MPU_GetQueueHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalSemaphoreHandle != NULL )
+                {
+                    xMutexHolderTaskInternalHandle = xQueueGetMutexHolder( xInternalSemaphoreHandle );
+
+                    if( xMutexHolderTaskInternalHandle != NULL )
+                    {
+                        lMutexHolderTaskIndex = MPU_GetIndexForTaskHandle( xMutexHolderTaskInternalHandle );
+
+                        if( lMutexHolderTaskIndex != -1 )
+                        {
+                            xMutexHolderTaskExternalHandle = ( TaskHandle_t ) ( CONVERT_TO_EXTERNAL_INDEX( lMutexHolderTaskIndex ) );
+                        }
+                    }
+                }
+            }
+
+            return xMutexHolderTaskExternalHandle;
+        }
+
+    #endif /* #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_QUEUE_SETS == 1 )
+
+        QueueSetMemberHandle_t MPU_xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) /* PRIVILEGED_FUNCTION */
+        {
+            QueueSetHandle_t xInternalQueueSetHandle = NULL;
+            QueueSetMemberHandle_t xSelectedMemberInternal = NULL;
+            QueueSetMemberHandle_t xSelectedMemberExternal = NULL;
+            int32_t lIndexQueueSet, lIndexSelectedMember;
+
+            lIndexQueueSet = ( int32_t ) xQueueSet;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndexQueueSet ) != pdFALSE )
+            {
+                xInternalQueueSetHandle = MPU_GetQueueSetHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndexQueueSet ) );
+
+                if( xInternalQueueSetHandle != NULL )
+                {
+                    xSelectedMemberInternal = xQueueSelectFromSetFromISR( xInternalQueueSetHandle );
+
+                    if( xSelectedMemberInternal != NULL )
+                    {
+                        lIndexSelectedMember = MPU_GetIndexForQueueSetMemberHandle( xSelectedMemberInternal );
+
+                        if( lIndexSelectedMember != -1 )
+                        {
+                            xSelectedMemberExternal = ( QueueSetMemberHandle_t ) ( CONVERT_TO_EXTERNAL_INDEX( lIndexSelectedMember ) );
+                        }
+                    }
+                }
+            }
+
+            return xSelectedMemberExternal;
+        }
+
+    #endif /* if ( configUSE_QUEUE_SETS == 1 ) */
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/*            MPU wrappers for timers APIs.                  */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        void * MPU_pvTimerGetTimerIDImpl( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        void * MPU_pvTimerGetTimerIDImpl( const TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            void * pvReturn = NULL;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        pvReturn = pvTimerGetTimerID( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return pvReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        void MPU_vTimerSetTimerIDImpl( TimerHandle_t xTimer,
+                                       void * pvNewID ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTimerSetTimerIDImpl( TimerHandle_t xTimer,
+                                       void * pvNewID ) /* PRIVILEGED_FUNCTION */
+        {
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        vTimerSetTimerID( xInternalTimerHandle, pvNewID );
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerIsTimerActiveImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTimerIsTimerActiveImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        xReturn = xTimerIsTimerActive( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandleImpl( void ) PRIVILEGED_FUNCTION;
+
+        TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandleImpl( void ) /* PRIVILEGED_FUNCTION */
+        {
+            TaskHandle_t xReturn;
+
+            xReturn = xTimerGetTimerDaemonTaskHandle();
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer,
+                                             const BaseType_t xCommandID,
+                                             const TickType_t xOptionalValue,
+                                             BaseType_t * const pxHigherPriorityTaskWoken,
+                                             const TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */
+        {
+            BaseType_t xReturn = pdFALSE;
+            xTimerGenericCommandParams_t xParams;
+
+            xParams.xTimer = xTimer;
+            xParams.xCommandID = xCommandID;
+            xParams.xOptionalValue = xOptionalValue;
+            xParams.pxHigherPriorityTaskWoken = pxHigherPriorityTaskWoken;
+            xParams.xTicksToWait = xTicksToWait;
+
+            xReturn = MPU_xTimerGenericCommandEntry( &( xParams ) );
+
+            return xReturn;
+        }
+
+        BaseType_t MPU_xTimerGenericCommandImpl( const xTimerGenericCommandParams_t * pxParams ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTimerGenericCommandImpl( const xTimerGenericCommandParams_t * pxParams ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xIsHigherPriorityTaskWokenWriteable = pdFALSE;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+            BaseType_t xAreParamsReadable = pdFALSE;
+
+            if( pxParams != NULL )
+            {
+                xAreParamsReadable = xPortIsAuthorizedToAccessBuffer( pxParams,
+                                                                      sizeof( xTimerGenericCommandParams_t ),
+                                                                      tskMPU_READ_PERMISSION );
+            }
+
+            if( xAreParamsReadable == pdTRUE )
+            {
+                if( pxParams->pxHigherPriorityTaskWoken != NULL )
+                {
+                    xIsHigherPriorityTaskWokenWriteable = xPortIsAuthorizedToAccessBuffer( pxParams->pxHigherPriorityTaskWoken,
+                                                                                           sizeof( BaseType_t ),
+                                                                                           tskMPU_WRITE_PERMISSION );
+                }
+
+                if( ( pxParams->pxHigherPriorityTaskWoken == NULL ) ||
+                    ( xIsHigherPriorityTaskWokenWriteable == pdTRUE ) )
+                {
+                    lIndex = ( int32_t ) ( pxParams->xTimer );
+
+                    if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                    {
+                        xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                        {
+                            xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                            if( xInternalTimerHandle != NULL )
+                            {
+                                xReturn = xTimerGenericCommand( xInternalTimerHandle,
+                                                                pxParams->xCommandID,
+                                                                pxParams->xOptionalValue,
+                                                                pxParams->pxHigherPriorityTaskWoken,
+                                                                pxParams->xTicksToWait );
+                            }
+                        }
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+        BaseType_t MPU_xTimerGenericCommandPrivImpl( const xTimerGenericCommandParams_t * pxParams ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTimerGenericCommandPrivImpl( const xTimerGenericCommandParams_t * pxParams ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+
+            if( pxParams != NULL )
+            {
+                lIndex = ( int32_t ) ( pxParams->xTimer );
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        xReturn = xTimerGenericCommand( xInternalTimerHandle,
+                                                        pxParams->xCommandID,
+                                                        pxParams->xOptionalValue,
+                                                        pxParams->pxHigherPriorityTaskWoken,
+                                                        pxParams->xTicksToWait );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        const char * MPU_pcTimerGetNameImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        const char * MPU_pcTimerGetNameImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            const char * pcReturn = NULL;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        pcReturn = pcTimerGetName( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return pcReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        void MPU_vTimerSetReloadModeImpl( TimerHandle_t xTimer,
+                                          const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
+
+        void MPU_vTimerSetReloadModeImpl( TimerHandle_t xTimer,
+                                          const UBaseType_t uxAutoReload ) /* PRIVILEGED_FUNCTION */
+        {
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        vTimerSetReloadMode( xInternalTimerHandle, uxAutoReload );
+                    }
+                }
+            }
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerGetReloadModeImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        BaseType_t MPU_xTimerGetReloadModeImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        xReturn = xTimerGetReloadMode( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        UBaseType_t MPU_uxTimerGetReloadModeImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        UBaseType_t MPU_uxTimerGetReloadModeImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t uxReturn = 0;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        uxReturn = uxTimerGetReloadMode( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return uxReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        TickType_t MPU_xTimerGetPeriodImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        TickType_t MPU_xTimerGetPeriodImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            TickType_t xReturn = 0;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        xReturn = xTimerGetPeriod( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TIMERS == 1 )
+
+        TickType_t MPU_xTimerGetExpiryTimeImpl( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+        TickType_t MPU_xTimerGetExpiryTimeImpl( TimerHandle_t xTimer ) /* PRIVILEGED_FUNCTION */
+        {
+            TickType_t xReturn = 0;
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessTimer = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessTimer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessTimer == pdTRUE )
+                {
+                    xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalTimerHandle != NULL )
+                    {
+                        xReturn = xTimerGetExpiryTime( xInternalTimerHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+/* Privileged only wrappers for Timer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 )
+
+        TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
+                                        const TickType_t xTimerPeriodInTicks,
+                                        const UBaseType_t uxAutoReload,
+                                        void * const pvTimerID,
+                                        TimerCallbackFunction_t pxCallbackFunction ) /* PRIVILEGED_FUNCTION */
+        {
+            TimerHandle_t xInternalTimerHandle = NULL;
+            TimerHandle_t xExternalTimerHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalTimerHandle = xTimerCreate( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, MPU_TimerCallback );
+
+                if( xInternalTimerHandle != NULL )
+                {
+                    MPU_StoreTimerHandleAtIndex( lIndex, xInternalTimerHandle, pxCallbackFunction );
+                    xExternalTimerHandle = ( TimerHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalTimerHandle;
+        }
+
+    #endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 )
+
+        TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
+                                              const TickType_t xTimerPeriodInTicks,
+                                              const UBaseType_t uxAutoReload,
+                                              void * const pvTimerID,
+                                              TimerCallbackFunction_t pxCallbackFunction,
+                                              StaticTimer_t * pxTimerBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            TimerHandle_t xInternalTimerHandle = NULL;
+            TimerHandle_t xExternalTimerHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalTimerHandle = xTimerCreateStatic( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, MPU_TimerCallback, pxTimerBuffer );
+
+                if( xInternalTimerHandle != NULL )
+                {
+                    MPU_StoreTimerHandleAtIndex( lIndex, xInternalTimerHandle, pxCallbackFunction );
+                    xExternalTimerHandle = ( TimerHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalTimerHandle;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 )
+
+        BaseType_t MPU_xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                              StaticTimer_t ** ppxTimerBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            TimerHandle_t xInternalTimerHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xReturn = pdFALSE;
+
+            lIndex = ( int32_t ) xTimer;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalTimerHandle = MPU_GetTimerHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalTimerHandle != NULL )
+                {
+                    xReturn = xTimerGetStaticBuffer( xInternalTimerHandle, ppxTimerBuffer );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_TIMERS == 1 ) */
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/*           MPU wrappers for event group APIs.              */
+/*-----------------------------------------------------------*/
+
+    EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
+                                         const EventBits_t uxBitsToWaitFor,
+                                         const BaseType_t xClearOnExit,
+                                         const BaseType_t xWaitForAllBits,
+                                         TickType_t xTicksToWait ) /* FREERTOS_SYSTEM_CALL */
+    {
+        EventBits_t xReturn = 0;
+        xEventGroupWaitBitsParams_t xParams;
+
+        xParams.xEventGroup = xEventGroup;
+        xParams.uxBitsToWaitFor = uxBitsToWaitFor;
+        xParams.xClearOnExit = xClearOnExit;
+        xParams.xWaitForAllBits = xWaitForAllBits;
+        xParams.xTicksToWait = xTicksToWait;
+
+        xReturn = MPU_xEventGroupWaitBitsEntry( &( xParams ) );
+
+        return xReturn;
+    }
+
+    EventBits_t MPU_xEventGroupWaitBitsImpl( const xEventGroupWaitBitsParams_t * pxParams ) PRIVILEGED_FUNCTION;
+
+    EventBits_t MPU_xEventGroupWaitBitsImpl( const xEventGroupWaitBitsParams_t * pxParams ) /* PRIVILEGED_FUNCTION */
+    {
+        EventBits_t xReturn = 0;
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+        BaseType_t xAreParamsReadable = pdFALSE;
+
+        if( pxParams != NULL )
+        {
+            xAreParamsReadable = xPortIsAuthorizedToAccessBuffer( pxParams,
+                                                                  sizeof( xEventGroupWaitBitsParams_t ),
+                                                                  tskMPU_READ_PERMISSION );
+        }
+
+        if( xAreParamsReadable == pdTRUE )
+        {
+            if( ( ( pxParams->uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ) &&
+                ( pxParams->uxBitsToWaitFor != 0 )
+                #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                    && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( pxParams->xTicksToWait != 0 ) ) )
+                #endif
+                )
+            {
+                lIndex = ( int32_t ) ( pxParams->xEventGroup );
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                    {
+                        xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalEventGroupHandle != NULL )
+                        {
+                            xReturn = xEventGroupWaitBits( xInternalEventGroupHandle,
+                                                           pxParams->uxBitsToWaitFor,
+                                                           pxParams->xClearOnExit,
+                                                           pxParams->xWaitForAllBits,
+                                                           pxParams->xTicksToWait );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    EventBits_t MPU_xEventGroupClearBitsImpl( EventGroupHandle_t xEventGroup,
+                                              const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
+
+    EventBits_t MPU_xEventGroupClearBitsImpl( EventGroupHandle_t xEventGroup,
+                                              const EventBits_t uxBitsToClear ) /* PRIVILEGED_FUNCTION */
+    {
+        EventBits_t xReturn = 0;
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+
+        if( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 )
+        {
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                {
+                    xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalEventGroupHandle != NULL )
+                    {
+                        xReturn = xEventGroupClearBits( xInternalEventGroupHandle, uxBitsToClear );
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    EventBits_t MPU_xEventGroupSetBitsImpl( EventGroupHandle_t xEventGroup,
+                                            const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
+
+    EventBits_t MPU_xEventGroupSetBitsImpl( EventGroupHandle_t xEventGroup,
+                                            const EventBits_t uxBitsToSet ) /* PRIVILEGED_FUNCTION */
+    {
+        EventBits_t xReturn = 0;
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+
+        if( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 )
+        {
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                {
+                    xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalEventGroupHandle != NULL )
+                    {
+                        xReturn = xEventGroupSetBits( xInternalEventGroupHandle, uxBitsToSet );
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    EventBits_t MPU_xEventGroupSyncImpl( EventGroupHandle_t xEventGroup,
+                                         const EventBits_t uxBitsToSet,
+                                         const EventBits_t uxBitsToWaitFor,
+                                         TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    EventBits_t MPU_xEventGroupSyncImpl( EventGroupHandle_t xEventGroup,
+                                         const EventBits_t uxBitsToSet,
+                                         const EventBits_t uxBitsToWaitFor,
+                                         TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        EventBits_t xReturn = 0;
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+
+        if( ( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 ) &&
+            ( uxBitsToWaitFor != 0 )
+            #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+                && ( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) )
+            #endif
+            )
+        {
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                {
+                    xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalEventGroupHandle != NULL )
+                    {
+                        xReturn = xEventGroupSync( xInternalEventGroupHandle, uxBitsToSet, uxBitsToWaitFor, xTicksToWait );
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        UBaseType_t MPU_uxEventGroupGetNumberImpl( void * xEventGroup ) PRIVILEGED_FUNCTION;
+
+        UBaseType_t MPU_uxEventGroupGetNumberImpl( void * xEventGroup ) /* PRIVILEGED_FUNCTION */
+        {
+            UBaseType_t xReturn = 0;
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                {
+                    xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalEventGroupHandle != NULL )
+                    {
+                        xReturn = uxEventGroupGetNumber( xInternalEventGroupHandle );
+                    }
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /*( configUSE_TRACE_FACILITY == 1 )*/
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        void MPU_vEventGroupSetNumberImpl( void * xEventGroup,
+                                           UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
+
+        void MPU_vEventGroupSetNumberImpl( void * xEventGroup,
+                                           UBaseType_t uxEventGroupNumber ) /* PRIVILEGED_FUNCTION */
+        {
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            int32_t lIndex;
+            BaseType_t xCallingTaskIsAuthorizedToAccessEventGroup = pdFALSE;
+
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xCallingTaskIsAuthorizedToAccessEventGroup = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xCallingTaskIsAuthorizedToAccessEventGroup == pdTRUE )
+                {
+                    xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xInternalEventGroupHandle != NULL )
+                    {
+                        vEventGroupSetNumber( xInternalEventGroupHandle, uxEventGroupNumber );
+                    }
+                }
+            }
+        }
+
+    #endif /*( configUSE_TRACE_FACILITY == 1 )*/
+/*-----------------------------------------------------------*/
+
+/* Privileged only wrappers for Event Group APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+        EventGroupHandle_t MPU_xEventGroupCreate( void ) /* PRIVILEGED_FUNCTION */
+        {
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            EventGroupHandle_t xExternalEventGroupHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalEventGroupHandle = xEventGroupCreate();
+
+                if( xInternalEventGroupHandle != NULL )
+                {
+                    MPU_StoreEventGroupHandleAtIndex( lIndex, xInternalEventGroupHandle );
+                    xExternalEventGroupHandle = ( EventGroupHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalEventGroupHandle;
+        }
+
+    #endif /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            EventGroupHandle_t xExternalEventGroupHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+            if( lIndex != -1 )
+            {
+                xInternalEventGroupHandle = xEventGroupCreateStatic( pxEventGroupBuffer );
+
+                if( xInternalEventGroupHandle != NULL )
+                {
+                    MPU_StoreEventGroupHandleAtIndex( lIndex, xInternalEventGroupHandle );
+                    xExternalEventGroupHandle = ( EventGroupHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                }
+                else
+                {
+                    MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                }
+            }
+
+            return xExternalEventGroupHandle;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) /* PRIVILEGED_FUNCTION */
+    {
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xEventGroup;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalEventGroupHandle != NULL )
+            {
+                vEventGroupDelete( xInternalEventGroupHandle );
+                MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+            }
+        }
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
+                                                   StaticEventGroup_t ** ppxEventGroupBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalEventGroupHandle != NULL )
+                {
+                    xReturn = xEventGroupGetStaticBuffer( xInternalEventGroupHandle, ppxEventGroupBuffer );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
+
+        BaseType_t MPU_xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
+                                                    const EventBits_t uxBitsToClear ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalEventGroupHandle != NULL )
+                {
+                    xReturn = xEventGroupClearBitsFromISR( xInternalEventGroupHandle, uxBitsToClear );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
+
+        BaseType_t MPU_xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
+                                                  const EventBits_t uxBitsToSet,
+                                                  BaseType_t * pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            EventGroupHandle_t xInternalEventGroupHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xEventGroup;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalEventGroupHandle != NULL )
+                {
+                    xReturn = xEventGroupSetBitsFromISR( xInternalEventGroupHandle, uxBitsToSet, pxHigherPriorityTaskWoken );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) ) */
+/*-----------------------------------------------------------*/
+
+    EventBits_t MPU_xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) /* PRIVILEGED_FUNCTION */
+    {
+        EventBits_t xReturn = 0;
+        EventGroupHandle_t xInternalEventGroupHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xEventGroup;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalEventGroupHandle = MPU_GetEventGroupHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalEventGroupHandle != NULL )
+            {
+                xReturn = xEventGroupGetBitsFromISR( xInternalEventGroupHandle );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/
+/*           MPU wrappers for stream buffer APIs.            */
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferSendImpl( StreamBufferHandle_t xStreamBuffer,
+                                      const void * pvTxData,
+                                      size_t xDataLengthBytes,
+                                      TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    size_t MPU_xStreamBufferSendImpl( StreamBufferHandle_t xStreamBuffer,
+                                      const void * pvTxData,
+                                      size_t xDataLengthBytes,
+                                      TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xIsTxDataBufferReadable = pdFALSE;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        if( pvTxData != NULL )
+        {
+            xIsTxDataBufferReadable = xPortIsAuthorizedToAccessBuffer( pvTxData,
+                                                                       xDataLengthBytes,
+                                                                       tskMPU_READ_PERMISSION );
+
+            if( xIsTxDataBufferReadable == pdTRUE )
+            {
+                lIndex = ( int32_t ) xStreamBuffer;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+                    {
+                        xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalStreamBufferHandle != NULL )
+                        {
+                            xReturn = xStreamBufferSend( xInternalStreamBufferHandle, pvTxData, xDataLengthBytes, xTicksToWait );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferReceiveImpl( StreamBufferHandle_t xStreamBuffer,
+                                         void * pvRxData,
+                                         size_t xBufferLengthBytes,
+                                         TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+    size_t MPU_xStreamBufferReceiveImpl( StreamBufferHandle_t xStreamBuffer,
+                                         void * pvRxData,
+                                         size_t xBufferLengthBytes,
+                                         TickType_t xTicksToWait ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xIsRxDataBufferWriteable = pdFALSE;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        if( pvRxData != NULL )
+        {
+            xIsRxDataBufferWriteable = xPortIsAuthorizedToAccessBuffer( pvRxData,
+                                                                        xBufferLengthBytes,
+                                                                        tskMPU_WRITE_PERMISSION );
+
+            if( xIsRxDataBufferWriteable == pdTRUE )
+            {
+                lIndex = ( int32_t ) xStreamBuffer;
+
+                if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+                {
+                    xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                    if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+                    {
+                        xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                        if( xInternalStreamBufferHandle != NULL )
+                        {
+                            xReturn = xStreamBufferReceive( xInternalStreamBufferHandle, pvRxData, xBufferLengthBytes, xTicksToWait );
+                        }
+                    }
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferIsFullImpl( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xStreamBufferIsFullImpl( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferIsFull( xInternalStreamBufferHandle );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferIsEmptyImpl( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xStreamBufferIsEmptyImpl( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferIsEmpty( xInternalStreamBufferHandle );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferSpacesAvailableImpl( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+    size_t MPU_xStreamBufferSpacesAvailableImpl( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferSpacesAvailable( xInternalStreamBufferHandle );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferBytesAvailableImpl( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+    size_t MPU_xStreamBufferBytesAvailableImpl( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferBytesAvailable( xInternalStreamBufferHandle );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferSetTriggerLevelImpl( StreamBufferHandle_t xStreamBuffer,
+                                                     size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
+
+    BaseType_t MPU_xStreamBufferSetTriggerLevelImpl( StreamBufferHandle_t xStreamBuffer,
+                                                     size_t xTriggerLevel ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferSetTriggerLevel( xInternalStreamBufferHandle, xTriggerLevel );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferNextMessageLengthBytesImpl( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+    size_t MPU_xStreamBufferNextMessageLengthBytesImpl( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+        BaseType_t xCallingTaskIsAuthorizedToAccessStreamBuffer = pdFALSE;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xCallingTaskIsAuthorizedToAccessStreamBuffer = xPortIsAuthorizedToAccessKernelObject( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xCallingTaskIsAuthorizedToAccessStreamBuffer == pdTRUE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = xStreamBufferNextMessageLengthBytes( xInternalStreamBufferHandle );
+                }
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+        StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
+                                                             size_t xTriggerLevelBytes,
+                                                             BaseType_t xIsMessageBuffer,
+                                                             StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                             StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) /* PRIVILEGED_FUNCTION */
+        {
+            StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+            StreamBufferHandle_t xExternalStreamBufferHandle = NULL;
+            int32_t lIndex;
+
+            /**
+             * Stream buffer application level callback functionality is disabled for MPU
+             * enabled ports.
+             */
+            configASSERT( ( pxSendCompletedCallback == NULL ) &&
+                          ( pxReceiveCompletedCallback == NULL ) );
+
+            if( ( pxSendCompletedCallback == NULL ) &&
+                ( pxReceiveCompletedCallback == NULL ) )
+            {
+                lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+                if( lIndex != -1 )
+                {
+                    xInternalStreamBufferHandle = xStreamBufferGenericCreate( xBufferSizeBytes,
+                                                                              xTriggerLevelBytes,
+                                                                              xIsMessageBuffer,
+                                                                              NULL,
+                                                                              NULL );
+
+                    if( xInternalStreamBufferHandle != NULL )
+                    {
+                        MPU_StoreStreamBufferHandleAtIndex( lIndex, xInternalStreamBufferHandle );
+                        xExternalStreamBufferHandle = ( StreamBufferHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                    }
+                    else
+                    {
+                        MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                    }
+                }
+            }
+            else
+            {
+                traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer );
+                xExternalStreamBufferHandle = NULL;
+            }
+
+            return xExternalStreamBufferHandle;
+        }
+
+    #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
+                                                                   size_t xTriggerLevelBytes,
+                                                                   BaseType_t xIsMessageBuffer,
+                                                                   uint8_t * const pucStreamBufferStorageArea,
+                                                                   StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                                   StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                                   StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) /* PRIVILEGED_FUNCTION */
+        {
+            StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+            StreamBufferHandle_t xExternalStreamBufferHandle = NULL;
+            int32_t lIndex;
+
+            /**
+             * Stream buffer application level callback functionality is disabled for MPU
+             * enabled ports.
+             */
+            configASSERT( ( pxSendCompletedCallback == NULL ) &&
+                          ( pxReceiveCompletedCallback == NULL ) );
+
+            if( ( pxSendCompletedCallback == NULL ) &&
+                ( pxReceiveCompletedCallback == NULL ) )
+            {
+                lIndex = MPU_GetFreeIndexInKernelObjectPool();
+
+                if( lIndex != -1 )
+                {
+                    xInternalStreamBufferHandle = xStreamBufferGenericCreateStatic( xBufferSizeBytes,
+                                                                                    xTriggerLevelBytes,
+                                                                                    xIsMessageBuffer,
+                                                                                    pucStreamBufferStorageArea,
+                                                                                    pxStaticStreamBuffer,
+                                                                                    NULL,
+                                                                                    NULL );
+
+                    if( xInternalStreamBufferHandle != NULL )
+                    {
+                        MPU_StoreStreamBufferHandleAtIndex( lIndex, xInternalStreamBufferHandle );
+                        xExternalStreamBufferHandle = ( StreamBufferHandle_t ) CONVERT_TO_EXTERNAL_INDEX( lIndex );
+                    }
+                    else
+                    {
+                        MPU_SetIndexFreeInKernelObjectPool( lIndex );
+                    }
+                }
+            }
+            else
+            {
+                traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer );
+                xExternalStreamBufferHandle = NULL;
+            }
+
+            return xExternalStreamBufferHandle;
+        }
+
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+    void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                vStreamBufferDelete( xInternalStreamBufferHandle );
+            }
+
+            MPU_SetIndexFreeInKernelObjectPool( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+        }
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                xReturn = xStreamBufferReset( xInternalStreamBufferHandle );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+        BaseType_t MPU_xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffers,
+                                                      uint8_t * ppucStreamBufferStorageArea,
+                                                      StaticStreamBuffer_t * ppxStaticStreamBuffer ) /* PRIVILEGED_FUNCTION */
+        {
+            BaseType_t xReturn = pdFALSE;
+            StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+            int32_t lIndex;
+
+            lIndex = ( int32_t ) xStreamBuffers;
+
+            if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+            {
+                xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+                if( xInternalStreamBufferHandle != NULL )
+                {
+                    xReturn = MPU_xStreamBufferGetStaticBuffers( xInternalStreamBufferHandle, ppucStreamBufferStorageArea, ppxStaticStreamBuffer );
+                }
+            }
+
+            return xReturn;
+        }
+
+    #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+                                         const void * pvTxData,
+                                         size_t xDataLengthBytes,
+                                         BaseType_t * const pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                xReturn = xStreamBufferSendFromISR( xInternalStreamBufferHandle, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+                                            void * pvRxData,
+                                            size_t xBufferLengthBytes,
+                                            BaseType_t * const pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+    {
+        size_t xReturn = 0;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                xReturn = xStreamBufferReceiveFromISR( xInternalStreamBufferHandle, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                      BaseType_t * pxHigherPriorityTaskWoken ) /* PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                xReturn = xStreamBufferSendCompletedFromISR( xInternalStreamBufferHandle, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+    BaseType_t MPU_xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                         BaseType_t * pxHigherPriorityTaskWoken ) /*PRIVILEGED_FUNCTION */
+    {
+        BaseType_t xReturn = pdFALSE;
+        StreamBufferHandle_t xInternalStreamBufferHandle = NULL;
+        int32_t lIndex;
+
+        lIndex = ( int32_t ) xStreamBuffer;
+
+        if( IS_EXTERNAL_INDEX_VALID( lIndex ) != pdFALSE )
+        {
+            xInternalStreamBufferHandle = MPU_GetStreamBufferHandleAtIndex( CONVERT_TO_INTERNAL_INDEX( lIndex ) );
+
+            if( xInternalStreamBufferHandle != NULL )
+            {
+                xReturn = xStreamBufferReceiveCompletedFromISR( xInternalStreamBufferHandle, pxHigherPriorityTaskWoken );
+            }
+        }
+
+        return xReturn;
+    }
+
+/*-----------------------------------------------------------*/
+
+/* Functions that the application writer wants to execute in privileged mode
+ * can be defined in application_defined_privileged_functions.h. */
+
+    #if configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS == 1
+        #include "application_defined_privileged_functions.h"
+    #endif
+/*-----------------------------------------------------------*/
+
+/**
+ * @brief Array of system call implementation functions.
+ *
+ * The index in the array MUST match the corresponding system call number
+ * defined in mpu_wrappers.h.
+ */
+    PRIVILEGED_DATA UBaseType_t uxSystemCallImplementations[ NUM_SYSTEM_CALLS ] =
+    {
+        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+            ( UBaseType_t ) MPU_xTaskGenericNotifyImpl,     /* SYSTEM_CALL_xTaskGenericNotify. */
+            ( UBaseType_t ) MPU_xTaskGenericNotifyWaitImpl, /* SYSTEM_CALL_xTaskGenericNotifyWait. */
+        #else
+            ( UBaseType_t ) 0,                              /* SYSTEM_CALL_xTaskGenericNotify. */
+            ( UBaseType_t ) 0,                              /* SYSTEM_CALL_xTaskGenericNotifyWait. */
+        #endif
+
+        #if ( configUSE_TIMERS == 1 )
+            ( UBaseType_t ) MPU_xTimerGenericCommandImpl, /* SYSTEM_CALL_xTimerGenericCommand. */
+        #else
+            ( UBaseType_t ) 0,                            /* SYSTEM_CALL_xTimerGenericCommand. */
+        #endif
+
+        ( UBaseType_t ) MPU_xEventGroupWaitBitsImpl, /* SYSTEM_CALL_xEventGroupWaitBits. */
+
+        /* The system calls above this line take 5 parameters. */
+
+        #if ( INCLUDE_xTaskDelayUntil == 1 )
+            ( UBaseType_t ) MPU_xTaskDelayUntilImpl, /* SYSTEM_CALL_xTaskDelayUntil. */
+        #else
+            ( UBaseType_t ) 0,                       /* SYSTEM_CALL_xTaskDelayUntil. */
+        #endif
+
+        #if ( INCLUDE_xTaskAbortDelay == 1 )
+            ( UBaseType_t ) MPU_xTaskAbortDelayImpl, /* SYSTEM_CALL_xTaskAbortDelay. */
+        #else
+            ( UBaseType_t ) 0,                       /* SYSTEM_CALL_xTaskAbortDelay. */
+        #endif
+
+        #if ( INCLUDE_vTaskDelay == 1 )
+            ( UBaseType_t ) MPU_vTaskDelayImpl, /* SYSTEM_CALL_vTaskDelay. */
+        #else
+            ( UBaseType_t ) 0,                  /* SYSTEM_CALL_vTaskDelay. */
+        #endif
+
+        #if ( INCLUDE_uxTaskPriorityGet == 1 )
+            ( UBaseType_t ) MPU_uxTaskPriorityGetImpl, /* SYSTEM_CALL_uxTaskPriorityGet. */
+        #else
+            ( UBaseType_t ) 0,                         /* SYSTEM_CALL_uxTaskPriorityGet. */
+        #endif
+
+        #if ( INCLUDE_eTaskGetState == 1 )
+            ( UBaseType_t ) MPU_eTaskGetStateImpl, /* SYSTEM_CALL_eTaskGetState. */
+        #else
+            ( UBaseType_t ) 0,                     /* SYSTEM_CALL_eTaskGetState. */
+        #endif
+
+        #if ( configUSE_TRACE_FACILITY == 1 )
+            ( UBaseType_t ) MPU_vTaskGetInfoImpl, /* SYSTEM_CALL_vTaskGetInfo. */
+        #else
+            ( UBaseType_t ) 0,                    /* SYSTEM_CALL_vTaskGetInfo. */
+        #endif
+
+        #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+            ( UBaseType_t ) MPU_xTaskGetIdleTaskHandleImpl, /* SYSTEM_CALL_xTaskGetIdleTaskHandle. */
+        #else
+            ( UBaseType_t ) 0,                              /* SYSTEM_CALL_xTaskGetIdleTaskHandle. */
+        #endif
+
+        #if ( INCLUDE_vTaskSuspend == 1 )
+            ( UBaseType_t ) MPU_vTaskSuspendImpl, /* SYSTEM_CALL_vTaskSuspend. */
+            ( UBaseType_t ) MPU_vTaskResumeImpl,  /* SYSTEM_CALL_vTaskResume. */
+        #else
+            ( UBaseType_t ) 0,                    /* SYSTEM_CALL_vTaskSuspend. */
+            ( UBaseType_t ) 0,                    /* SYSTEM_CALL_vTaskResume. */
+        #endif
+
+        ( UBaseType_t ) MPU_xTaskGetTickCountImpl,      /* SYSTEM_CALL_xTaskGetTickCount. */
+        ( UBaseType_t ) MPU_uxTaskGetNumberOfTasksImpl, /* SYSTEM_CALL_uxTaskGetNumberOfTasks. */
+        ( UBaseType_t ) MPU_pcTaskGetNameImpl,          /* SYSTEM_CALL_pcTaskGetName. */
+
+        #if ( configGENERATE_RUN_TIME_STATS == 1 )
+            ( UBaseType_t ) MPU_ulTaskGetRunTimeCounterImpl, /* SYSTEM_CALL_ulTaskGetRunTimeCounter. */
+            ( UBaseType_t ) MPU_ulTaskGetRunTimePercentImpl, /* SYSTEM_CALL_ulTaskGetRunTimePercent. */
+        #else
+            ( UBaseType_t ) 0,                               /* SYSTEM_CALL_ulTaskGetRunTimeCounter. */
+            ( UBaseType_t ) 0,                               /* SYSTEM_CALL_ulTaskGetRunTimePercent. */
+        #endif
+
+        #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+            ( UBaseType_t ) MPU_ulTaskGetIdleRunTimePercentImpl, /* SYSTEM_CALL_ulTaskGetIdleRunTimePercent. */
+            ( UBaseType_t ) MPU_ulTaskGetIdleRunTimeCounterImpl, /* SYSTEM_CALL_ulTaskGetIdleRunTimeCounter. */
+        #else
+            ( UBaseType_t ) 0,                                   /* SYSTEM_CALL_ulTaskGetIdleRunTimePercent. */
+            ( UBaseType_t ) 0,                                   /* SYSTEM_CALL_ulTaskGetIdleRunTimeCounter. */
+        #endif
+
+        #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+            ( UBaseType_t ) MPU_vTaskSetApplicationTaskTagImpl, /* SYSTEM_CALL_vTaskSetApplicationTaskTag. */
+            ( UBaseType_t ) MPU_xTaskGetApplicationTaskTagImpl, /* SYSTEM_CALL_xTaskGetApplicationTaskTag. */
+        #else
+            ( UBaseType_t ) 0,                                  /* SYSTEM_CALL_vTaskSetApplicationTaskTag. */
+            ( UBaseType_t ) 0,                                  /* SYSTEM_CALL_xTaskGetApplicationTaskTag. */
+        #endif
+
+        #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
+            ( UBaseType_t ) MPU_vTaskSetThreadLocalStoragePointerImpl,  /* SYSTEM_CALL_vTaskSetThreadLocalStoragePointer. */
+            ( UBaseType_t ) MPU_pvTaskGetThreadLocalStoragePointerImpl, /* SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer. */
+        #else
+            ( UBaseType_t ) 0,                                          /* SYSTEM_CALL_vTaskSetThreadLocalStoragePointer. */
+            ( UBaseType_t ) 0,                                          /* SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer. */
+        #endif
+
+        #if ( configUSE_TRACE_FACILITY == 1 )
+            ( UBaseType_t ) MPU_uxTaskGetSystemStateImpl, /* SYSTEM_CALL_uxTaskGetSystemState. */
+        #else
+            ( UBaseType_t ) 0,                            /* SYSTEM_CALL_uxTaskGetSystemState. */
+        #endif
+
+        #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+            ( UBaseType_t ) MPU_uxTaskGetStackHighWaterMarkImpl, /* SYSTEM_CALL_uxTaskGetStackHighWaterMark. */
+        #else
+            ( UBaseType_t ) 0,                                   /* SYSTEM_CALL_uxTaskGetStackHighWaterMark. */
+        #endif
+
+        #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
+            ( UBaseType_t ) MPU_uxTaskGetStackHighWaterMark2Impl, /* SYSTEM_CALL_uxTaskGetStackHighWaterMark2. */
+        #else
+            ( UBaseType_t ) 0,                                    /* SYSTEM_CALL_uxTaskGetStackHighWaterMark2. */
+        #endif
+
+        #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+            ( UBaseType_t ) MPU_xTaskGetCurrentTaskHandleImpl, /* SYSTEM_CALL_xTaskGetCurrentTaskHandle. */
+        #else
+            ( UBaseType_t ) 0,                                 /* SYSTEM_CALL_xTaskGetCurrentTaskHandle. */
+        #endif
+
+        #if ( INCLUDE_xTaskGetSchedulerState == 1 )
+            ( UBaseType_t ) MPU_xTaskGetSchedulerStateImpl, /* SYSTEM_CALL_xTaskGetSchedulerState. */
+        #else
+            ( UBaseType_t ) 0,                              /* SYSTEM_CALL_xTaskGetSchedulerState. */
+        #endif
+
+        ( UBaseType_t ) MPU_vTaskSetTimeOutStateImpl, /* SYSTEM_CALL_vTaskSetTimeOutState. */
+        ( UBaseType_t ) MPU_xTaskCheckForTimeOutImpl, /* SYSTEM_CALL_xTaskCheckForTimeOut. */
+
+        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+            ( UBaseType_t ) MPU_ulTaskGenericNotifyTakeImpl,       /* SYSTEM_CALL_ulTaskGenericNotifyTake. */
+            ( UBaseType_t ) MPU_xTaskGenericNotifyStateClearImpl,  /* SYSTEM_CALL_xTaskGenericNotifyStateClear. */
+            ( UBaseType_t ) MPU_ulTaskGenericNotifyValueClearImpl, /* SYSTEM_CALL_ulTaskGenericNotifyValueClear. */
+        #else
+            ( UBaseType_t ) 0,                                     /* SYSTEM_CALL_ulTaskGenericNotifyTake. */
+            ( UBaseType_t ) 0,                                     /* SYSTEM_CALL_xTaskGenericNotifyStateClear. */
+            ( UBaseType_t ) 0,                                     /* SYSTEM_CALL_ulTaskGenericNotifyValueClear. */
+        #endif
+
+        ( UBaseType_t ) MPU_xQueueGenericSendImpl,      /* SYSTEM_CALL_xQueueGenericSend. */
+        ( UBaseType_t ) MPU_uxQueueMessagesWaitingImpl, /* SYSTEM_CALL_uxQueueMessagesWaiting. */
+        ( UBaseType_t ) MPU_uxQueueSpacesAvailableImpl, /* SYSTEM_CALL_uxQueueSpacesAvailable. */
+        ( UBaseType_t ) MPU_xQueueReceiveImpl,          /* SYSTEM_CALL_xQueueReceive. */
+        ( UBaseType_t ) MPU_xQueuePeekImpl,             /* SYSTEM_CALL_xQueuePeek. */
+        ( UBaseType_t ) MPU_xQueueSemaphoreTakeImpl,    /* SYSTEM_CALL_xQueueSemaphoreTake. */
+
+        #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+            ( UBaseType_t ) MPU_xQueueGetMutexHolderImpl, /* SYSTEM_CALL_xQueueGetMutexHolder. */
+        #else
+            ( UBaseType_t ) 0,                            /* SYSTEM_CALL_xQueueGetMutexHolder. */
+        #endif
+
+        #if ( configUSE_RECURSIVE_MUTEXES == 1 )
+            ( UBaseType_t ) MPU_xQueueTakeMutexRecursiveImpl, /* SYSTEM_CALL_xQueueTakeMutexRecursive. */
+            ( UBaseType_t ) MPU_xQueueGiveMutexRecursiveImpl, /* SYSTEM_CALL_xQueueGiveMutexRecursive. */
+        #else
+            ( UBaseType_t ) 0,                                /* SYSTEM_CALL_xQueueTakeMutexRecursive. */
+            ( UBaseType_t ) 0,                                /* SYSTEM_CALL_xQueueGiveMutexRecursive. */
+        #endif
+
+        #if ( configUSE_QUEUE_SETS == 1 )
+            ( UBaseType_t ) MPU_xQueueSelectFromSetImpl, /* SYSTEM_CALL_xQueueSelectFromSet. */
+            ( UBaseType_t ) MPU_xQueueAddToSetImpl,      /* SYSTEM_CALL_xQueueAddToSet. */
+        #else
+            ( UBaseType_t ) 0,                           /* SYSTEM_CALL_xQueueSelectFromSet. */
+            ( UBaseType_t ) 0,                           /* SYSTEM_CALL_xQueueAddToSet. */
+        #endif
+
+        #if configQUEUE_REGISTRY_SIZE > 0
+            ( UBaseType_t ) MPU_vQueueAddToRegistryImpl,   /* SYSTEM_CALL_vQueueAddToRegistry. */
+            ( UBaseType_t ) MPU_vQueueUnregisterQueueImpl, /* SYSTEM_CALL_vQueueUnregisterQueue. */
+            ( UBaseType_t ) MPU_pcQueueGetNameImpl,        /* SYSTEM_CALL_pcQueueGetName. */
+        #else
+            ( UBaseType_t ) 0,                             /* SYSTEM_CALL_vQueueAddToRegistry. */
+            ( UBaseType_t ) 0,                             /* SYSTEM_CALL_vQueueUnregisterQueue. */
+            ( UBaseType_t ) 0,                             /* SYSTEM_CALL_pcQueueGetName. */
+        #endif
+
+        #if ( configUSE_TIMERS == 1 )
+            ( UBaseType_t ) MPU_pvTimerGetTimerIDImpl,              /* SYSTEM_CALL_pvTimerGetTimerID. */
+            ( UBaseType_t ) MPU_vTimerSetTimerIDImpl,               /* SYSTEM_CALL_vTimerSetTimerID. */
+            ( UBaseType_t ) MPU_xTimerIsTimerActiveImpl,            /* SYSTEM_CALL_xTimerIsTimerActive. */
+            ( UBaseType_t ) MPU_xTimerGetTimerDaemonTaskHandleImpl, /* SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle. */
+            ( UBaseType_t ) MPU_pcTimerGetNameImpl,                 /* SYSTEM_CALL_pcTimerGetName. */
+            ( UBaseType_t ) MPU_vTimerSetReloadModeImpl,            /* SYSTEM_CALL_vTimerSetReloadMode. */
+            ( UBaseType_t ) MPU_xTimerGetReloadModeImpl,            /* SYSTEM_CALL_xTimerGetReloadMode. */
+            ( UBaseType_t ) MPU_uxTimerGetReloadModeImpl,           /* SYSTEM_CALL_uxTimerGetReloadMode. */
+            ( UBaseType_t ) MPU_xTimerGetPeriodImpl,                /* SYSTEM_CALL_xTimerGetPeriod. */
+            ( UBaseType_t ) MPU_xTimerGetExpiryTimeImpl,            /* SYSTEM_CALL_xTimerGetExpiryTime. */
+        #else /* if ( configUSE_TIMERS == 1 ) */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_pvTimerGetTimerID. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_vTimerSetTimerID. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_xTimerIsTimerActive. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_pcTimerGetName. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_vTimerSetReloadMode. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_xTimerGetReloadMode. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_uxTimerGetReloadMode. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_xTimerGetPeriod. */
+            ( UBaseType_t ) 0,                                      /* SYSTEM_CALL_xTimerGetExpiryTime. */
+        #endif /* if ( configUSE_TIMERS == 1 ) */
+
+        ( UBaseType_t ) MPU_xEventGroupClearBitsImpl, /* SYSTEM_CALL_xEventGroupClearBits. */
+        ( UBaseType_t ) MPU_xEventGroupSetBitsImpl,   /* SYSTEM_CALL_xEventGroupSetBits. */
+        ( UBaseType_t ) MPU_xEventGroupSyncImpl,      /* SYSTEM_CALL_xEventGroupSync. */
+
+        #if ( configUSE_TRACE_FACILITY == 1 )
+            ( UBaseType_t ) MPU_uxEventGroupGetNumberImpl, /* SYSTEM_CALL_uxEventGroupGetNumber. */
+            ( UBaseType_t ) MPU_vEventGroupSetNumberImpl,  /* SYSTEM_CALL_vEventGroupSetNumber. */
+        #else
+            ( UBaseType_t ) 0,                             /* SYSTEM_CALL_uxEventGroupGetNumber. */
+            ( UBaseType_t ) 0,                             /* SYSTEM_CALL_vEventGroupSetNumber. */
+        #endif
+
+        ( UBaseType_t ) MPU_xStreamBufferSendImpl,                  /* SYSTEM_CALL_xStreamBufferSend. */
+        ( UBaseType_t ) MPU_xStreamBufferReceiveImpl,               /* SYSTEM_CALL_xStreamBufferReceive. */
+        ( UBaseType_t ) MPU_xStreamBufferIsFullImpl,                /* SYSTEM_CALL_xStreamBufferIsFull. */
+        ( UBaseType_t ) MPU_xStreamBufferIsEmptyImpl,               /* SYSTEM_CALL_xStreamBufferIsEmpty. */
+        ( UBaseType_t ) MPU_xStreamBufferSpacesAvailableImpl,       /* SYSTEM_CALL_xStreamBufferSpacesAvailable. */
+        ( UBaseType_t ) MPU_xStreamBufferBytesAvailableImpl,        /* SYSTEM_CALL_xStreamBufferBytesAvailable. */
+        ( UBaseType_t ) MPU_xStreamBufferSetTriggerLevelImpl,       /* SYSTEM_CALL_xStreamBufferSetTriggerLevel. */
+        ( UBaseType_t ) MPU_xStreamBufferNextMessageLengthBytesImpl /* SYSTEM_CALL_xStreamBufferNextMessageLengthBytes. */
+    };
+/*-----------------------------------------------------------*/
+
+#endif /* #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
+/*-----------------------------------------------------------*/
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
index 89a912c..73430b5 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,95 +21,99 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*-----------------------------------------------------------
- * Implementation of functions defined in portable.h for the ARM CM4F port.
- *----------------------------------------------------------*/
+* Implementation of functions defined in portable.h for the ARM CM4F port.
+*----------------------------------------------------------*/
 
 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"
 
 #ifndef __VFP_FP__
-	#error This port can only be used when the project options are configured to enable hardware floating point support.
-#endif
-
-#ifndef configSYSTICK_CLOCK_HZ
-	#define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ
-	/* Ensure the SysTick is clocked at the same frequency as the core. */
-	#define portNVIC_SYSTICK_CLK_BIT	( 1UL << 2UL )
-#else
-	/* The way the SysTick is clocked is not modified in case it is not the same
-	as the core. */
-	#define portNVIC_SYSTICK_CLK_BIT	( 0 )
+    #error This port can only be used when the project options are configured to enable hardware floating point support.
 #endif
 
 /* Constants required to manipulate the core.  Registers first... */
-#define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile uint32_t * ) 0xe000e010 ) )
-#define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile uint32_t * ) 0xe000e014 ) )
-#define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile uint32_t * ) 0xe000e018 ) )
-#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
+#define portNVIC_SYSTICK_CTRL_REG             ( *( ( volatile uint32_t * ) 0xe000e010 ) )
+#define portNVIC_SYSTICK_LOAD_REG             ( *( ( volatile uint32_t * ) 0xe000e014 ) )
+#define portNVIC_SYSTICK_CURRENT_VALUE_REG    ( *( ( volatile uint32_t * ) 0xe000e018 ) )
+#define portNVIC_SHPR3_REG                    ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
-#define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
-#define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
-#define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
-#define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
+#define portNVIC_SYSTICK_CLK_BIT              ( 1UL << 2UL )
+#define portNVIC_SYSTICK_INT_BIT              ( 1UL << 1UL )
+#define portNVIC_SYSTICK_ENABLE_BIT           ( 1UL << 0UL )
+#define portNVIC_SYSTICK_COUNT_FLAG_BIT       ( 1UL << 16UL )
+#define portNVIC_PENDSVCLEAR_BIT              ( 1UL << 27UL )
+#define portNVIC_PEND_SYSTICK_SET_BIT         ( 1UL << 26UL )
+#define portNVIC_PEND_SYSTICK_CLEAR_BIT       ( 1UL << 25UL )
 
 /* Constants used to detect a Cortex-M7 r0p1 core, which should use the ARM_CM7
-r0p1 port. */
-#define portCPUID							( * ( ( volatile uint32_t * ) 0xE000ed00 ) )
-#define portCORTEX_M7_r0p1_ID				( 0x410FC271UL )
-#define portCORTEX_M7_r0p0_ID				( 0x410FC270UL )
+ * r0p1 port. */
+#define portCPUID                             ( *( ( volatile uint32_t * ) 0xE000ed00 ) )
+#define portCORTEX_M7_r0p1_ID                 ( 0x410FC271UL )
+#define portCORTEX_M7_r0p0_ID                 ( 0x410FC270UL )
 
-#define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
-#define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+#define portMIN_INTERRUPT_PRIORITY            ( 255UL )
+#define portNVIC_PENDSV_PRI                   ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI                  ( ( ( uint32_t ) portMIN_INTERRUPT_PRIORITY ) << 24UL )
 
 /* Constants required to check the validity of an interrupt priority. */
-#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
-#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
-#define portAIRCR_REG						( * ( ( volatile uint32_t * ) 0xE000ED0C ) )
-#define portMAX_8_BIT_VALUE					( ( uint8_t ) 0xff )
-#define portTOP_BIT_OF_BYTE					( ( uint8_t ) 0x80 )
-#define portMAX_PRIGROUP_BITS				( ( uint8_t ) 7 )
-#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
-#define portPRIGROUP_SHIFT					( 8UL )
+#define portFIRST_USER_INTERRUPT_NUMBER       ( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16       ( 0xE000E3F0 )
+#define portAIRCR_REG                         ( *( ( volatile uint32_t * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE                   ( ( uint8_t ) 0xff )
+#define portTOP_BIT_OF_BYTE                   ( ( uint8_t ) 0x80 )
+#define portMAX_PRIGROUP_BITS                 ( ( uint8_t ) 7 )
+#define portPRIORITY_GROUP_MASK               ( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT                    ( 8UL )
 
 /* Masks off all bits but the VECTACTIVE bits in the ICSR register. */
-#define portVECTACTIVE_MASK					( 0xFFUL )
+#define portVECTACTIVE_MASK                   ( 0xFFUL )
 
 /* Constants required to manipulate the VFP. */
-#define portFPCCR							( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
-#define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )
+#define portFPCCR                             ( ( volatile uint32_t * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS              ( 0x3UL << 30UL )
 
 /* Constants required to set up the initial stack. */
-#define portINITIAL_XPSR					( 0x01000000 )
-#define portINITIAL_EXC_RETURN				( 0xfffffffd )
+#define portINITIAL_XPSR                      ( 0x01000000 )
+#define portINITIAL_EXC_RETURN                ( 0xfffffffd )
 
 /* The systick is a 24-bit counter. */
-#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+#define portMAX_24_BIT_NUMBER                 ( 0xffffffUL )
 
 /* For strict compliance with the Cortex-M spec the task start address should
-have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
-#define portSTART_ADDRESS_MASK		( ( StackType_t ) 0xfffffffeUL )
+ * have bit-0 clear, as it is loaded into the PC on exit from an ISR. */
+#define portSTART_ADDRESS_MASK                ( ( StackType_t ) 0xfffffffeUL )
 
 /* A fiddle factor to estimate the number of SysTick counts that would have
-occurred while the SysTick counter is stopped during tickless idle
-calculations. */
-#define portMISSED_COUNTS_FACTOR			( 45UL )
+ * occurred while the SysTick counter is stopped during tickless idle
+ * calculations. */
+#define portMISSED_COUNTS_FACTOR              ( 94UL )
+
+/* Let the user override the default SysTick clock rate.  If defined by the
+ * user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
+ * configuration register. */
+#ifndef configSYSTICK_CLOCK_HZ
+    #define configSYSTICK_CLOCK_HZ             ( configCPU_CLOCK_HZ )
+    /* Ensure the SysTick is clocked at the same frequency as the core. */
+    #define portNVIC_SYSTICK_CLK_BIT_CONFIG    ( portNVIC_SYSTICK_CLK_BIT )
+#else
+    /* Select the option to clock SysTick not at the same frequency as the core. */
+    #define portNVIC_SYSTICK_CLK_BIT_CONFIG    ( 0 )
+#endif
 
 /* Let the user override the pre-loading of the initial LR with the address of
-prvTaskExitError() in case it messes up unwinding of the stack in the
-debugger. */
+ * prvTaskExitError() in case it messes up unwinding of the stack in the
+ * debugger. */
 #ifdef configTASK_RETURN_ADDRESS
-	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+    #define portTASK_RETURN_ADDRESS    configTASK_RETURN_ADDRESS
 #else
-	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+    #define portTASK_RETURN_ADDRESS    prvTaskExitError
 #endif
 
 /*
@@ -120,19 +126,19 @@ void vPortSetupTimerInterrupt( void );
 /*
  * Exception handlers.
  */
-void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortPendSVHandler( void ) __attribute__( ( naked ) );
 void xPortSysTickHandler( void );
-void vPortSVCHandler( void ) __attribute__ (( naked ));
+void vPortSVCHandler( void ) __attribute__( ( naked ) );
 
 /*
  * Start first task is a separate function so it can be tested in isolation.
  */
-static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
+static void prvPortStartFirstTask( void ) __attribute__( ( naked ) );
 
 /*
  * Function to enable the VFP.
  */
-static void vPortEnableVFP( void ) __attribute__ (( naked ));
+static void vPortEnableVFP( void ) __attribute__( ( naked ) );
 
 /*
  * Used to catch tasks that attempt to return from their implementing function.
@@ -142,30 +148,30 @@ static void prvTaskExitError( void );
 /*-----------------------------------------------------------*/
 
 /* Each task maintains its own interrupt status in the critical nesting
-variable. */
+ * variable. */
 static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
-#if( configUSE_TICKLESS_IDLE == 1 )
-	static uint32_t ulTimerCountsForOneTick = 0;
+#if ( configUSE_TICKLESS_IDLE == 1 )
+    static uint32_t ulTimerCountsForOneTick = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
  * 24 bit resolution of the SysTick timer.
  */
-#if( configUSE_TICKLESS_IDLE == 1 )
-	static uint32_t xMaximumPossibleSuppressedTicks = 0;
+#if ( configUSE_TICKLESS_IDLE == 1 )
+    static uint32_t xMaximumPossibleSuppressedTicks = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * Compensate for the CPU cycles that pass while the SysTick is stopped (low
  * power functionality only.
  */
-#if( configUSE_TICKLESS_IDLE == 1 )
-	static uint32_t ulStoppedTimerCompensation = 0;
+#if ( configUSE_TICKLESS_IDLE == 1 )
+    static uint32_t ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
 /*
@@ -173,10 +179,10 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
  * FreeRTOS API functions are not called from interrupts that have been assigned
  * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
  */
-#if( configASSERT_DEFINED == 1 )
-	 static uint8_t ucMaxSysCallPriority = 0;
-	 static uint32_t ulMaxPRIGROUPValue = 0;
-	 static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#if ( configASSERT_DEFINED == 1 )
+    static uint8_t ucMaxSysCallPriority = 0;
+    static uint32_t ulMaxPRIGROUPValue = 0;
+    static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * const ) portNVIC_IP_REGISTERS_OFFSET_16;
 #endif /* configASSERT_DEFINED */
 
 /*-----------------------------------------------------------*/
@@ -184,100 +190,104 @@ static UBaseType_t uxCriticalNesting = 0xaaaaaaaa;
 /*
  * See header file for description.
  */
-StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
+StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                     TaskFunction_t pxCode,
+                                     void * pvParameters )
 {
-	/* Simulate the stack frame as it would be created by a context switch
-	interrupt. */
+    /* Simulate the stack frame as it would be created by a context switch
+     * interrupt. */
 
-	/* Offset added to account for the way the MCU uses the stack on entry/exit
-	of interrupts, and to ensure alignment. */
-	pxTopOfStack--;
+    /* Offset added to account for the way the MCU uses the stack on entry/exit
+     * of interrupts, and to ensure alignment. */
+    pxTopOfStack--;
 
-	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
-	pxTopOfStack--;
-	*pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK;	/* PC */
-	pxTopOfStack--;
-	*pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;	/* LR */
+    *pxTopOfStack = portINITIAL_XPSR;                                    /* xPSR */
+    pxTopOfStack--;
+    *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
+    pxTopOfStack--;
+    *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS;             /* LR */
 
-	/* Save code space by skipping register initialisation. */
-	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
-	*pxTopOfStack = ( StackType_t ) pvParameters;	/* R0 */
+    /* Save code space by skipping register initialisation. */
+    pxTopOfStack -= 5;                            /* R12, R3, R2 and R1. */
+    *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
 
-	/* A save method is being used that requires each task to maintain its
-	own exec return value. */
-	pxTopOfStack--;
-	*pxTopOfStack = portINITIAL_EXC_RETURN;
+    /* A save method is being used that requires each task to maintain its
+     * own exec return value. */
+    pxTopOfStack--;
+    *pxTopOfStack = portINITIAL_EXC_RETURN;
 
-	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
+    pxTopOfStack -= 8; /* R11, R10, R9, R8, R7, R6, R5 and R4. */
 
-	return pxTopOfStack;
+    return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/
 
 static void prvTaskExitError( void )
 {
-volatile uint32_t ulDummy = 0;
+    volatile uint32_t ulDummy = 0;
 
-	/* A function that implements a task must not exit or attempt to return to
-	its caller as there is nothing to return to.  If a task wants to exit it
-	should instead call vTaskDelete( NULL ).
+    /* A function that implements a task must not exit or attempt to return to
+     * its caller as there is nothing to return to.  If a task wants to exit it
+     * should instead call vTaskDelete( NULL ).
+     *
+     * Artificially force an assert() to be triggered if configASSERT() is
+     * defined, then stop here so application writers can catch the error. */
+    configASSERT( uxCriticalNesting == ~0UL );
+    portDISABLE_INTERRUPTS();
 
-	Artificially force an assert() to be triggered if configASSERT() is
-	defined, then stop here so application writers can catch the error. */
-	configASSERT( uxCriticalNesting == ~0UL );
-	portDISABLE_INTERRUPTS();
-	while( ulDummy == 0 )
-	{
-		/* This file calls prvTaskExitError() after the scheduler has been
-		started to remove a compiler warning about the function being defined
-		but never called.  ulDummy is used purely to quieten other warnings
-		about code appearing after this function is called - making ulDummy
-		volatile makes the compiler think the function could return and
-		therefore not output an 'unreachable code' warning for code that appears
-		after it. */
-	}
+    while( ulDummy == 0 )
+    {
+        /* This file calls prvTaskExitError() after the scheduler has been
+         * started to remove a compiler warning about the function being defined
+         * but never called.  ulDummy is used purely to quieten other warnings
+         * about code appearing after this function is called - making ulDummy
+         * volatile makes the compiler think the function could return and
+         * therefore not output an 'unreachable code' warning for code that appears
+         * after it. */
+    }
 }
 /*-----------------------------------------------------------*/
 
 void vPortSVCHandler( void )
 {
-	__asm volatile (
-					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
-					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
-					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
-					"	ldmia r0!, {r4-r11, r14}		\n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
-					"	msr psp, r0						\n" /* Restore the task stack pointer. */
-					"	isb								\n"
-					"	mov r0, #0 						\n"
-					"	msr	basepri, r0					\n"
-					"	bx r14							\n"
-					"									\n"
-					"	.align 4						\n"
-					"pxCurrentTCBConst2: .word pxCurrentTCB				\n"
-				);
+    __asm volatile (
+        "   ldr r3, pxCurrentTCBConst2      \n" /* Restore the context. */
+        "   ldr r1, [r3]                    \n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
+        "   ldr r0, [r1]                    \n" /* The first item in pxCurrentTCB is the task top of stack. */
+        "   ldmia r0!, {r4-r11, r14}        \n" /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
+        "   msr psp, r0                     \n" /* Restore the task stack pointer. */
+        "   isb                             \n"
+        "   mov r0, #0                      \n"
+        "   msr basepri, r0                 \n"
+        "   bx r14                          \n"
+        "                                   \n"
+        "   .align 4                        \n"
+        "pxCurrentTCBConst2: .word pxCurrentTCB             \n"
+        );
 }
 /*-----------------------------------------------------------*/
 
 static void prvPortStartFirstTask( void )
 {
-	/* Start the first task.  This also clears the bit that indicates the FPU is
-	in use in case the FPU was used before the scheduler was started - which
-	would otherwise result in the unnecessary leaving of space in the SVC stack
-	for lazy saving of FPU registers. */
-	__asm volatile(
-					" ldr r0, =0xE000ED08 	\n" /* Use the NVIC offset register to locate the stack. */
-					" ldr r0, [r0] 			\n"
-					" ldr r0, [r0] 			\n"
-					" msr msp, r0			\n" /* Set the msp back to the start of the stack. */
-					" mov r0, #0			\n" /* Clear the bit that indicates the FPU is in use, see comment above. */
-					" msr control, r0		\n"
-					" cpsie i				\n" /* Globally enable interrupts. */
-					" cpsie f				\n"
-					" dsb					\n"
-					" isb					\n"
-					" svc 0					\n" /* System call to start first task. */
-					" nop					\n"
-				);
+    /* Start the first task.  This also clears the bit that indicates the FPU is
+     * in use in case the FPU was used before the scheduler was started - which
+     * would otherwise result in the unnecessary leaving of space in the SVC stack
+     * for lazy saving of FPU registers. */
+    __asm volatile (
+        " ldr r0, =0xE000ED08   \n" /* Use the NVIC offset register to locate the stack. */
+        " ldr r0, [r0]          \n"
+        " ldr r0, [r0]          \n"
+        " msr msp, r0           \n" /* Set the msp back to the start of the stack. */
+        " mov r0, #0            \n" /* Clear the bit that indicates the FPU is in use, see comment above. */
+        " msr control, r0       \n"
+        " cpsie i               \n" /* Globally enable interrupts. */
+        " cpsie f               \n"
+        " dsb                   \n"
+        " isb                   \n"
+        " svc 0                 \n" /* System call to start first task. */
+        " nop                   \n"
+        " .ltorg                \n"
+        );
 }
 /*-----------------------------------------------------------*/
 
@@ -286,388 +296,461 @@ static void prvPortStartFirstTask( void )
  */
 BaseType_t xPortStartScheduler( void )
 {
-	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
-	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
-	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
+    /* This port can be used on all revisions of the Cortex-M7 core other than
+     * the r0p1 parts.  r0p1 parts should use the port from the
+     * /source/portable/GCC/ARM_CM7/r0p1 directory. */
+    configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
+    configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
 
-	/* This port can be used on all revisions of the Cortex-M7 core other than
-	the r0p1 parts.  r0p1 parts should use the port from the
-	/source/portable/GCC/ARM_CM7/r0p1 directory. */
-	configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
-	configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );
+    #if ( configASSERT_DEFINED == 1 )
+    {
+        volatile uint8_t ucOriginalPriority;
+        volatile uint32_t ulImplementedPrioBits = 0;
+        volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+        volatile uint8_t ucMaxPriorityValue;
 
-	#if( configASSERT_DEFINED == 1 )
-	{
-		volatile uint32_t ulOriginalPriority;
-		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
-		volatile uint8_t ucMaxPriorityValue;
+        /* Determine the maximum priority from which ISR safe FreeRTOS API
+         * functions can be called.  ISR safe functions are those that end in
+         * "FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+         * ensure interrupt entry is as fast and simple as possible.
+         *
+         * Save the interrupt priority value that is about to be clobbered. */
+        ucOriginalPriority = *pucFirstUserPriorityRegister;
 
-		/* Determine the maximum priority from which ISR safe FreeRTOS API
-		functions can be called.  ISR safe functions are those that end in
-		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
-		ensure interrupt entry is as fast and simple as possible.
+        /* Determine the number of priority bits available.  First write to all
+         * possible bits. */
+        *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
 
-		Save the interrupt priority value that is about to be clobbered. */
-		ulOriginalPriority = *pucFirstUserPriorityRegister;
+        /* Read the value back to see how many bits stuck. */
+        ucMaxPriorityValue = *pucFirstUserPriorityRegister;
 
-		/* Determine the number of priority bits available.  First write to all
-		possible bits. */
-		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+        /* Use the same mask on the maximum system call priority. */
+        ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
 
-		/* Read the value back to see how many bits stuck. */
-		ucMaxPriorityValue = *pucFirstUserPriorityRegister;
+        /* Check that the maximum system call priority is nonzero after
+         * accounting for the number of priority bits supported by the
+         * hardware. A priority of 0 is invalid because setting the BASEPRI
+         * register to 0 unmasks all interrupts, and interrupts with priority 0
+         * cannot be masked using BASEPRI.
+         * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+        configASSERT( ucMaxSysCallPriority );
 
-		/* Use the same mask on the maximum system call priority. */
-		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+        /* Check that the bits not implemented in hardware are zero in
+         * configMAX_SYSCALL_INTERRUPT_PRIORITY. */
+        configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & ( ~ucMaxPriorityValue ) ) == 0U );
 
-		/* Calculate the maximum acceptable priority group value for the number
-		of bits read back. */
-		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
-		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
-		{
-			ulMaxPRIGROUPValue--;
-			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
-		}
+        /* Calculate the maximum acceptable priority group value for the number
+         * of bits read back. */
 
-		#ifdef __NVIC_PRIO_BITS
-		{
-			/* Check the CMSIS configuration that defines the number of
-			priority bits matches the number of priority bits actually queried
-			from the hardware. */
-			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
-		}
-		#endif
+        while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+        {
+            ulImplementedPrioBits++;
+            ucMaxPriorityValue <<= ( uint8_t ) 0x01;
+        }
 
-		#ifdef configPRIO_BITS
-		{
-			/* Check the FreeRTOS configuration that defines the number of
-			priority bits matches the number of priority bits actually queried
-			from the hardware. */
-			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
-		}
-		#endif
+        if( ulImplementedPrioBits == 8 )
+        {
+            /* When the hardware implements 8 priority bits, there is no way for
+            * the software to configure PRIGROUP to not have sub-priorities. As
+            * a result, the least significant bit is always used for sub-priority
+            * and there are 128 preemption priorities and 2 sub-priorities.
+            *
+            * This may cause some confusion in some cases - for example, if
+            * configMAX_SYSCALL_INTERRUPT_PRIORITY is set to 5, both 5 and 4
+            * priority interrupts will be masked in Critical Sections as those
+            * are at the same preemption priority. This may appear confusing as
+            * 4 is higher (numerically lower) priority than
+            * configMAX_SYSCALL_INTERRUPT_PRIORITY and therefore, should not
+            * have been masked. Instead, if we set configMAX_SYSCALL_INTERRUPT_PRIORITY
+            * to 4, this confusion does not happen and the behaviour remains the same.
+            *
+            * The following assert ensures that the sub-priority bit in the
+            * configMAX_SYSCALL_INTERRUPT_PRIORITY is clear to avoid the above mentioned
+            * confusion. */
+            configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & 0x1U ) == 0U );
+            ulMaxPRIGROUPValue = 0;
+        }
+        else
+        {
+            ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS - ulImplementedPrioBits;
+        }
 
-		/* Shift the priority group value back to its position within the AIRCR
-		register. */
-		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
-		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+        /* Shift the priority group value back to its position within the AIRCR
+         * register. */
+        ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+        ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
 
-		/* Restore the clobbered interrupt priority register to its original
-		value. */
-		*pucFirstUserPriorityRegister = ulOriginalPriority;
-	}
-	#endif /* conifgASSERT_DEFINED */
+        /* Restore the clobbered interrupt priority register to its original
+         * value. */
+        *pucFirstUserPriorityRegister = ucOriginalPriority;
+    }
+    #endif /* configASSERT_DEFINED */
 
-	/* Make PendSV and SysTick the lowest priority interrupts. */
-	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
-	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
+    /* Make PendSV and SysTick the lowest priority interrupts. */
+    portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
+    portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
 
-	/* Start the timer that generates the tick ISR.  Interrupts are disabled
-	here already. */
-	vPortSetupTimerInterrupt();
+    /* Start the timer that generates the tick ISR.  Interrupts are disabled
+     * here already. */
+    vPortSetupTimerInterrupt();
 
-	/* Initialise the critical nesting count ready for the first task. */
-	uxCriticalNesting = 0;
+    /* Initialise the critical nesting count ready for the first task. */
+    uxCriticalNesting = 0;
 
-	/* Ensure the VFP is enabled - it should be anyway. */
-	vPortEnableVFP();
+    /* Ensure the VFP is enabled - it should be anyway. */
+    vPortEnableVFP();
 
-	/* Lazy save always. */
-	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
+    /* Lazy save always. */
+    *( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;
 
-	/* Start the first task. */
-	prvPortStartFirstTask();
+    /* Start the first task. */
+    prvPortStartFirstTask();
 
-	/* Should never get here as the tasks will now be executing!  Call the task
-	exit error function to prevent compiler warnings about a static function
-	not being called in the case that the application writer overrides this
-	functionality by defining configTASK_RETURN_ADDRESS.  Call
-	vTaskSwitchContext() so link time optimisation does not remove the
-	symbol. */
-	vTaskSwitchContext();
-	prvTaskExitError();
+    /* Should never get here as the tasks will now be executing!  Call the task
+     * exit error function to prevent compiler warnings about a static function
+     * not being called in the case that the application writer overrides this
+     * functionality by defining configTASK_RETURN_ADDRESS.  Call
+     * vTaskSwitchContext() so link time optimisation does not remove the
+     * symbol. */
+    vTaskSwitchContext();
+    prvTaskExitError();
 
-	/* Should not get here! */
-	return 0;
+    /* Should not get here! */
+    return 0;
 }
 /*-----------------------------------------------------------*/
 
 void vPortEndScheduler( void )
 {
-	/* Not implemented in ports where there is nothing to return to.
-	Artificially force an assert. */
-	configASSERT( uxCriticalNesting == 1000UL );
+    /* Not implemented in ports where there is nothing to return to.
+     * Artificially force an assert. */
+    configASSERT( uxCriticalNesting == 1000UL );
 }
 /*-----------------------------------------------------------*/
 
 void vPortEnterCritical( void )
 {
-	portDISABLE_INTERRUPTS();
-	uxCriticalNesting++;
+    portDISABLE_INTERRUPTS();
+    uxCriticalNesting++;
 
-	/* This is not the interrupt safe version of the enter critical function so
-	assert() if it is being called from an interrupt context.  Only API
-	functions that end in "FromISR" can be used in an interrupt.  Only assert if
-	the critical nesting count is 1 to protect against recursive calls if the
-	assert function also uses a critical section. */
-	if( uxCriticalNesting == 1 )
-	{
-		configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
-	}
+    /* This is not the interrupt safe version of the enter critical function so
+     * assert() if it is being called from an interrupt context.  Only API
+     * functions that end in "FromISR" can be used in an interrupt.  Only assert if
+     * the critical nesting count is 1 to protect against recursive calls if the
+     * assert function also uses a critical section. */
+    if( uxCriticalNesting == 1 )
+    {
+        configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );
+    }
 }
 /*-----------------------------------------------------------*/
 
 void vPortExitCritical( void )
 {
-	configASSERT( uxCriticalNesting );
-	uxCriticalNesting--;
-	if( uxCriticalNesting == 0 )
-	{
-		portENABLE_INTERRUPTS();
-	}
+    configASSERT( uxCriticalNesting );
+    uxCriticalNesting--;
+
+    if( uxCriticalNesting == 0 )
+    {
+        portENABLE_INTERRUPTS();
+    }
 }
 /*-----------------------------------------------------------*/
 
 void xPortPendSVHandler( void )
 {
-	/* This is a naked function. */
+    /* This is a naked function. */
 
-	__asm volatile
-	(
-	"	mrs r0, psp							\n"
-	"	isb									\n"
-	"										\n"
-	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
-	"	ldr	r2, [r3]						\n"
-	"										\n"
-	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, push high vfp registers. */
-	"	it eq								\n"
-	"	vstmdbeq r0!, {s16-s31}				\n"
-	"										\n"
-	"	stmdb r0!, {r4-r11, r14}			\n" /* Save the core registers. */
-	"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
-	"										\n"
-	"	stmdb sp!, {r0, r3}					\n"
-	"	mov r0, %0 							\n"
-	"	msr basepri, r0						\n"
-	"	dsb									\n"
-	"	isb									\n"
-	"	bl vTaskSwitchContext				\n"
-	"	mov r0, #0							\n"
-	"	msr basepri, r0						\n"
-	"	ldmia sp!, {r0, r3}					\n"
-	"										\n"
-	"	ldr r1, [r3]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
-	"	ldr r0, [r1]						\n"
-	"										\n"
-	"	ldmia r0!, {r4-r11, r14}			\n" /* Pop the core registers. */
-	"										\n"
-	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */
-	"	it eq								\n"
-	"	vldmiaeq r0!, {s16-s31}				\n"
-	"										\n"
-	"	msr psp, r0							\n"
-	"	isb									\n"
-	"										\n"
-	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
-		#if WORKAROUND_PMU_CM001 == 1
-	"			push { r14 }				\n"
-	"			pop { pc }					\n"
-		#endif
-	#endif
-	"										\n"
-	"	bx r14								\n"
-	"										\n"
-	"	.align 4							\n"
-	"pxCurrentTCBConst: .word pxCurrentTCB	\n"
-	::"i"(configMAX_SYSCALL_INTERRUPT_PRIORITY)
-	);
+    __asm volatile
+    (
+        "   mrs r0, psp                         \n"
+        "   isb                                 \n"
+        "                                       \n"
+        "   ldr r3, pxCurrentTCBConst           \n" /* Get the location of the current TCB. */
+        "   ldr r2, [r3]                        \n"
+        "                                       \n"
+        "   tst r14, #0x10                      \n" /* Is the task using the FPU context?  If so, push high vfp registers. */
+        "   it eq                               \n"
+        "   vstmdbeq r0!, {s16-s31}             \n"
+        "                                       \n"
+        "   stmdb r0!, {r4-r11, r14}            \n" /* Save the core registers. */
+        "   str r0, [r2]                        \n" /* Save the new top of stack into the first member of the TCB. */
+        "                                       \n"
+        "   stmdb sp!, {r0, r3}                 \n"
+        "   mov r0, %0                          \n"
+        "   msr basepri, r0                     \n"
+        "   dsb                                 \n"
+        "   isb                                 \n"
+        "   bl vTaskSwitchContext               \n"
+        "   mov r0, #0                          \n"
+        "   msr basepri, r0                     \n"
+        "   ldmia sp!, {r0, r3}                 \n"
+        "                                       \n"
+        "   ldr r1, [r3]                        \n" /* The first item in pxCurrentTCB is the task top of stack. */
+        "   ldr r0, [r1]                        \n"
+        "                                       \n"
+        "   ldmia r0!, {r4-r11, r14}            \n" /* Pop the core registers. */
+        "                                       \n"
+        "   tst r14, #0x10                      \n" /* Is the task using the FPU context?  If so, pop the high vfp registers too. */
+        "   it eq                               \n"
+        "   vldmiaeq r0!, {s16-s31}             \n"
+        "                                       \n"
+        "   msr psp, r0                         \n"
+        "   isb                                 \n"
+        "                                       \n"
+        #ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
+            #if WORKAROUND_PMU_CM001 == 1
+                "           push { r14 }                \n"
+                "           pop { pc }                  \n"
+            #endif
+        #endif
+        "                                       \n"
+        "   bx r14                              \n"
+        "                                       \n"
+        "   .align 4                            \n"
+        "pxCurrentTCBConst: .word pxCurrentTCB  \n"
+        ::"i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY )
+    );
 }
 /*-----------------------------------------------------------*/
 
 void xPortSysTickHandler( void )
 {
-	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
-	executes all interrupts must be unmasked.  There is therefore no need to
-	save and then restore the interrupt mask value as its value is already
-	known. */
-	portDISABLE_INTERRUPTS();
-	{
-		/* Increment the RTOS tick. */
-		if( xTaskIncrementTick() != pdFALSE )
-		{
-			/* A context switch is required.  Context switching is performed in
-			the PendSV interrupt.  Pend the PendSV interrupt. */
-			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-		}
-	}
-	portENABLE_INTERRUPTS();
+    /* The SysTick runs at the lowest interrupt priority, so when this interrupt
+     * executes all interrupts must be unmasked.  There is therefore no need to
+     * save and then restore the interrupt mask value as its value is already
+     * known. */
+    portDISABLE_INTERRUPTS();
+    {
+        /* Increment the RTOS tick. */
+        if( xTaskIncrementTick() != pdFALSE )
+        {
+            /* A context switch is required.  Context switching is performed in
+             * the PendSV interrupt.  Pend the PendSV interrupt. */
+            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+        }
+    }
+    portENABLE_INTERRUPTS();
 }
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TICKLESS_IDLE == 1 )
+#if ( configUSE_TICKLESS_IDLE == 1 )
 
-	__attribute__((weak)) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
-	{
-	uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
-	TickType_t xModifiableIdleTime;
+    __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
+    {
+        uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
+        TickType_t xModifiableIdleTime;
 
-		/* Make sure the SysTick reload value does not overflow the counter. */
-		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
-		{
-			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
-		}
+        /* Make sure the SysTick reload value does not overflow the counter. */
+        if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
+        {
+            xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
+        }
 
-		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
-		is accounted for as best it can be, but using the tickless mode will
-		inevitably result in some tiny drift of the time maintained by the
-		kernel with respect to calendar time. */
-		portNVIC_SYSTICK_CTRL_REG &= ~portNVIC_SYSTICK_ENABLE_BIT;
+        /* Enter a critical section but don't use the taskENTER_CRITICAL()
+         * method as that will mask interrupts that should exit sleep mode. */
+        __asm volatile ( "cpsid i" ::: "memory" );
+        __asm volatile ( "dsb" );
+        __asm volatile ( "isb" );
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods. */
-		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
+        /* If a context switch is pending or a task is waiting for the scheduler
+         * to be unsuspended then abandon the low power entry. */
+        if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+        {
+            /* Re-enable interrupts - see comments above the cpsid instruction
+             * above. */
+            __asm volatile ( "cpsie i" ::: "memory" );
+        }
+        else
+        {
+            /* Stop the SysTick momentarily.  The time the SysTick is stopped for
+             * is accounted for as best it can be, but using the tickless mode will
+             * inevitably result in some tiny drift of the time maintained by the
+             * kernel with respect to calendar time. */
+            portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
 
-		/* Enter a critical section but don't use the taskENTER_CRITICAL()
-		method as that will mask interrupts that should exit sleep mode. */
-		__asm volatile( "cpsid i" ::: "memory" );
-		__asm volatile( "dsb" );
-		__asm volatile( "isb" );
+            /* Use the SysTick current-value register to determine the number of
+             * SysTick decrements remaining until the next tick interrupt.  If the
+             * current-value register is zero, then there are actually
+             * ulTimerCountsForOneTick decrements remaining, not zero, because the
+             * SysTick requests the interrupt when decrementing from 1 to 0. */
+            ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
-		/* If a context switch is pending or a task is waiting for the scheduler
-		to be unsuspended then abandon the low power entry. */
-		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
-		{
-			/* Restart from whatever is left in the count register to complete
-			this tick period. */
-			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+            if( ulSysTickDecrementsLeft == 0 )
+            {
+                ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
+            }
 
-			/* Restart SysTick. */
-			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+            /* Calculate the reload value required to wait xExpectedIdleTime
+             * tick periods.  -1 is used because this code normally executes part
+             * way through the first tick period.  But if the SysTick IRQ is now
+             * pending, then clear the IRQ, suppressing the first tick, and correct
+             * the reload value to reflect that the second tick period is already
+             * underway.  The expected idle time is always at least two ticks. */
+            ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
 
-			/* Reset the reload register to the value required for normal tick
-			periods. */
-			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+            if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
+            {
+                portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
+                ulReloadValue -= ulTimerCountsForOneTick;
+            }
 
-			/* Re-enable interrupts - see comments above the cpsid instruction()
-			above. */
-			__asm volatile( "cpsie i" ::: "memory" );
-		}
-		else
-		{
-			/* Set the new reload value. */
-			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
+            if( ulReloadValue > ulStoppedTimerCompensation )
+            {
+                ulReloadValue -= ulStoppedTimerCompensation;
+            }
 
-			/* Clear the SysTick count flag and set the count value back to
-			zero. */
-			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+            /* Set the new reload value. */
+            portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
-			/* Restart SysTick. */
-			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
+            /* Clear the SysTick count flag and set the count value back to
+             * zero. */
+            portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
 
-			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
-			set its parameter to 0 to indicate that its implementation contains
-			its own wait for interrupt or wait for event instruction, and so wfi
-			should not be executed again.  However, the original expected idle
-			time variable must remain unmodified, so a copy is taken. */
-			xModifiableIdleTime = xExpectedIdleTime;
-			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
-			if( xModifiableIdleTime > 0 )
-			{
-				__asm volatile( "dsb" ::: "memory" );
-				__asm volatile( "wfi" );
-				__asm volatile( "isb" );
-			}
-			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
+            /* Restart SysTick. */
+            portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Re-enable interrupts to allow the interrupt that brought the MCU
-			out of sleep mode to execute immediately.  see comments above
-			__disable_interrupt() call above. */
-			__asm volatile( "cpsie i" ::: "memory" );
-			__asm volatile( "dsb" );
-			__asm volatile( "isb" );
+            /* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+             * set its parameter to 0 to indicate that its implementation contains
+             * its own wait for interrupt or wait for event instruction, and so wfi
+             * should not be executed again.  However, the original expected idle
+             * time variable must remain unmodified, so a copy is taken. */
+            xModifiableIdleTime = xExpectedIdleTime;
+            configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
 
-			/* Disable interrupts again because the clock is about to be stopped
-			and interrupts that execute while the clock is stopped will increase
-			any slippage between the time maintained by the RTOS and calendar
-			time. */
-			__asm volatile( "cpsid i" ::: "memory" );
-			__asm volatile( "dsb" );
-			__asm volatile( "isb" );
+            if( xModifiableIdleTime > 0 )
+            {
+                __asm volatile ( "dsb" ::: "memory" );
+                __asm volatile ( "wfi" );
+                __asm volatile ( "isb" );
+            }
 
-			/* Disable the SysTick clock without reading the
-			portNVIC_SYSTICK_CTRL_REG register to ensure the
-			portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
-			the time the SysTick is stopped for is accounted for as best it can
-			be, but using the tickless mode will inevitably result in some tiny
-			drift of the time maintained by the kernel with respect to calendar
-			time*/
-			portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT );
+            configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
-			/* Determine if the SysTick clock has already counted to zero and
-			been set back to the current reload value (the reload back being
-			correct for the entire expected idle time) or if the SysTick is yet
-			to count to zero (in which case an interrupt other than the SysTick
-			must have brought the system out of sleep mode). */
-			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
-			{
-				uint32_t ulCalculatedLoadValue;
+            /* Re-enable interrupts to allow the interrupt that brought the MCU
+             * out of sleep mode to execute immediately.  See comments above
+             * the cpsid instruction above. */
+            __asm volatile ( "cpsie i" ::: "memory" );
+            __asm volatile ( "dsb" );
+            __asm volatile ( "isb" );
 
-				/* The tick interrupt is already pending, and the SysTick count
-				reloaded with ulReloadValue.  Reset the
-				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
-				period. */
-				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+            /* Disable interrupts again because the clock is about to be stopped
+             * and interrupts that execute while the clock is stopped will increase
+             * any slippage between the time maintained by the RTOS and calendar
+             * time. */
+            __asm volatile ( "cpsid i" ::: "memory" );
+            __asm volatile ( "dsb" );
+            __asm volatile ( "isb" );
 
-				/* Don't allow a tiny value, or values that have somehow
-				underflowed because the post sleep hook did something
-				that took too long. */
-				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
-				{
-					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
-				}
+            /* Disable the SysTick clock without reading the
+             * portNVIC_SYSTICK_CTRL_REG register to ensure the
+             * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
+             * the time the SysTick is stopped for is accounted for as best it can
+             * be, but using the tickless mode will inevitably result in some tiny
+             * drift of the time maintained by the kernel with respect to calendar
+             * time*/
+            portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );
 
-				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+            /* Determine whether the SysTick has already counted to zero. */
+            if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+            {
+                uint32_t ulCalculatedLoadValue;
 
-				/* As the pending tick will be processed as soon as this
-				function exits, the tick value maintained by the tick is stepped
-				forward by one less than the time spent waiting. */
-				ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
-			}
-			else
-			{
-				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted rounded to complete tick
-				periods (not the ulReload value which accounted for part
-				ticks). */
-				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+                /* The tick interrupt ended the sleep (or is now pending), and
+                 * a new tick period has started.  Reset portNVIC_SYSTICK_LOAD_REG
+                 * with whatever remains of the new tick period. */
+                ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
 
-				/* How many complete tick periods passed while the processor
-				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+                /* Don't allow a tiny value, or values that have somehow
+                 * underflowed because the post sleep hook did something
+                 * that took too long or because the SysTick current-value register
+                 * is zero. */
+                if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+                {
+                    ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+                }
 
-				/* The reload value is set to whatever fraction of a single tick
-				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
-			}
+                portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
 
-			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
-			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
-			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;
-			vTaskStepTick( ulCompleteTickPeriods );
-			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+                /* As the pending tick will be processed as soon as this
+                 * function exits, the tick value maintained by the tick is stepped
+                 * forward by one less than the time spent waiting. */
+                ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
+            }
+            else
+            {
+                /* Something other than the tick interrupt ended the sleep. */
 
-			/* Exit with interrupts enabled. */
-			__asm volatile( "cpsie i" ::: "memory" );
-		}
-	}
+                /* Use the SysTick current-value register to determine the
+                 * number of SysTick decrements remaining until the expected idle
+                 * time would have ended. */
+                ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+                #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
+                {
+                    /* If the SysTick is not using the core clock, the current-
+                     * value register might still be zero here.  In that case, the
+                     * SysTick didn't load from the reload register, and there are
+                     * ulReloadValue decrements remaining in the expected idle
+                     * time, not zero. */
+                    if( ulSysTickDecrementsLeft == 0 )
+                    {
+                        ulSysTickDecrementsLeft = ulReloadValue;
+                    }
+                }
+                #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
+
+                /* Work out how long the sleep lasted rounded to complete tick
+                 * periods (not the ulReload value which accounted for part
+                 * ticks). */
+                ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;
+
+                /* How many complete tick periods passed while the processor
+                 * was waiting? */
+                ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
+
+                /* The reload value is set to whatever fraction of a single tick
+                 * period remains. */
+                portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
+            }
+
+            /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
+             * then set portNVIC_SYSTICK_LOAD_REG back to its standard value.  If
+             * the SysTick is not using the core clock, temporarily configure it to
+             * use the core clock.  This configuration forces the SysTick to load
+             * from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
+             * cycle of the other clock.  Then portNVIC_SYSTICK_LOAD_REG is ready
+             * to receive the standard value immediately. */
+            portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+            portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+            #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
+            {
+                portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+            }
+            #else
+            {
+                /* The temporary usage of the core clock has served its purpose,
+                 * as described above.  Resume usage of the other clock. */
+                portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
+
+                if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
+                {
+                    /* The partial tick period already ended.  Be sure the SysTick
+                     * counts it only once. */
+                    portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
+                }
+
+                portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+                portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+            }
+            #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */
+
+            /* Step the tick to account for any tick periods that elapsed. */
+            vTaskStepTick( ulCompleteTickPeriods );
+
+            /* Exit with interrupts enabled. */
+            __asm volatile ( "cpsie i" ::: "memory" );
+        }
+    }
 
 #endif /* #if configUSE_TICKLESS_IDLE */
 /*-----------------------------------------------------------*/
@@ -676,100 +759,99 @@ void xPortSysTickHandler( void )
  * Setup the systick timer to generate the tick interrupts at the required
  * frequency.
  */
-__attribute__(( weak )) void vPortSetupTimerInterrupt( void )
+__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
 {
-	/* Calculate the constants required to configure the tick interrupt. */
-	#if( configUSE_TICKLESS_IDLE == 1 )
-	{
-		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
-		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
-		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
-	}
-	#endif /* configUSE_TICKLESS_IDLE */
+    /* Calculate the constants required to configure the tick interrupt. */
+    #if ( configUSE_TICKLESS_IDLE == 1 )
+    {
+        ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+        xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+        ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+    }
+    #endif /* configUSE_TICKLESS_IDLE */
 
-	/* Stop and clear the SysTick. */
-	portNVIC_SYSTICK_CTRL_REG = 0UL;
-	portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
+    /* Stop and clear the SysTick. */
+    portNVIC_SYSTICK_CTRL_REG = 0UL;
+    portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
 
-	/* Configure SysTick to interrupt at the requested rate. */
-	portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-	portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
+    /* Configure SysTick to interrupt at the requested rate. */
+    portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+    portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
 }
 /*-----------------------------------------------------------*/
 
 /* This is a naked function. */
 static void vPortEnableVFP( void )
 {
-	__asm volatile
-	(
-		"	ldr.w r0, =0xE000ED88		\n" /* The FPU enable bits are in the CPACR. */
-		"	ldr r1, [r0]				\n"
-		"								\n"
-		"	orr r1, r1, #( 0xf << 20 )	\n" /* Enable CP10 and CP11 coprocessors, then save back. */
-		"	str r1, [r0]				\n"
-		"	bx r14						"
-	);
+    __asm volatile
+    (
+        "   ldr.w r0, =0xE000ED88       \n" /* The FPU enable bits are in the CPACR. */
+        "   ldr r1, [r0]                \n"
+        "                               \n"
+        "   orr r1, r1, #( 0xf << 20 )  \n" /* Enable CP10 and CP11 coprocessors, then save back. */
+        "   str r1, [r0]                \n"
+        "   bx r14                      \n"
+        "   .ltorg                      \n"
+    );
 }
 /*-----------------------------------------------------------*/
 
-#if( configASSERT_DEFINED == 1 )
+#if ( configASSERT_DEFINED == 1 )
 
-	void vPortValidateInterruptPriority( void )
-	{
-	uint32_t ulCurrentInterrupt;
-	uint8_t ucCurrentPriority;
+    void vPortValidateInterruptPriority( void )
+    {
+        uint32_t ulCurrentInterrupt;
+        uint8_t ucCurrentPriority;
 
-		/* Obtain the number of the currently executing interrupt. */
-		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+        /* Obtain the number of the currently executing interrupt. */
+        __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" );
 
-		/* Is the interrupt number a user defined interrupt? */
-		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
-		{
-			/* Look up the interrupt's priority. */
-			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+        /* Is the interrupt number a user defined interrupt? */
+        if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+        {
+            /* Look up the interrupt's priority. */
+            ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
 
-			/* The following assertion will fail if a service routine (ISR) for
-			an interrupt that has been assigned a priority above
-			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
-			function.  ISR safe FreeRTOS API functions must *only* be called
-			from interrupts that have been assigned a priority at or below
-			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+            /* The following assertion will fail if a service routine (ISR) for
+             * an interrupt that has been assigned a priority above
+             * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+             * function.  ISR safe FreeRTOS API functions must *only* be called
+             * from interrupts that have been assigned a priority at or below
+             * configMAX_SYSCALL_INTERRUPT_PRIORITY.
+             *
+             * Numerically low interrupt priority numbers represent logically high
+             * interrupt priorities, therefore the priority of the interrupt must
+             * be set to a value equal to or numerically *higher* than
+             * configMAX_SYSCALL_INTERRUPT_PRIORITY.
+             *
+             * Interrupts that  use the FreeRTOS API must not be left at their
+             * default priority of  zero as that is the highest possible priority,
+             * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+             * and  therefore also guaranteed to be invalid.
+             *
+             * FreeRTOS maintains separate thread and ISR API functions to ensure
+             * interrupt entry is as fast and simple as possible.
+             *
+             * The following links provide detailed information:
+             * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
+             * https://www.FreeRTOS.org/FAQHelp.html */
+            configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+        }
 
-			Numerically low interrupt priority numbers represent logically high
-			interrupt priorities, therefore the priority of the interrupt must
-			be set to a value equal to or numerically *higher* than
-			configMAX_SYSCALL_INTERRUPT_PRIORITY.
-
-			Interrupts that	use the FreeRTOS API must not be left at their
-			default priority of	zero as that is the highest possible priority,
-			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
-			and	therefore also guaranteed to be invalid.
-
-			FreeRTOS maintains separate thread and ISR API functions to ensure
-			interrupt entry is as fast and simple as possible.
-
-			The following links provide detailed information:
-			http://www.freertos.org/RTOS-Cortex-M3-M4.html
-			http://www.freertos.org/FAQHelp.html */
-			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
-		}
-
-		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
-		that define each interrupt's priority to be split between bits that
-		define the interrupt's pre-emption priority bits and bits that define
-		the interrupt's sub-priority.  For simplicity all bits must be defined
-		to be pre-emption priority bits.  The following assertion will fail if
-		this is not the case (if some bits represent a sub-priority).
-
-		If the application only uses CMSIS libraries for interrupt
-		configuration then the correct setting can be achieved on all Cortex-M
-		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
-		scheduler.  Note however that some vendor specific peripheral libraries
-		assume a non-zero priority group setting, in which cases using a value
-		of zero will result in unpredictable behaviour. */
-		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
-	}
+        /* Priority grouping:  The interrupt controller (NVIC) allows the bits
+         * that define each interrupt's priority to be split between bits that
+         * define the interrupt's pre-emption priority bits and bits that define
+         * the interrupt's sub-priority.  For simplicity all bits must be defined
+         * to be pre-emption priority bits.  The following assertion will fail if
+         * this is not the case (if some bits represent a sub-priority).
+         *
+         * If the application only uses CMSIS libraries for interrupt
+         * configuration then the correct setting can be achieved on all Cortex-M
+         * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+         * scheduler.  Note however that some vendor specific peripheral libraries
+         * assume a non-zero priority group setting, in which cases using a value
+         * of zero will result in unpredictable behaviour. */
+        configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+    }
 
 #endif /* configASSERT_DEFINED */
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index d0a566a..ec9cfc9 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,19 +21,20 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
 #ifndef PORTMACRO_H
-#define PORTMACRO_H
+    #define PORTMACRO_H
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
  * Port specific definitions.
@@ -44,200 +47,208 @@ extern "C" {
  */
 
 /* Type definitions. */
-#define portCHAR		char
-#define portFLOAT		float
-#define portDOUBLE		double
-#define portLONG		long
-#define portSHORT		short
-#define portSTACK_TYPE	uint32_t
-#define portBASE_TYPE	long
+    #define portCHAR          char
+    #define portFLOAT         float
+    #define portDOUBLE        double
+    #define portLONG          long
+    #define portSHORT         short
+    #define portSTACK_TYPE    uint32_t
+    #define portBASE_TYPE     long
 
-typedef portSTACK_TYPE StackType_t;
-typedef long BaseType_t;
-typedef unsigned long UBaseType_t;
+    typedef portSTACK_TYPE   StackType_t;
+    typedef long             BaseType_t;
+    typedef unsigned long    UBaseType_t;
 
-#if( configUSE_16_BIT_TICKS == 1 )
-	typedef uint16_t TickType_t;
-	#define portMAX_DELAY ( TickType_t ) 0xffff
-#else
-	typedef uint32_t TickType_t;
-	#define portMAX_DELAY ( TickType_t ) 0xffffffffUL
+    #if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
+        typedef uint16_t     TickType_t;
+        #define portMAX_DELAY              ( TickType_t ) 0xffff
+    #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
+        typedef uint32_t     TickType_t;
+        #define portMAX_DELAY              ( TickType_t ) 0xffffffffUL
 
-	/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
-	not need to be guarded with a critical section. */
-	#define portTICK_TYPE_IS_ATOMIC 1
-#endif
+/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
+ * not need to be guarded with a critical section. */
+        #define portTICK_TYPE_IS_ATOMIC    1
+    #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
+        typedef uint64_t     TickType_t;
+        #define portMAX_DELAY              ( TickType_t ) 0xffffffffffffffffULL
+    #else
+        #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
+    #endif
 /*-----------------------------------------------------------*/
 
 /* Architecture specifics. */
-#define portSTACK_GROWTH			( -1 )
-#define portTICK_PERIOD_MS			( ( TickType_t ) 1000 / configTICK_RATE_HZ )
-#define portBYTE_ALIGNMENT			8
+    #define portSTACK_GROWTH      ( -1 )
+    #define portTICK_PERIOD_MS    ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
+    #define portBYTE_ALIGNMENT    8
+    #define portDONT_DISCARD      __attribute__( ( used ) )
 /*-----------------------------------------------------------*/
 
 /* Scheduler utilities. */
-#define portYIELD() 															\
-{																				\
-	/* Set a PendSV to request a context switch. */								\
-	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;								\
-																				\
-	/* Barriers are normally not required but do ensure the code is completely	\
-	within the specified behaviour for the architecture. */						\
-	__asm volatile( "dsb" ::: "memory" );										\
-	__asm volatile( "isb" );													\
-}
+    #define portYIELD()                                 \
+    {                                                   \
+        /* Set a PendSV to request a context switch. */ \
+        portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; \
+                                                        \
+        /* Barriers are normally not required but do ensure the code is completely \
+         * within the specified behaviour for the architecture. */ \
+        __asm volatile ( "dsb" ::: "memory" );                     \
+        __asm volatile ( "isb" );                                  \
+    }
 
-#define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
-#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
-#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
+    #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
+    #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
+    #define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired != pdFALSE ) portYIELD(); } while( 0 )
+    #define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */
-extern void vPortEnterCritical( void );
-extern void vPortExitCritical( void );
-#define portSET_INTERRUPT_MASK_FROM_ISR()		ulPortRaiseBASEPRI()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortSetBASEPRI(x)
-#define portDISABLE_INTERRUPTS()				vPortRaiseBASEPRI()
-#define portENABLE_INTERRUPTS()					vPortSetBASEPRI(0)
-#define portENTER_CRITICAL()					vPortEnterCritical()
-#define portEXIT_CRITICAL()						vPortExitCritical()
+    extern void vPortEnterCritical( void );
+    extern void vPortExitCritical( void );
+    #define portSET_INTERRUPT_MASK_FROM_ISR()         ulPortRaiseBASEPRI()
+    #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x )    vPortSetBASEPRI( x )
+    #define portDISABLE_INTERRUPTS()                  vPortRaiseBASEPRI()
+    #define portENABLE_INTERRUPTS()                   vPortSetBASEPRI( 0 )
+    #define portENTER_CRITICAL()                      vPortEnterCritical()
+    #define portEXIT_CRITICAL()                       vPortExitCritical()
 
 /*-----------------------------------------------------------*/
 
 /* Task function macros as described on the FreeRTOS.org WEB site.  These are
-not necessary for to use this port.  They are defined so the common demo files
-(which build with all the ports) will build. */
-#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
-#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
+ * not necessary for to use this port.  They are defined so the common demo files
+ * (which build with all the ports) will build. */
+    #define portTASK_FUNCTION_PROTO( vFunction, pvParameters )    void vFunction( void * pvParameters )
+    #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
 /*-----------------------------------------------------------*/
 
 /* Tickless idle/low power functionality. */
-#ifndef portSUPPRESS_TICKS_AND_SLEEP
-	extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
-	#define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) vPortSuppressTicksAndSleep( xExpectedIdleTime )
-#endif
+    #ifndef portSUPPRESS_TICKS_AND_SLEEP
+        extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
+        #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )    vPortSuppressTicksAndSleep( xExpectedIdleTime )
+    #endif
 /*-----------------------------------------------------------*/
 
 /* Architecture specific optimisations. */
-#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
-	#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
-#endif
+    #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
+        #define configUSE_PORT_OPTIMISED_TASK_SELECTION    1
+    #endif
 
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
+    #if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
 
-	/* Generic helper function. */
-	__attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
-	{
-	uint8_t ucReturn;
+/* Generic helper function. */
+        __attribute__( ( always_inline ) ) static inline uint8_t ucPortCountLeadingZeros( uint32_t ulBitmap )
+        {
+            uint8_t ucReturn;
 
-		__asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
-		return ucReturn;
-	}
+            __asm volatile ( "clz %0, %1" : "=r" ( ucReturn ) : "r" ( ulBitmap ) : "memory" );
 
-	/* Check the configuration. */
-	#if( configMAX_PRIORITIES > 32 )
-		#error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
-	#endif
+            return ucReturn;
+        }
 
-	/* Store/clear the ready priorities in a bit map. */
-	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
-	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+/* Check the configuration. */
+        #if ( configMAX_PRIORITIES > 32 )
+            #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
+        #endif
 
-	/*-----------------------------------------------------------*/
-
-	#define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
-
-#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+/* Store/clear the ready priorities in a bit map. */
+        #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities )    ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
+        #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities )     ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
 
 /*-----------------------------------------------------------*/
 
-#ifdef configASSERT
-	void vPortValidateInterruptPriority( void );
-	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
-#endif
+        #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities )    uxTopPriority = ( 31UL - ( uint32_t ) ucPortCountLeadingZeros( ( uxReadyPriorities ) ) )
+
+    #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+/*-----------------------------------------------------------*/
+
+    #ifdef configASSERT
+        void vPortValidateInterruptPriority( void );
+        #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()    vPortValidateInterruptPriority()
+    #endif
 
 /* portNOP() is not required by this port. */
-#define portNOP()
+    #define portNOP()
 
-#define portINLINE	__inline
+    #define portINLINE              __inline
 
-#ifndef portFORCE_INLINE
-	#define portFORCE_INLINE inline __attribute__(( always_inline))
-#endif
+    #ifndef portFORCE_INLINE
+        #define portFORCE_INLINE    inline __attribute__( ( always_inline ) )
+    #endif
 
-portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
-{
-uint32_t ulCurrentInterrupt;
-BaseType_t xReturn;
+    portFORCE_INLINE static BaseType_t xPortIsInsideInterrupt( void )
+    {
+        uint32_t ulCurrentInterrupt;
+        BaseType_t xReturn;
 
-	/* Obtain the number of the currently executing interrupt. */
-	__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) :: "memory" );
+        /* Obtain the number of the currently executing interrupt. */
+        __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" );
 
-	if( ulCurrentInterrupt == 0 )
-	{
-		xReturn = pdFALSE;
-	}
-	else
-	{
-		xReturn = pdTRUE;
-	}
+        if( ulCurrentInterrupt == 0 )
+        {
+            xReturn = pdFALSE;
+        }
+        else
+        {
+            xReturn = pdTRUE;
+        }
 
-	return xReturn;
-}
+        return xReturn;
+    }
 
 /*-----------------------------------------------------------*/
 
-portFORCE_INLINE static void vPortRaiseBASEPRI( void )
-{
-uint32_t ulNewBASEPRI;
+    portFORCE_INLINE static void vPortRaiseBASEPRI( void )
+    {
+        uint32_t ulNewBASEPRI;
 
-	__asm volatile
-	(
-		"	mov %0, %1												\n"	\
-		"	msr basepri, %0											\n" \
-		"	isb														\n" \
-		"	dsb														\n" \
-		:"=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
-	);
-}
+        __asm volatile
+        (
+            "   mov %0, %1                                              \n"\
+            "   msr basepri, %0                                         \n"\
+            "   isb                                                     \n"\
+            "   dsb                                                     \n"\
+            : "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+        );
+    }
 
 /*-----------------------------------------------------------*/
 
-portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
-{
-uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
+    portFORCE_INLINE static uint32_t ulPortRaiseBASEPRI( void )
+    {
+        uint32_t ulOriginalBASEPRI, ulNewBASEPRI;
 
-	__asm volatile
-	(
-		"	mrs %0, basepri											\n" \
-		"	mov %1, %2												\n"	\
-		"	msr basepri, %1											\n" \
-		"	isb														\n" \
-		"	dsb														\n" \
-		:"=r" (ulOriginalBASEPRI), "=r" (ulNewBASEPRI) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
-	);
+        __asm volatile
+        (
+            "   mrs %0, basepri                                         \n"\
+            "   mov %1, %2                                              \n"\
+            "   msr basepri, %1                                         \n"\
+            "   isb                                                     \n"\
+            "   dsb                                                     \n"\
+            : "=r" ( ulOriginalBASEPRI ), "=r" ( ulNewBASEPRI ) : "i" ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) : "memory"
+        );
 
-	/* This return will not be reached but is necessary to prevent compiler
-	warnings. */
-	return ulOriginalBASEPRI;
-}
+        /* This return will not be reached but is necessary to prevent compiler
+         * warnings. */
+        return ulOriginalBASEPRI;
+    }
 /*-----------------------------------------------------------*/
 
-portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
-{
-	__asm volatile
-	(
-		"	msr basepri, %0	" :: "r" ( ulNewMaskValue ) : "memory"
-	);
-}
+    portFORCE_INLINE static void vPortSetBASEPRI( uint32_t ulNewMaskValue )
+    {
+        __asm volatile
+        (
+            "   msr basepri, %0 "::"r" ( ulNewMaskValue ) : "memory"
+        );
+    }
 /*-----------------------------------------------------------*/
 
-#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
+    #define portMEMORY_BARRIER()    __asm volatile ( "" ::: "memory" )
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 
 #endif /* PORTMACRO_H */
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c
deleted file mode 100644
index 0bd40cd..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_1.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.1
- * 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.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-/*
- * The simplest possible implementation of pvPortMalloc().  Note that this
- * implementation does NOT allow allocated memory to be freed again.
- *
- * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-#include 
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
-	#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* A few bytes might be lost to byte aligning the heap start address. */
-#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
-
-/* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
-	/* The application writer has already defined the array used for the RTOS
-	heap - probably so it can be placed in a special segment or address. */
-	extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#else
-	static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-
-/* Index into the ucHeap array. */
-static size_t xNextFreeByte = ( size_t ) 0;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn = NULL;
-static uint8_t *pucAlignedHeap = NULL;
-
-	/* Ensure that blocks are always aligned to the required number of bytes. */
-	#if( portBYTE_ALIGNMENT != 1 )
-	{
-		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
-		{
-			/* Byte alignment required. */
-			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-		}
-	}
-	#endif
-
-	vTaskSuspendAll();
-	{
-		if( pucAlignedHeap == NULL )
-		{
-			/* Ensure the heap starts on a correctly aligned boundary. */
-			pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
-		}
-
-		/* Check there is enough room left for the allocation. */
-		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
-			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
-		{
-			/* Return the next free byte then increment the index past this
-			block. */
-			pvReturn = pucAlignedHeap + xNextFreeByte;
-			xNextFreeByte += xWantedSize;
-		}
-
-		traceMALLOC( pvReturn, xWantedSize );
-	}
-	( void ) xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-	/* Memory cannot be freed using this scheme.  See heap_2.c, heap_3.c and
-	heap_4.c for alternative implementations, and the memory management pages of
-	http://www.FreeRTOS.org for more information. */
-	( void ) pv;
-
-	/* Force an assert as it is invalid to call this function. */
-	configASSERT( pv == NULL );
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
-	/* Only required when static memory is not cleared. */
-	xNextFreeByte = ( size_t ) 0;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
-}
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c
deleted file mode 100644
index 33b849d..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_2.c
+++ /dev/null
@@ -1,272 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.1
- * 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.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * A sample implementation of pvPortMalloc() and vPortFree() that permits
- * allocated blocks to be freed, but does not combine adjacent free blocks
- * into a single larger block (and so will fragment memory).  See heap_4.c for
- * an equivalent that does combine adjacent blocks into single larger blocks.
- *
- * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-#include 
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
-	#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* A few bytes might be lost to byte aligning the heap start address. */
-#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
-
-/*
- * Initialises the heap structures before their first use.
- */
-static void prvHeapInit( void );
-
-/* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
-	/* The application writer has already defined the array used for the RTOS
-	heap - probably so it can be placed in a special segment or address. */
-	extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#else
-	static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-
-
-/* Define the linked list structure.  This is used to link free blocks in order
-of their size. */
-typedef struct A_BLOCK_LINK
-{
-	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
-	size_t xBlockSize;						/*<< The size of the free block. */
-} BlockLink_t;
-
-
-static const uint16_t heapSTRUCT_SIZE	= ( ( sizeof ( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
-#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
-
-/* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, xEnd;
-
-/* Keeps track of the number of free bytes remaining, but says nothing about
-fragmentation. */
-static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE;
-
-/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
-
-/*
- * Insert a block into the list of free blocks - which is ordered by size of
- * the block.  Small blocks at the start of the list and large blocks at the end
- * of the list.
- */
-#define prvInsertBlockIntoFreeList( pxBlockToInsert )								\
-{																					\
-BlockLink_t *pxIterator;															\
-size_t xBlockSize;																	\
-																					\
-	xBlockSize = pxBlockToInsert->xBlockSize;										\
-																					\
-	/* Iterate through the list until a block is found that has a larger size */	\
-	/* than the block we are inserting. */											\
-	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock )	\
-	{																				\
-		/* There is nothing to do here - just iterate to the correct position. */	\
-	}																				\
-																					\
-	/* Update the list to include the block being inserted in the correct */		\
-	/* position. */																	\
-	pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;					\
-	pxIterator->pxNextFreeBlock = pxBlockToInsert;									\
-}
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-static BaseType_t xHeapHasBeenInitialised = pdFALSE;
-void *pvReturn = NULL;
-
-	vTaskSuspendAll();
-	{
-		/* If this is the first call to malloc then the heap will require
-		initialisation to setup the list of free blocks. */
-		if( xHeapHasBeenInitialised == pdFALSE )
-		{
-			prvHeapInit();
-			xHeapHasBeenInitialised = pdTRUE;
-		}
-
-		/* The wanted size is increased so it can contain a BlockLink_t
-		structure in addition to the requested amount of bytes. */
-		if( xWantedSize > 0 )
-		{
-			xWantedSize += heapSTRUCT_SIZE;
-
-			/* Ensure that blocks are always aligned to the required number of bytes. */
-			if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0 )
-			{
-				/* Byte alignment required. */
-				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-			}
-		}
-
-		if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
-		{
-			/* Blocks are stored in byte order - traverse the list from the start
-			(smallest) block until one of adequate size is found. */
-			pxPreviousBlock = &xStart;
-			pxBlock = xStart.pxNextFreeBlock;
-			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
-			{
-				pxPreviousBlock = pxBlock;
-				pxBlock = pxBlock->pxNextFreeBlock;
-			}
-
-			/* If we found the end marker then a block of adequate size was not found. */
-			if( pxBlock != &xEnd )
-			{
-				/* Return the memory space - jumping over the BlockLink_t structure
-				at its start. */
-				pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
-
-				/* This block is being returned for use so must be taken out of the
-				list of free blocks. */
-				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
-				/* If the block is larger than required it can be split into two. */
-				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
-				{
-					/* This block is to be split into two.  Create a new block
-					following the number of bytes requested. The void cast is
-					used to prevent byte alignment warnings from the compiler. */
-					pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
-
-					/* Calculate the sizes of two blocks split from the single
-					block. */
-					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
-					pxBlock->xBlockSize = xWantedSize;
-
-					/* Insert the new block into the list of free blocks. */
-					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
-				}
-
-				xFreeBytesRemaining -= pxBlock->xBlockSize;
-			}
-		}
-
-		traceMALLOC( pvReturn, xWantedSize );
-	}
-	( void ) xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
-
-	if( pv != NULL )
-	{
-		/* The memory being freed will have an BlockLink_t structure immediately
-		before it. */
-		puc -= heapSTRUCT_SIZE;
-
-		/* This unexpected casting is to keep some compilers from issuing
-		byte alignment warnings. */
-		pxLink = ( void * ) puc;
-
-		vTaskSuspendAll();
-		{
-			/* Add this block to the list of free blocks. */
-			prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
-			xFreeBytesRemaining += pxLink->xBlockSize;
-			traceFREE( pv, pxLink->xBlockSize );
-		}
-		( void ) xTaskResumeAll();
-	}
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
-	/* This just exists to keep the linker quiet. */
-}
-/*-----------------------------------------------------------*/
-
-static void prvHeapInit( void )
-{
-BlockLink_t *pxFirstFreeBlock;
-uint8_t *pucAlignedHeap;
-
-	/* Ensure the heap starts on a correctly aligned boundary. */
-	pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
-
-	/* xStart is used to hold a pointer to the first item in the list of free
-	blocks.  The void cast is used to prevent compiler warnings. */
-	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
-	xStart.xBlockSize = ( size_t ) 0;
-
-	/* xEnd is used to mark the end of the list of free blocks. */
-	xEnd.xBlockSize = configADJUSTED_HEAP_SIZE;
-	xEnd.pxNextFreeBlock = NULL;
-
-	/* To start with there is a single free block that is sized to take up the
-	entire heap space. */
-	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
-	pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
-	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
-}
-/*-----------------------------------------------------------*/
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c
deleted file mode 100644
index 613611b..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_3.c
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.1
- * 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.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-/*
- * Implementation of pvPortMalloc() and vPortFree() that relies on the
- * compilers own malloc() and free() implementations.
- *
- * This file can only be used if the linker is configured to to generate
- * a heap memory area.
- *
- * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-
-#include 
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
-	#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn;
-
-	vTaskSuspendAll();
-	{
-		pvReturn = malloc( xWantedSize );
-		traceMALLOC( pvReturn, xWantedSize );
-	}
-	( void ) xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-	if( pv )
-	{
-		vTaskSuspendAll();
-		{
-			free( pv );
-			traceFREE( pv, 0 );
-		}
-		( void ) xTaskResumeAll();
-	}
-}
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
index eaf443f..013364f 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*
@@ -31,13 +32,14 @@
  * limits memory fragmentation.
  *
  * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
+ * memory management pages of https://www.FreeRTOS.org for more information.
  */
 #include 
+#include 
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 #include "FreeRTOS.h"
@@ -45,31 +47,57 @@ task.h is included from an application file. */
 
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
-	#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
+    #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
+#endif
+
+#ifndef configHEAP_CLEAR_MEMORY_ON_FREE
+    #define configHEAP_CLEAR_MEMORY_ON_FREE    0
 #endif
 
 /* Block sizes must not get too small. */
-#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( xHeapStructSize << 1 ) )
+#define heapMINIMUM_BLOCK_SIZE    ( ( size_t ) ( xHeapStructSize << 1 ) )
 
 /* Assumes 8bit bytes! */
-#define heapBITS_PER_BYTE		( ( size_t ) 8 )
+#define heapBITS_PER_BYTE         ( ( size_t ) 8 )
+
+/* Max value that fits in a size_t type. */
+#define heapSIZE_MAX              ( ~( ( size_t ) 0 ) )
+
+/* Check if multiplying a and b will result in overflow. */
+#define heapMULTIPLY_WILL_OVERFLOW( a, b )    ( ( ( a ) > 0 ) && ( ( b ) > ( heapSIZE_MAX / ( a ) ) ) )
+
+/* Check if adding a and b will result in overflow. */
+#define heapADD_WILL_OVERFLOW( a, b )         ( ( a ) > ( heapSIZE_MAX - ( b ) ) )
+
+/* MSB of the xBlockSize member of an BlockLink_t structure is used to track
+ * the allocation status of a block.  When MSB of the xBlockSize member of
+ * an BlockLink_t structure is set then the block belongs to the application.
+ * When the bit is free the block is still part of the free heap space. */
+#define heapBLOCK_ALLOCATED_BITMASK    ( ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 ) )
+#define heapBLOCK_SIZE_IS_VALID( xBlockSize )    ( ( ( xBlockSize ) & heapBLOCK_ALLOCATED_BITMASK ) == 0 )
+#define heapBLOCK_IS_ALLOCATED( pxBlock )        ( ( ( pxBlock->xBlockSize ) & heapBLOCK_ALLOCATED_BITMASK ) != 0 )
+#define heapALLOCATE_BLOCK( pxBlock )            ( ( pxBlock->xBlockSize ) |= heapBLOCK_ALLOCATED_BITMASK )
+#define heapFREE_BLOCK( pxBlock )                ( ( pxBlock->xBlockSize ) &= ~heapBLOCK_ALLOCATED_BITMASK )
+
+/*-----------------------------------------------------------*/
 
 /* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
-	/* The application writer has already defined the array used for the RTOS
-	heap - probably so it can be placed in a special segment or address. */
-	extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
+#if ( configAPPLICATION_ALLOCATED_HEAP == 1 )
+
+/* The application writer has already defined the array used for the RTOS
+* heap - probably so it can be placed in a special segment or address. */
+    extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
 #else
-	static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
+    PRIVILEGED_DATA static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
 #endif /* configAPPLICATION_ALLOCATED_HEAP */
 
 /* Define the linked list structure.  This is used to link free blocks in order
-of their memory address. */
+ * of their memory address. */
 typedef struct A_BLOCK_LINK
 {
-	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
-	size_t xBlockSize;						/*<< The size of the free block. */
+    struct A_BLOCK_LINK * pxNextFreeBlock; /**< The next free block in the list. */
+    size_t xBlockSize;                     /**< The size of the free block. */
 } BlockLink_t;
 
 /*-----------------------------------------------------------*/
@@ -80,413 +108,448 @@ typedef struct A_BLOCK_LINK
  * the block in front it and/or the block behind it if the memory blocks are
  * adjacent to each other.
  */
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
+static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) PRIVILEGED_FUNCTION;
 
 /*
  * Called automatically to setup the required heap structures the first time
  * pvPortMalloc() is called.
  */
-static void prvHeapInit( void );
+static void prvHeapInit( void ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------*/
 
 /* The size of the structure placed at the beginning of each allocated memory
-block must by correctly byte aligned. */
-static const size_t xHeapStructSize	= ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
+ * block must by correctly byte aligned. */
+static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
 
 /* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, *pxEnd = NULL;
+PRIVILEGED_DATA static BlockLink_t xStart;
+PRIVILEGED_DATA static BlockLink_t * pxEnd = NULL;
 
 /* Keeps track of the number of calls to allocate and free memory as well as the
-number of free bytes remaining, but says nothing about fragmentation. */
-static size_t xFreeBytesRemaining = 0U;
-static size_t xMinimumEverFreeBytesRemaining = 0U;
-static size_t xNumberOfSuccessfulAllocations = 0;
-static size_t xNumberOfSuccessfulFrees = 0;
-
-/* Gets set to the top bit of an size_t type.  When this bit in the xBlockSize
-member of an BlockLink_t structure is set then the block belongs to the
-application.  When the bit is free the block is still part of the free heap
-space. */
-static size_t xBlockAllocatedBit = 0;
+ * number of free bytes remaining, but says nothing about fragmentation. */
+PRIVILEGED_DATA static size_t xFreeBytesRemaining = 0U;
+PRIVILEGED_DATA static size_t xMinimumEverFreeBytesRemaining = 0U;
+PRIVILEGED_DATA static size_t xNumberOfSuccessfulAllocations = 0;
+PRIVILEGED_DATA static size_t xNumberOfSuccessfulFrees = 0;
 
 /*-----------------------------------------------------------*/
 
-void *pvPortMalloc( size_t xWantedSize )
+void * pvPortMalloc( size_t xWantedSize )
 {
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-void *pvReturn = NULL;
+    BlockLink_t * pxBlock;
+    BlockLink_t * pxPreviousBlock;
+    BlockLink_t * pxNewBlockLink;
+    void * pvReturn = NULL;
+    size_t xAdditionalRequiredSize;
 
-	vTaskSuspendAll();
-	{
-		/* If this is the first call to malloc then the heap will require
-		initialisation to setup the list of free blocks. */
-		if( pxEnd == NULL )
-		{
-			prvHeapInit();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+    vTaskSuspendAll();
+    {
+        /* If this is the first call to malloc then the heap will require
+         * initialisation to setup the list of free blocks. */
+        if( pxEnd == NULL )
+        {
+            prvHeapInit();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		/* Check the requested block size is not so large that the top bit is
-		set.  The top bit of the block size member of the BlockLink_t structure
-		is used to determine who owns the block - the application or the
-		kernel, so it must be free. */
-		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
-		{
-			/* The wanted size is increased so it can contain a BlockLink_t
-			structure in addition to the requested amount of bytes. */
-			if( xWantedSize > 0 )
-			{
-				xWantedSize += xHeapStructSize;
+        if( xWantedSize > 0 )
+        {
+            /* The wanted size must be increased so it can contain a BlockLink_t
+             * structure in addition to the requested amount of bytes. */
+            if( heapADD_WILL_OVERFLOW( xWantedSize, xHeapStructSize ) == 0 )
+            {
+                xWantedSize += xHeapStructSize;
 
-				/* Ensure that blocks are always aligned to the required number
-				of bytes. */
-				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
-				{
-					/* Byte alignment required. */
-					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-					configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 );
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+                /* Ensure that blocks are always aligned to the required number
+                 * of bytes. */
+                if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
+                {
+                    /* Byte alignment required. */
+                    xAdditionalRequiredSize = portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK );
 
-			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
-			{
-				/* Traverse the list from the start	(lowest address) block until
-				one	of adequate size is found. */
-				pxPreviousBlock = &xStart;
-				pxBlock = xStart.pxNextFreeBlock;
-				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
-				{
-					pxPreviousBlock = pxBlock;
-					pxBlock = pxBlock->pxNextFreeBlock;
-				}
+                    if( heapADD_WILL_OVERFLOW( xWantedSize, xAdditionalRequiredSize ) == 0 )
+                    {
+                        xWantedSize += xAdditionalRequiredSize;
+                    }
+                    else
+                    {
+                        xWantedSize = 0;
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                xWantedSize = 0;
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-				/* If the end marker was reached then a block of adequate size
-				was	not found. */
-				if( pxBlock != pxEnd )
-				{
-					/* Return the memory space pointed to - jumping over the
-					BlockLink_t structure at its start. */
-					pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
+        /* Check the block size we are trying to allocate is not so large that the
+         * top bit is set.  The top bit of the block size member of the BlockLink_t
+         * structure is used to determine who owns the block - the application or
+         * the kernel, so it must be free. */
+        if( heapBLOCK_SIZE_IS_VALID( xWantedSize ) != 0 )
+        {
+            if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
+            {
+                /* Traverse the list from the start (lowest address) block until
+                 * one of adequate size is found. */
+                pxPreviousBlock = &xStart;
+                pxBlock = xStart.pxNextFreeBlock;
 
-					/* This block is being returned for use so must be taken out
-					of the list of free blocks. */
-					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+                while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+                {
+                    pxPreviousBlock = pxBlock;
+                    pxBlock = pxBlock->pxNextFreeBlock;
+                }
 
-					/* If the block is larger than required it can be split into
-					two. */
-					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
-					{
-						/* This block is to be split into two.  Create a new
-						block following the number of bytes requested. The void
-						cast is used to prevent byte alignment warnings from the
-						compiler. */
-						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
-						configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );
+                /* If the end marker was reached then a block of adequate size
+                 * was not found. */
+                if( pxBlock != pxEnd )
+                {
+                    /* Return the memory space pointed to - jumping over the
+                     * BlockLink_t structure at its start. */
+                    pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
 
-						/* Calculate the sizes of two blocks split from the
-						single block. */
-						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
-						pxBlock->xBlockSize = xWantedSize;
+                    /* This block is being returned for use so must be taken out
+                     * of the list of free blocks. */
+                    pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
 
-						/* Insert the new block into the list of free blocks. */
-						prvInsertBlockIntoFreeList( pxNewBlockLink );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                    /* If the block is larger than required it can be split into
+                     * two. */
+                    if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+                    {
+                        /* This block is to be split into two.  Create a new
+                         * block following the number of bytes requested. The void
+                         * cast is used to prevent byte alignment warnings from the
+                         * compiler. */
+                        pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
+                        configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );
 
-					xFreeBytesRemaining -= pxBlock->xBlockSize;
+                        /* Calculate the sizes of two blocks split from the
+                         * single block. */
+                        pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+                        pxBlock->xBlockSize = xWantedSize;
 
-					if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
-					{
-						xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                        /* Insert the new block into the list of free blocks. */
+                        prvInsertBlockIntoFreeList( pxNewBlockLink );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* The block is being returned - it is allocated and owned
-					by the application and has no "next" block. */
-					pxBlock->xBlockSize |= xBlockAllocatedBit;
-					pxBlock->pxNextFreeBlock = NULL;
-					xNumberOfSuccessfulAllocations++;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+                    xFreeBytesRemaining -= pxBlock->xBlockSize;
 
-		traceMALLOC( pvReturn, xWantedSize );
-	}
-	( void ) xTaskResumeAll();
+                    if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
+                    {
+                        xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	#endif
+                    /* The block is being returned - it is allocated and owned
+                     * by the application and has no "next" block. */
+                    heapALLOCATE_BLOCK( pxBlock );
+                    pxBlock->pxNextFreeBlock = NULL;
+                    xNumberOfSuccessfulAllocations++;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-	configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 );
-	return pvReturn;
+        traceMALLOC( pvReturn, xWantedSize );
+    }
+    ( void ) xTaskResumeAll();
+
+    #if ( configUSE_MALLOC_FAILED_HOOK == 1 )
+    {
+        if( pvReturn == NULL )
+        {
+            vApplicationMallocFailedHook();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    #endif /* if ( configUSE_MALLOC_FAILED_HOOK == 1 ) */
+
+    configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 );
+    return pvReturn;
 }
 /*-----------------------------------------------------------*/
 
-void vPortFree( void *pv )
+void vPortFree( void * pv )
 {
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
+    uint8_t * puc = ( uint8_t * ) pv;
+    BlockLink_t * pxLink;
 
-	if( pv != NULL )
-	{
-		/* The memory being freed will have an BlockLink_t structure immediately
-		before it. */
-		puc -= xHeapStructSize;
+    if( pv != NULL )
+    {
+        /* The memory being freed will have an BlockLink_t structure immediately
+         * before it. */
+        puc -= xHeapStructSize;
 
-		/* This casting is to keep the compiler from issuing warnings. */
-		pxLink = ( void * ) puc;
+        /* This casting is to keep the compiler from issuing warnings. */
+        pxLink = ( void * ) puc;
 
-		/* Check the block is actually allocated. */
-		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
-		configASSERT( pxLink->pxNextFreeBlock == NULL );
+        configASSERT( heapBLOCK_IS_ALLOCATED( pxLink ) != 0 );
+        configASSERT( pxLink->pxNextFreeBlock == NULL );
 
-		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
-		{
-			if( pxLink->pxNextFreeBlock == NULL )
-			{
-				/* The block is being returned to the heap - it is no longer
-				allocated. */
-				pxLink->xBlockSize &= ~xBlockAllocatedBit;
+        if( heapBLOCK_IS_ALLOCATED( pxLink ) != 0 )
+        {
+            if( pxLink->pxNextFreeBlock == NULL )
+            {
+                /* The block is being returned to the heap - it is no longer
+                 * allocated. */
+                heapFREE_BLOCK( pxLink );
+                #if ( configHEAP_CLEAR_MEMORY_ON_FREE == 1 )
+                {
+                    ( void ) memset( puc + xHeapStructSize, 0, pxLink->xBlockSize - xHeapStructSize );
+                }
+                #endif
 
-				vTaskSuspendAll();
-				{
-					/* Add this block to the list of free blocks. */
-					xFreeBytesRemaining += pxLink->xBlockSize;
-					traceFREE( pv, pxLink->xBlockSize );
-					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
-					xNumberOfSuccessfulFrees++;
-				}
-				( void ) xTaskResumeAll();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+                vTaskSuspendAll();
+                {
+                    /* Add this block to the list of free blocks. */
+                    xFreeBytesRemaining += pxLink->xBlockSize;
+                    traceFREE( pv, pxLink->xBlockSize );
+                    prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
+                    xNumberOfSuccessfulFrees++;
+                }
+                ( void ) xTaskResumeAll();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 }
 /*-----------------------------------------------------------*/
 
 size_t xPortGetFreeHeapSize( void )
 {
-	return xFreeBytesRemaining;
+    return xFreeBytesRemaining;
 }
 /*-----------------------------------------------------------*/
 
 size_t xPortGetMinimumEverFreeHeapSize( void )
 {
-	return xMinimumEverFreeBytesRemaining;
+    return xMinimumEverFreeBytesRemaining;
 }
 /*-----------------------------------------------------------*/
 
 void vPortInitialiseBlocks( void )
 {
-	/* This just exists to keep the linker quiet. */
+    /* This just exists to keep the linker quiet. */
 }
 /*-----------------------------------------------------------*/
 
-static void prvHeapInit( void )
+void * pvPortCalloc( size_t xNum,
+                     size_t xSize )
 {
-BlockLink_t *pxFirstFreeBlock;
-uint8_t *pucAlignedHeap;
-size_t uxAddress;
-size_t xTotalHeapSize = configTOTAL_HEAP_SIZE;
+    void * pv = NULL;
 
-	/* Ensure the heap starts on a correctly aligned boundary. */
-	uxAddress = ( size_t ) ucHeap;
+    if( heapMULTIPLY_WILL_OVERFLOW( xNum, xSize ) == 0 )
+    {
+        pv = pvPortMalloc( xNum * xSize );
 
-	if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
-	{
-		uxAddress += ( portBYTE_ALIGNMENT - 1 );
-		uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
-		xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
-	}
+        if( pv != NULL )
+        {
+            ( void ) memset( pv, 0, xNum * xSize );
+        }
+    }
 
-	pucAlignedHeap = ( uint8_t * ) uxAddress;
-
-	/* xStart is used to hold a pointer to the first item in the list of free
-	blocks.  The void cast is used to prevent compiler warnings. */
-	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
-	xStart.xBlockSize = ( size_t ) 0;
-
-	/* pxEnd is used to mark the end of the list of free blocks and is inserted
-	at the end of the heap space. */
-	uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
-	uxAddress -= xHeapStructSize;
-	uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
-	pxEnd = ( void * ) uxAddress;
-	pxEnd->xBlockSize = 0;
-	pxEnd->pxNextFreeBlock = NULL;
-
-	/* To start with there is a single free block that is sized to take up the
-	entire heap space, minus the space taken by pxEnd. */
-	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
-	pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
-	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
-
-	/* Only one block exists - and it covers the entire usable heap space. */
-	xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
-	xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
-
-	/* Work out the position of the top bit in a size_t variable. */
-	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
+    return pv;
 }
 /*-----------------------------------------------------------*/
 
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
+static void prvHeapInit( void ) /* PRIVILEGED_FUNCTION */
 {
-BlockLink_t *pxIterator;
-uint8_t *puc;
+    BlockLink_t * pxFirstFreeBlock;
+    uint8_t * pucAlignedHeap;
+    portPOINTER_SIZE_TYPE uxAddress;
+    size_t xTotalHeapSize = configTOTAL_HEAP_SIZE;
 
-	/* Iterate through the list until a block is found that has a higher address
-	than the block being inserted. */
-	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
-	{
-		/* Nothing to do here, just iterate to the right position. */
-	}
+    /* Ensure the heap starts on a correctly aligned boundary. */
+    uxAddress = ( portPOINTER_SIZE_TYPE ) ucHeap;
 
-	/* Do the block being inserted, and the block it is being inserted after
-	make a contiguous block of memory? */
-	puc = ( uint8_t * ) pxIterator;
-	if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
-	{
-		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
-		pxBlockToInsert = pxIterator;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
+    {
+        uxAddress += ( portBYTE_ALIGNMENT - 1 );
+        uxAddress &= ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK );
+        xTotalHeapSize -= ( size_t ) ( uxAddress - ( portPOINTER_SIZE_TYPE ) ucHeap );
+    }
 
-	/* Do the block being inserted, and the block it is being inserted before
-	make a contiguous block of memory? */
-	puc = ( uint8_t * ) pxBlockToInsert;
-	if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
-	{
-		if( pxIterator->pxNextFreeBlock != pxEnd )
-		{
-			/* Form one big block from the two blocks. */
-			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
-			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
-		}
-		else
-		{
-			pxBlockToInsert->pxNextFreeBlock = pxEnd;
-		}
-	}
-	else
-	{
-		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
-	}
+    pucAlignedHeap = ( uint8_t * ) uxAddress;
 
-	/* If the block being inserted plugged a gab, so was merged with the block
-	before and the block after, then it's pxNextFreeBlock pointer will have
-	already been set, and should not be set here as that would make it point
-	to itself. */
-	if( pxIterator != pxBlockToInsert )
-	{
-		pxIterator->pxNextFreeBlock = pxBlockToInsert;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* xStart is used to hold a pointer to the first item in the list of free
+     * blocks.  The void cast is used to prevent compiler warnings. */
+    xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+    xStart.xBlockSize = ( size_t ) 0;
+
+    /* pxEnd is used to mark the end of the list of free blocks and is inserted
+     * at the end of the heap space. */
+    uxAddress = ( portPOINTER_SIZE_TYPE ) ( pucAlignedHeap + xTotalHeapSize );
+    uxAddress -= xHeapStructSize;
+    uxAddress &= ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK );
+    pxEnd = ( BlockLink_t * ) uxAddress;
+    pxEnd->xBlockSize = 0;
+    pxEnd->pxNextFreeBlock = NULL;
+
+    /* To start with there is a single free block that is sized to take up the
+     * entire heap space, minus the space taken by pxEnd. */
+    pxFirstFreeBlock = ( BlockLink_t * ) pucAlignedHeap;
+    pxFirstFreeBlock->xBlockSize = ( size_t ) ( uxAddress - ( portPOINTER_SIZE_TYPE ) pxFirstFreeBlock );
+    pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
+
+    /* Only one block exists - and it covers the entire usable heap space. */
+    xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
+    xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
 }
 /*-----------------------------------------------------------*/
 
-void vPortGetHeapStats( HeapStats_t *pxHeapStats )
+static void prvInsertBlockIntoFreeList( BlockLink_t * pxBlockToInsert ) /* PRIVILEGED_FUNCTION */
 {
-BlockLink_t *pxBlock;
-size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
+    BlockLink_t * pxIterator;
+    uint8_t * puc;
 
-	vTaskSuspendAll();
-	{
-		pxBlock = xStart.pxNextFreeBlock;
+    /* Iterate through the list until a block is found that has a higher address
+     * than the block being inserted. */
+    for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
+    {
+        /* Nothing to do here, just iterate to the right position. */
+    }
 
-		/* pxBlock will be NULL if the heap has not been initialised.  The heap
-		is initialised automatically when the first allocation is made. */
-		if( pxBlock != NULL )
-		{
-			do
-			{
-				/* Increment the number of blocks and record the largest block seen
-				so far. */
-				xBlocks++;
+    /* Do the block being inserted, and the block it is being inserted after
+     * make a contiguous block of memory? */
+    puc = ( uint8_t * ) pxIterator;
 
-				if( pxBlock->xBlockSize > xMaxSize )
-				{
-					xMaxSize = pxBlock->xBlockSize;
-				}
+    if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
+    {
+        pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
+        pxBlockToInsert = pxIterator;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-				if( pxBlock->xBlockSize < xMinSize )
-				{
-					xMinSize = pxBlock->xBlockSize;
-				}
+    /* Do the block being inserted, and the block it is being inserted before
+     * make a contiguous block of memory? */
+    puc = ( uint8_t * ) pxBlockToInsert;
 
-				/* Move to the next block in the chain until the last block is
-				reached. */
-				pxBlock = pxBlock->pxNextFreeBlock;
-			} while( pxBlock != pxEnd );
-		}
-	}
-	xTaskResumeAll();
+    if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
+    {
+        if( pxIterator->pxNextFreeBlock != pxEnd )
+        {
+            /* Form one big block from the two blocks. */
+            pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
+            pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
+        }
+        else
+        {
+            pxBlockToInsert->pxNextFreeBlock = pxEnd;
+        }
+    }
+    else
+    {
+        pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
+    }
 
-	pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
-	pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
-	pxHeapStats->xNumberOfFreeBlocks = xBlocks;
-
-	taskENTER_CRITICAL();
-	{
-		pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
-		pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
-		pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
-		pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
-	}
-	taskEXIT_CRITICAL();
+    /* If the block being inserted plugged a gab, so was merged with the block
+     * before and the block after, then it's pxNextFreeBlock pointer will have
+     * already been set, and should not be set here as that would make it point
+     * to itself. */
+    if( pxIterator != pxBlockToInsert )
+    {
+        pxIterator->pxNextFreeBlock = pxBlockToInsert;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 }
+/*-----------------------------------------------------------*/
 
+void vPortGetHeapStats( HeapStats_t * pxHeapStats )
+{
+    BlockLink_t * pxBlock;
+    size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
+
+    vTaskSuspendAll();
+    {
+        pxBlock = xStart.pxNextFreeBlock;
+
+        /* pxBlock will be NULL if the heap has not been initialised.  The heap
+         * is initialised automatically when the first allocation is made. */
+        if( pxBlock != NULL )
+        {
+            while( pxBlock != pxEnd )
+            {
+                /* Increment the number of blocks and record the largest block seen
+                 * so far. */
+                xBlocks++;
+
+                if( pxBlock->xBlockSize > xMaxSize )
+                {
+                    xMaxSize = pxBlock->xBlockSize;
+                }
+
+                if( pxBlock->xBlockSize < xMinSize )
+                {
+                    xMinSize = pxBlock->xBlockSize;
+                }
+
+                /* Move to the next block in the chain until the last block is
+                 * reached. */
+                pxBlock = pxBlock->pxNextFreeBlock;
+            }
+        }
+    }
+    ( void ) xTaskResumeAll();
+
+    pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
+    pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
+    pxHeapStats->xNumberOfFreeBlocks = xBlocks;
+
+    taskENTER_CRITICAL();
+    {
+        pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
+        pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
+        pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
+        pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
+    }
+    taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c b/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c
deleted file mode 100644
index 56abb78..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_5.c
+++ /dev/null
@@ -1,547 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.1
- * 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.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * A sample implementation of pvPortMalloc() that allows the heap to be defined
- * across multiple non-contigous blocks and combines (coalescences) adjacent
- * memory blocks as they are freed.
- *
- * See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative
- * implementations, and the memory management pages of http://www.FreeRTOS.org
- * for more information.
- *
- * Usage notes:
- *
- * vPortDefineHeapRegions() ***must*** be called before pvPortMalloc().
- * pvPortMalloc() will be called if any task objects (tasks, queues, event
- * groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be
- * called before any other objects are defined.
- *
- * vPortDefineHeapRegions() takes a single parameter.  The parameter is an array
- * of HeapRegion_t structures.  HeapRegion_t is defined in portable.h as
- *
- * typedef struct HeapRegion
- * {
- *	uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap.
- *	size_t xSizeInBytes;	  << Size of the block of memory.
- * } HeapRegion_t;
- *
- * The array is terminated using a NULL zero sized region definition, and the
- * memory regions defined in the array ***must*** appear in address order from
- * low address to high address.  So the following is a valid example of how
- * to use the function.
- *
- * HeapRegion_t xHeapRegions[] =
- * {
- * 	{ ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000
- * 	{ ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000
- * 	{ NULL, 0 }                << Terminates the array.
- * };
- *
- * vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions().
- *
- * Note 0x80000000 is the lower address so appears in the array first.
- *
- */
-#include 
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
-	#error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* Block sizes must not get too small. */
-#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( xHeapStructSize << 1 ) )
-
-/* Assumes 8bit bytes! */
-#define heapBITS_PER_BYTE		( ( size_t ) 8 )
-
-/* Define the linked list structure.  This is used to link free blocks in order
-of their memory address. */
-typedef struct A_BLOCK_LINK
-{
-	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
-	size_t xBlockSize;						/*<< The size of the free block. */
-} BlockLink_t;
-
-/*-----------------------------------------------------------*/
-
-/*
- * Inserts a block of memory that is being freed into the correct position in
- * the list of free memory blocks.  The block being freed will be merged with
- * the block in front it and/or the block behind it if the memory blocks are
- * adjacent to each other.
- */
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
-
-/*-----------------------------------------------------------*/
-
-/* The size of the structure placed at the beginning of each allocated memory
-block must by correctly byte aligned. */
-static const size_t xHeapStructSize	= ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
-
-/* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, *pxEnd = NULL;
-
-/* Keeps track of the number of calls to allocate and free memory as well as the
-number of free bytes remaining, but says nothing about fragmentation. */
-static size_t xFreeBytesRemaining = 0U;
-static size_t xMinimumEverFreeBytesRemaining = 0U;
-static size_t xNumberOfSuccessfulAllocations = 0;
-static size_t xNumberOfSuccessfulFrees = 0;
-
-/* Gets set to the top bit of an size_t type.  When this bit in the xBlockSize
-member of an BlockLink_t structure is set then the block belongs to the
-application.  When the bit is free the block is still part of the free heap
-space. */
-static size_t xBlockAllocatedBit = 0;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-void *pvReturn = NULL;
-
-	/* The heap must be initialised before the first call to
-	prvPortMalloc(). */
-	configASSERT( pxEnd );
-
-	vTaskSuspendAll();
-	{
-		/* Check the requested block size is not so large that the top bit is
-		set.  The top bit of the block size member of the BlockLink_t structure
-		is used to determine who owns the block - the application or the
-		kernel, so it must be free. */
-		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
-		{
-			/* The wanted size is increased so it can contain a BlockLink_t
-			structure in addition to the requested amount of bytes. */
-			if( xWantedSize > 0 )
-			{
-				xWantedSize += xHeapStructSize;
-
-				/* Ensure that blocks are always aligned to the required number
-				of bytes. */
-				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
-				{
-					/* Byte alignment required. */
-					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-
-			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
-			{
-				/* Traverse the list from the start	(lowest address) block until
-				one	of adequate size is found. */
-				pxPreviousBlock = &xStart;
-				pxBlock = xStart.pxNextFreeBlock;
-				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
-				{
-					pxPreviousBlock = pxBlock;
-					pxBlock = pxBlock->pxNextFreeBlock;
-				}
-
-				/* If the end marker was reached then a block of adequate size
-				was	not found. */
-				if( pxBlock != pxEnd )
-				{
-					/* Return the memory space pointed to - jumping over the
-					BlockLink_t structure at its start. */
-					pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
-
-					/* This block is being returned for use so must be taken out
-					of the list of free blocks. */
-					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
-					/* If the block is larger than required it can be split into
-					two. */
-					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
-					{
-						/* This block is to be split into two.  Create a new
-						block following the number of bytes requested. The void
-						cast is used to prevent byte alignment warnings from the
-						compiler. */
-						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
-
-						/* Calculate the sizes of two blocks split from the
-						single block. */
-						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
-						pxBlock->xBlockSize = xWantedSize;
-
-						/* Insert the new block into the list of free blocks. */
-						prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-
-					xFreeBytesRemaining -= pxBlock->xBlockSize;
-
-					if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
-					{
-						xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-
-					/* The block is being returned - it is allocated and owned
-					by the application and has no "next" block. */
-					pxBlock->xBlockSize |= xBlockAllocatedBit;
-					pxBlock->pxNextFreeBlock = NULL;
-					xNumberOfSuccessfulAllocations++;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-
-		traceMALLOC( pvReturn, xWantedSize );
-	}
-	( void ) xTaskResumeAll();
-
-	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
-	{
-		if( pvReturn == NULL )
-		{
-			extern void vApplicationMallocFailedHook( void );
-			vApplicationMallocFailedHook();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	#endif
-
-	return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
-
-	if( pv != NULL )
-	{
-		/* The memory being freed will have an BlockLink_t structure immediately
-		before it. */
-		puc -= xHeapStructSize;
-
-		/* This casting is to keep the compiler from issuing warnings. */
-		pxLink = ( void * ) puc;
-
-		/* Check the block is actually allocated. */
-		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
-		configASSERT( pxLink->pxNextFreeBlock == NULL );
-
-		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
-		{
-			if( pxLink->pxNextFreeBlock == NULL )
-			{
-				/* The block is being returned to the heap - it is no longer
-				allocated. */
-				pxLink->xBlockSize &= ~xBlockAllocatedBit;
-
-				vTaskSuspendAll();
-				{
-					/* Add this block to the list of free blocks. */
-					xFreeBytesRemaining += pxLink->xBlockSize;
-					traceFREE( pv, pxLink->xBlockSize );
-					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
-					xNumberOfSuccessfulFrees++;
-				}
-				( void ) xTaskResumeAll();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
-	return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetMinimumEverFreeHeapSize( void )
-{
-	return xMinimumEverFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
-{
-BlockLink_t *pxIterator;
-uint8_t *puc;
-
-	/* Iterate through the list until a block is found that has a higher address
-	than the block being inserted. */
-	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
-	{
-		/* Nothing to do here, just iterate to the right position. */
-	}
-
-	/* Do the block being inserted, and the block it is being inserted after
-	make a contiguous block of memory? */
-	puc = ( uint8_t * ) pxIterator;
-	if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
-	{
-		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
-		pxBlockToInsert = pxIterator;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
-
-	/* Do the block being inserted, and the block it is being inserted before
-	make a contiguous block of memory? */
-	puc = ( uint8_t * ) pxBlockToInsert;
-	if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
-	{
-		if( pxIterator->pxNextFreeBlock != pxEnd )
-		{
-			/* Form one big block from the two blocks. */
-			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
-			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
-		}
-		else
-		{
-			pxBlockToInsert->pxNextFreeBlock = pxEnd;
-		}
-	}
-	else
-	{
-		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
-	}
-
-	/* If the block being inserted plugged a gab, so was merged with the block
-	before and the block after, then it's pxNextFreeBlock pointer will have
-	already been set, and should not be set here as that would make it point
-	to itself. */
-	if( pxIterator != pxBlockToInsert )
-	{
-		pxIterator->pxNextFreeBlock = pxBlockToInsert;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
-}
-/*-----------------------------------------------------------*/
-
-void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions )
-{
-BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock;
-size_t xAlignedHeap;
-size_t xTotalRegionSize, xTotalHeapSize = 0;
-BaseType_t xDefinedRegions = 0;
-size_t xAddress;
-const HeapRegion_t *pxHeapRegion;
-
-	/* Can only call once! */
-	configASSERT( pxEnd == NULL );
-
-	pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
-
-	while( pxHeapRegion->xSizeInBytes > 0 )
-	{
-		xTotalRegionSize = pxHeapRegion->xSizeInBytes;
-
-		/* Ensure the heap region starts on a correctly aligned boundary. */
-		xAddress = ( size_t ) pxHeapRegion->pucStartAddress;
-		if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
-		{
-			xAddress += ( portBYTE_ALIGNMENT - 1 );
-			xAddress &= ~portBYTE_ALIGNMENT_MASK;
-
-			/* Adjust the size for the bytes lost to alignment. */
-			xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress;
-		}
-
-		xAlignedHeap = xAddress;
-
-		/* Set xStart if it has not already been set. */
-		if( xDefinedRegions == 0 )
-		{
-			/* xStart is used to hold a pointer to the first item in the list of
-			free blocks.  The void cast is used to prevent compiler warnings. */
-			xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap;
-			xStart.xBlockSize = ( size_t ) 0;
-		}
-		else
-		{
-			/* Should only get here if one region has already been added to the
-			heap. */
-			configASSERT( pxEnd != NULL );
-
-			/* Check blocks are passed in with increasing start addresses. */
-			configASSERT( xAddress > ( size_t ) pxEnd );
-		}
-
-		/* Remember the location of the end marker in the previous region, if
-		any. */
-		pxPreviousFreeBlock = pxEnd;
-
-		/* pxEnd is used to mark the end of the list of free blocks and is
-		inserted at the end of the region space. */
-		xAddress = xAlignedHeap + xTotalRegionSize;
-		xAddress -= xHeapStructSize;
-		xAddress &= ~portBYTE_ALIGNMENT_MASK;
-		pxEnd = ( BlockLink_t * ) xAddress;
-		pxEnd->xBlockSize = 0;
-		pxEnd->pxNextFreeBlock = NULL;
-
-		/* To start with there is a single free block in this region that is
-		sized to take up the entire heap region minus the space taken by the
-		free block structure. */
-		pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap;
-		pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion;
-		pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd;
-
-		/* If this is not the first region that makes up the entire heap space
-		then link the previous region to this region. */
-		if( pxPreviousFreeBlock != NULL )
-		{
-			pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion;
-		}
-
-		xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize;
-
-		/* Move onto the next HeapRegion_t structure. */
-		xDefinedRegions++;
-		pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
-	}
-
-	xMinimumEverFreeBytesRemaining = xTotalHeapSize;
-	xFreeBytesRemaining = xTotalHeapSize;
-
-	/* Check something was actually defined before it is accessed. */
-	configASSERT( xTotalHeapSize );
-
-	/* Work out the position of the top bit in a size_t variable. */
-	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
-}
-/*-----------------------------------------------------------*/
-
-void vPortGetHeapStats( HeapStats_t *pxHeapStats )
-{
-BlockLink_t *pxBlock;
-size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
-
-	vTaskSuspendAll();
-	{
-		pxBlock = xStart.pxNextFreeBlock;
-
-		/* pxBlock will be NULL if the heap has not been initialised.  The heap
-		is initialised automatically when the first allocation is made. */
-		if( pxBlock != NULL )
-		{
-			do
-			{
-				/* Increment the number of blocks and record the largest block seen
-				so far. */
-				xBlocks++;
-
-				if( pxBlock->xBlockSize > xMaxSize )
-				{
-					xMaxSize = pxBlock->xBlockSize;
-				}
-
-				/* Heap five will have a zero sized block at the end of each
-				each region - the block is only used to link to the next
-				heap region so it not a real block. */
-				if( pxBlock->xBlockSize != 0 )
-				{
-					if( pxBlock->xBlockSize < xMinSize )
-					{
-						xMinSize = pxBlock->xBlockSize;
-					}
-				}
-
-				/* Move to the next block in the chain until the last block is
-				reached. */
-				pxBlock = pxBlock->pxNextFreeBlock;
-			} while( pxBlock != pxEnd );
-		}
-	}
-	xTaskResumeAll();
-
-	pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
-	pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
-	pxHeapStats->xNumberOfFreeBlocks = xBlocks;
-
-	taskENTER_CRITICAL();
-	{
-		pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
-		pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
-		pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
-		pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
-	}
-	taskEXIT_CRITICAL();
-}
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/queue.c b/Middlewares/Third_Party/FreeRTOS/Source/queue.c
index b3203b8..40edbe4 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/queue.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/queue.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,18 +21,17 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #include 
 #include 
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 #include "FreeRTOS.h"
@@ -38,100 +39,101 @@ task.h is included from an application file. */
 #include "queue.h"
 
 #if ( configUSE_CO_ROUTINES == 1 )
-	#include "croutine.h"
+    #include "croutine.h"
 #endif
 
 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+ * for the header files above, but not in this file, in order to generate the
+ * correct privileged Vs unprivileged linkage and placement. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
 
 
 /* Constants used with the cRxLock and cTxLock structure members. */
-#define queueUNLOCKED					( ( int8_t ) -1 )
-#define queueLOCKED_UNMODIFIED			( ( int8_t ) 0 )
+#define queueUNLOCKED             ( ( int8_t ) -1 )
+#define queueLOCKED_UNMODIFIED    ( ( int8_t ) 0 )
+#define queueINT8_MAX             ( ( int8_t ) 127 )
 
 /* When the Queue_t structure is used to represent a base queue its pcHead and
-pcTail members are used as pointers into the queue storage area.  When the
-Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
-not necessary, and the pcHead pointer is set to NULL to indicate that the
-structure instead holds a pointer to the mutex holder (if any).  Map alternative
-names to the pcHead and structure member to ensure the readability of the code
-is maintained.  The QueuePointers_t and SemaphoreData_t types are used to form
-a union as their usage is mutually exclusive dependent on what the queue is
-being used for. */
-#define uxQueueType						pcHead
-#define queueQUEUE_IS_MUTEX				NULL
+ * pcTail members are used as pointers into the queue storage area.  When the
+ * Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
+ * not necessary, and the pcHead pointer is set to NULL to indicate that the
+ * structure instead holds a pointer to the mutex holder (if any).  Map alternative
+ * names to the pcHead and structure member to ensure the readability of the code
+ * is maintained.  The QueuePointers_t and SemaphoreData_t types are used to form
+ * a union as their usage is mutually exclusive dependent on what the queue is
+ * being used for. */
+#define uxQueueType               pcHead
+#define queueQUEUE_IS_MUTEX       NULL
 
 typedef struct QueuePointers
 {
-	int8_t *pcTail;					/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
-	int8_t *pcReadFrom;				/*< Points to the last place that a queued item was read from when the structure is used as a queue. */
+    int8_t * pcTail;     /**< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
+    int8_t * pcReadFrom; /**< Points to the last place that a queued item was read from when the structure is used as a queue. */
 } QueuePointers_t;
 
 typedef struct SemaphoreData
 {
-	TaskHandle_t xMutexHolder;		 /*< The handle of the task that holds the mutex. */
-	UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
+    TaskHandle_t xMutexHolder;        /**< The handle of the task that holds the mutex. */
+    UBaseType_t uxRecursiveCallCount; /**< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
 } SemaphoreData_t;
 
 /* Semaphores do not actually store or copy data, so have an item size of
-zero. */
-#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
-#define queueMUTEX_GIVE_BLOCK_TIME		 ( ( TickType_t ) 0U )
+ * zero. */
+#define queueSEMAPHORE_QUEUE_ITEM_LENGTH    ( ( UBaseType_t ) 0 )
+#define queueMUTEX_GIVE_BLOCK_TIME          ( ( TickType_t ) 0U )
 
-#if( configUSE_PREEMPTION == 0 )
-	/* If the cooperative scheduler is being used then a yield should not be
-	performed just because a higher priority task has been woken. */
-	#define queueYIELD_IF_USING_PREEMPTION()
+#if ( configUSE_PREEMPTION == 0 )
+
+/* If the cooperative scheduler is being used then a yield should not be
+ * performed just because a higher priority task has been woken. */
+    #define queueYIELD_IF_USING_PREEMPTION()
 #else
-	#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+    #define queueYIELD_IF_USING_PREEMPTION()    portYIELD_WITHIN_API()
 #endif
 
 /*
  * Definition of the queue used by the scheduler.
  * Items are queued by copy, not reference.  See the following link for the
- * rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
+ * rationale: https://www.FreeRTOS.org/Embedded-RTOS-Queues.html
  */
-typedef struct QueueDefinition 		/* The old naming convention is used to prevent breaking kernel aware debuggers. */
+typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
 {
-	int8_t *pcHead;					/*< Points to the beginning of the queue storage area. */
-	int8_t *pcWriteTo;				/*< Points to the free next place in the storage area. */
+    int8_t * pcHead;           /**< Points to the beginning of the queue storage area. */
+    int8_t * pcWriteTo;        /**< Points to the free next place in the storage area. */
 
-	union
-	{
-		QueuePointers_t xQueue;		/*< Data required exclusively when this structure is used as a queue. */
-		SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
-	} u;
+    union
+    {
+        QueuePointers_t xQueue;     /**< Data required exclusively when this structure is used as a queue. */
+        SemaphoreData_t xSemaphore; /**< Data required exclusively when this structure is used as a semaphore. */
+    } u;
 
-	List_t xTasksWaitingToSend;		/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
-	List_t xTasksWaitingToReceive;	/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
+    List_t xTasksWaitingToSend;             /**< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
+    List_t xTasksWaitingToReceive;          /**< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
 
-	volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
-	UBaseType_t uxLength;			/*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
-	UBaseType_t uxItemSize;			/*< The size of each items that the queue will hold. */
+    volatile UBaseType_t uxMessagesWaiting; /**< The number of items currently in the queue. */
+    UBaseType_t uxLength;                   /**< The length of the queue defined as the number of items it will hold, not the number of bytes. */
+    UBaseType_t uxItemSize;                 /**< The size of each items that the queue will hold. */
 
-	volatile int8_t cRxLock;		/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-	volatile int8_t cTxLock;		/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
+    volatile int8_t cRxLock;                /**< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
+    volatile int8_t cTxLock;                /**< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
 
-	#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-		uint8_t ucStaticallyAllocated;	/*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
-	#endif
+    #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+        uint8_t ucStaticallyAllocated; /**< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
+    #endif
 
-	#if ( configUSE_QUEUE_SETS == 1 )
-		struct QueueDefinition *pxQueueSetContainer;
-	#endif
-
-	#if ( configUSE_TRACE_FACILITY == 1 )
-		UBaseType_t uxQueueNumber;
-		uint8_t ucQueueType;
-	#endif
+    #if ( configUSE_QUEUE_SETS == 1 )
+        struct QueueDefinition * pxQueueSetContainer;
+    #endif
 
+    #if ( configUSE_TRACE_FACILITY == 1 )
+        UBaseType_t uxQueueNumber;
+        uint8_t ucQueueType;
+    #endif
 } xQUEUE;
 
 /* The old xQUEUE name is maintained above then typedefed to the new Queue_t
-name below to enable the use of older kernel aware debuggers. */
+ * name below to enable the use of older kernel aware debuggers. */
 typedef xQUEUE Queue_t;
 
 /*-----------------------------------------------------------*/
@@ -142,24 +144,24 @@ typedef xQUEUE Queue_t;
  */
 #if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	/* The type stored within the queue registry array.  This allows a name
-	to be assigned to each queue making kernel aware debugging a little
-	more user friendly. */
-	typedef struct QUEUE_REGISTRY_ITEM
-	{
-		const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-		QueueHandle_t xHandle;
-	} xQueueRegistryItem;
+/* The type stored within the queue registry array.  This allows a name
+ * to be assigned to each queue making kernel aware debugging a little
+ * more user friendly. */
+    typedef struct QUEUE_REGISTRY_ITEM
+    {
+        const char * pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+        QueueHandle_t xHandle;
+    } xQueueRegistryItem;
 
-	/* The old xQueueRegistryItem name is maintained above then typedefed to the
-	new xQueueRegistryItem name below to enable the use of older kernel aware
-	debuggers. */
-	typedef xQueueRegistryItem QueueRegistryItem_t;
+/* The old xQueueRegistryItem name is maintained above then typedefed to the
+ * new xQueueRegistryItem name below to enable the use of older kernel aware
+ * debuggers. */
+    typedef xQueueRegistryItem QueueRegistryItem_t;
 
-	/* The queue registry is simply an array of QueueRegistryItem_t structures.
-	The pcQueueName member of a structure being NULL is indicative of the
-	array position being vacant. */
-	PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
+/* The queue registry is simply an array of QueueRegistryItem_t structures.
+ * The pcQueueName member of a structure being NULL is indicative of the
+ * array position being vacant. */
+    PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
 
 #endif /* configQUEUE_REGISTRY_SIZE */
 
@@ -178,58 +180,67 @@ static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
  *
  * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
  */
-static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
+static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any space in a queue.
  *
  * @return pdTRUE if there is no space, otherwise pdFALSE;
  */
-static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
+static BaseType_t prvIsQueueFull( const Queue_t * pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Copies an item into the queue, either at the front of the queue or the
  * back of the queue.
  */
-static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
+static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue,
+                                      const void * pvItemToQueue,
+                                      const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
 
 /*
  * Copies an item out of a queue.
  */
-static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
+static void prvCopyDataFromQueue( Queue_t * const pxQueue,
+                                  void * const pvBuffer ) PRIVILEGED_FUNCTION;
 
 #if ( configUSE_QUEUE_SETS == 1 )
-	/*
-	 * Checks to see if a queue is a member of a queue set, and if so, notifies
-	 * the queue set that the queue contains data.
-	 */
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
+
+/*
+ * Checks to see if a queue is a member of a queue set, and if so, notifies
+ * the queue set that the queue contains data.
+ */
+    static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
  * Called after a Queue_t structure has been allocated either statically or
  * dynamically to fill in the structure's members.
  */
-static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
+static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
+                                   const UBaseType_t uxItemSize,
+                                   uint8_t * pucQueueStorage,
+                                   const uint8_t ucQueueType,
+                                   Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Mutexes are a special type of queue.  When a mutex is created, first the
  * queue is created, then prvInitialiseMutex() is called to configure the queue
  * as a mutex.
  */
-#if( configUSE_MUTEXES == 1 )
-	static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
+#if ( configUSE_MUTEXES == 1 )
+    static void prvInitialiseMutex( Queue_t * pxNewQueue ) PRIVILEGED_FUNCTION;
 #endif
 
-#if( configUSE_MUTEXES == 1 )
-	/*
-	 * If a task waiting for a mutex causes the mutex holder to inherit a
-	 * priority, but the waiting task times out, then the holder should
-	 * disinherit the priority - but only down to the highest priority of any
-	 * other tasks that are waiting for the same mutex.  This function returns
-	 * that priority.
-	 */
-	static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
+#if ( configUSE_MUTEXES == 1 )
+
+/*
+ * If a task waiting for a mutex causes the mutex holder to inherit a
+ * priority, but the waiting task times out, then the holder should
+ * disinherit the priority - but only down to the highest priority of any
+ * other tasks that are waiting for the same mutex.  This function returns
+ * that priority.
+ */
+    static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
 #endif
 /*-----------------------------------------------------------*/
 
@@ -237,2709 +248,2901 @@ static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseT
  * Macro to mark a queue as locked.  Locking a queue prevents an ISR from
  * accessing the queue event lists.
  */
-#define prvLockQueue( pxQueue )								\
-	taskENTER_CRITICAL();									\
-	{														\
-		if( ( pxQueue )->cRxLock == queueUNLOCKED )			\
-		{													\
-			( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED;	\
-		}													\
-		if( ( pxQueue )->cTxLock == queueUNLOCKED )			\
-		{													\
-			( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED;	\
-		}													\
-	}														\
-	taskEXIT_CRITICAL()
+#define prvLockQueue( pxQueue )                            \
+    taskENTER_CRITICAL();                                  \
+    {                                                      \
+        if( ( pxQueue )->cRxLock == queueUNLOCKED )        \
+        {                                                  \
+            ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
+        }                                                  \
+        if( ( pxQueue )->cTxLock == queueUNLOCKED )        \
+        {                                                  \
+            ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
+        }                                                  \
+    }                                                      \
+    taskEXIT_CRITICAL()
+
+/*
+ * Macro to increment cTxLock member of the queue data structure. It is
+ * capped at the number of tasks in the system as we cannot unblock more
+ * tasks than the number of tasks in the system.
+ */
+#define prvIncrementQueueTxLock( pxQueue, cTxLock )                           \
+    do {                                                                      \
+        const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks();         \
+        if( ( UBaseType_t ) ( cTxLock ) < uxNumberOfTasks )                   \
+        {                                                                     \
+            configASSERT( ( cTxLock ) != queueINT8_MAX );                     \
+            ( pxQueue )->cTxLock = ( int8_t ) ( ( cTxLock ) + ( int8_t ) 1 ); \
+        }                                                                     \
+    } while( 0 )
+
+/*
+ * Macro to increment cRxLock member of the queue data structure. It is
+ * capped at the number of tasks in the system as we cannot unblock more
+ * tasks than the number of tasks in the system.
+ */
+#define prvIncrementQueueRxLock( pxQueue, cRxLock )                           \
+    do {                                                                      \
+        const UBaseType_t uxNumberOfTasks = uxTaskGetNumberOfTasks();         \
+        if( ( UBaseType_t ) ( cRxLock ) < uxNumberOfTasks )                   \
+        {                                                                     \
+            configASSERT( ( cRxLock ) != queueINT8_MAX );                     \
+            ( pxQueue )->cRxLock = ( int8_t ) ( ( cRxLock ) + ( int8_t ) 1 ); \
+        }                                                                     \
+    } while( 0 )
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
+BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
+                               BaseType_t xNewQueue )
 {
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn = pdPASS;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
+    configASSERT( pxQueue );
 
-	taskENTER_CRITICAL();
-	{
-		pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
-		pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
-		pxQueue->pcWriteTo = pxQueue->pcHead;
-		pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
-		pxQueue->cRxLock = queueUNLOCKED;
-		pxQueue->cTxLock = queueUNLOCKED;
+    if( ( pxQueue != NULL ) &&
+        ( pxQueue->uxLength >= 1U ) &&
+        /* Check for multiplication overflow. */
+        ( ( SIZE_MAX / pxQueue->uxLength ) >= pxQueue->uxItemSize ) )
+    {
+        taskENTER_CRITICAL();
+        {
+            pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
+            pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
+            pxQueue->pcWriteTo = pxQueue->pcHead;
+            pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
+            pxQueue->cRxLock = queueUNLOCKED;
+            pxQueue->cTxLock = queueUNLOCKED;
 
-		if( xNewQueue == pdFALSE )
-		{
-			/* If there are tasks blocked waiting to read from the queue, then
-			the tasks will remain blocked as after this function exits the queue
-			will still be empty.  If there are tasks blocked waiting to write to
-			the queue, then one should be unblocked as after this function exits
-			it will be possible to write to it. */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-			{
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					queueYIELD_IF_USING_PREEMPTION();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			/* Ensure the event queues start in the correct state. */
-			vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
-			vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
-		}
-	}
-	taskEXIT_CRITICAL();
+            if( xNewQueue == pdFALSE )
+            {
+                /* If there are tasks blocked waiting to read from the queue, then
+                 * the tasks will remain blocked as after this function exits the queue
+                 * will still be empty.  If there are tasks blocked waiting to write to
+                 * the queue, then one should be unblocked as after this function exits
+                 * it will be possible to write to it. */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        queueYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* Ensure the event queues start in the correct state. */
+                vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
+                vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
+            }
+        }
+        taskEXIT_CRITICAL();
+    }
+    else
+    {
+        xReturn = pdFAIL;
+    }
 
-	/* A value is returned for calling semantic consistency with previous
-	versions. */
-	return pdPASS;
+    configASSERT( xReturn != pdFAIL );
+
+    /* A value is returned for calling semantic consistency with previous
+     * versions. */
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-	QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
-	{
-	Queue_t *pxNewQueue;
+    QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                             const UBaseType_t uxItemSize,
+                                             uint8_t * pucQueueStorage,
+                                             StaticQueue_t * pxStaticQueue,
+                                             const uint8_t ucQueueType )
+    {
+        Queue_t * pxNewQueue = NULL;
 
-		configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
+        /* The StaticQueue_t structure and the queue storage area must be
+         * supplied. */
+        configASSERT( pxStaticQueue );
 
-		/* The StaticQueue_t structure and the queue storage area must be
-		supplied. */
-		configASSERT( pxStaticQueue != NULL );
+        if( ( uxQueueLength > ( UBaseType_t ) 0 ) &&
+            ( pxStaticQueue != NULL ) &&
 
-		/* A queue storage area should be provided if the item size is not 0, and
-		should not be provided if the item size is 0. */
-		configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
-		configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
+            /* A queue storage area should be provided if the item size is not 0, and
+             * should not be provided if the item size is 0. */
+            ( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) ) &&
+            ( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) ) )
+        {
+            #if ( configASSERT_DEFINED == 1 )
+            {
+                /* Sanity check that the size of the structure used to declare a
+                 * variable of type StaticQueue_t or StaticSemaphore_t equals the size of
+                 * the real queue and semaphore structures. */
+                volatile size_t xSize = sizeof( StaticQueue_t );
 
-		#if( configASSERT_DEFINED == 1 )
-		{
-			/* Sanity check that the size of the structure used to declare a
-			variable of type StaticQueue_t or StaticSemaphore_t equals the size of
-			the real queue and semaphore structures. */
-			volatile size_t xSize = sizeof( StaticQueue_t );
-			configASSERT( xSize == sizeof( Queue_t ) );
-			( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
-		}
-		#endif /* configASSERT_DEFINED */
+                /* This assertion cannot be branch covered in unit tests */
+                configASSERT( xSize == sizeof( Queue_t ) ); /* LCOV_EXCL_BR_LINE */
+                ( void ) xSize;                             /* Keeps lint quiet when configASSERT() is not defined. */
+            }
+            #endif /* configASSERT_DEFINED */
 
-		/* The address of a statically allocated queue was passed in, use it.
-		The address of a statically allocated storage area was also passed in
-		but is already set. */
-		pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
+            /* The address of a statically allocated queue was passed in, use it.
+             * The address of a statically allocated storage area was also passed in
+             * but is already set. */
+            pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
 
-		if( pxNewQueue != NULL )
-		{
-			#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-			{
-				/* Queues can be allocated wither statically or dynamically, so
-				note this queue was allocated statically in case the queue is
-				later deleted. */
-				pxNewQueue->ucStaticallyAllocated = pdTRUE;
-			}
-			#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+            #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+            {
+                /* Queues can be allocated wither statically or dynamically, so
+                 * note this queue was allocated statically in case the queue is
+                 * later deleted. */
+                pxNewQueue->ucStaticallyAllocated = pdTRUE;
+            }
+            #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 
-			prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
-		}
-		else
-		{
-			traceQUEUE_CREATE_FAILED( ucQueueType );
-			mtCOVERAGE_TEST_MARKER();
-		}
+            prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
+        }
+        else
+        {
+            configASSERT( pxNewQueue );
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return pxNewQueue;
-	}
+        return pxNewQueue;
+    }
 
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-	QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
-	{
-	Queue_t *pxNewQueue;
-	size_t xQueueSizeInBytes;
-	uint8_t *pucQueueStorage;
+    BaseType_t xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
+                                              uint8_t ** ppucQueueStorage,
+                                              StaticQueue_t ** ppxStaticQueue )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxQueue = xQueue;
 
-		configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
+        configASSERT( pxQueue );
+        configASSERT( ppxStaticQueue );
 
-		/* Allocate enough space to hold the maximum number of items that
-		can be in the queue at any time.  It is valid for uxItemSize to be
-		zero in the case the queue is used as a semaphore. */
-		xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+        #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+        {
+            /* Check if the queue was statically allocated. */
+            if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdTRUE )
+            {
+                if( ppucQueueStorage != NULL )
+                {
+                    *ppucQueueStorage = ( uint8_t * ) pxQueue->pcHead;
+                }
 
-		/* Allocate the queue and storage area.  Justification for MISRA
-		deviation as follows:  pvPortMalloc() always ensures returned memory
-		blocks are aligned per the requirements of the MCU stack.  In this case
-		pvPortMalloc() must return a pointer that is guaranteed to meet the
-		alignment requirements of the Queue_t structure - which in this case
-		is an int8_t *.  Therefore, whenever the stack alignment requirements
-		are greater than or equal to the pointer to char requirements the cast
-		is safe.  In other cases alignment requirements are not strict (one or
-		two bytes). */
-		pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
+                *ppxStaticQueue = ( StaticQueue_t * ) pxQueue;
+                xReturn = pdTRUE;
+            }
+            else
+            {
+                xReturn = pdFALSE;
+            }
+        }
+        #else /* configSUPPORT_DYNAMIC_ALLOCATION */
+        {
+            /* Queue must have been statically allocated. */
+            if( ppucQueueStorage != NULL )
+            {
+                *ppucQueueStorage = ( uint8_t * ) pxQueue->pcHead;
+            }
 
-		if( pxNewQueue != NULL )
-		{
-			/* Jump past the queue structure to find the location of the queue
-			storage area. */
-			pucQueueStorage = ( uint8_t * ) pxNewQueue;
-			pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
+            *ppxStaticQueue = ( StaticQueue_t * ) pxQueue;
+            xReturn = pdTRUE;
+        }
+        #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 
-			#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-			{
-				/* Queues can be created either statically or dynamically, so
-				note this task was created dynamically in case it is later
-				deleted. */
-				pxNewQueue->ucStaticallyAllocated = pdFALSE;
-			}
-			#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-			prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
-		}
-		else
-		{
-			traceQUEUE_CREATE_FAILED( ucQueueType );
-			mtCOVERAGE_TEST_MARKER();
-		}
-
-		return pxNewQueue;
-	}
+        return xReturn;
+    }
 
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+
+    QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                       const UBaseType_t uxItemSize,
+                                       const uint8_t ucQueueType )
+    {
+        Queue_t * pxNewQueue = NULL;
+        size_t xQueueSizeInBytes;
+        uint8_t * pucQueueStorage;
+
+        if( ( uxQueueLength > ( UBaseType_t ) 0 ) &&
+            /* Check for multiplication overflow. */
+            ( ( SIZE_MAX / uxQueueLength ) >= uxItemSize ) &&
+            /* Check for addition overflow. */
+            ( ( SIZE_MAX - sizeof( Queue_t ) ) >= ( uxQueueLength * uxItemSize ) ) )
+        {
+            /* Allocate enough space to hold the maximum number of items that
+             * can be in the queue at any time.  It is valid for uxItemSize to be
+             * zero in the case the queue is used as a semaphore. */
+            xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+
+            /* Allocate the queue and storage area.  Justification for MISRA
+             * deviation as follows:  pvPortMalloc() always ensures returned memory
+             * blocks are aligned per the requirements of the MCU stack.  In this case
+             * pvPortMalloc() must return a pointer that is guaranteed to meet the
+             * alignment requirements of the Queue_t structure - which in this case
+             * is an int8_t *.  Therefore, whenever the stack alignment requirements
+             * are greater than or equal to the pointer to char requirements the cast
+             * is safe.  In other cases alignment requirements are not strict (one or
+             * two bytes). */
+            pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
+
+            if( pxNewQueue != NULL )
+            {
+                /* Jump past the queue structure to find the location of the queue
+                 * storage area. */
+                pucQueueStorage = ( uint8_t * ) pxNewQueue;
+                pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
+
+                #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+                {
+                    /* Queues can be created either statically or dynamically, so
+                     * note this task was created dynamically in case it is later
+                     * deleted. */
+                    pxNewQueue->ucStaticallyAllocated = pdFALSE;
+                }
+                #endif /* configSUPPORT_STATIC_ALLOCATION */
+
+                prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
+            }
+            else
+            {
+                traceQUEUE_CREATE_FAILED( ucQueueType );
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            configASSERT( pxNewQueue );
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        return pxNewQueue;
+    }
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
+static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength,
+                                   const UBaseType_t uxItemSize,
+                                   uint8_t * pucQueueStorage,
+                                   const uint8_t ucQueueType,
+                                   Queue_t * pxNewQueue )
 {
-	/* Remove compiler warnings about unused parameters should
-	configUSE_TRACE_FACILITY not be set to 1. */
-	( void ) ucQueueType;
+    /* Remove compiler warnings about unused parameters should
+     * configUSE_TRACE_FACILITY not be set to 1. */
+    ( void ) ucQueueType;
 
-	if( uxItemSize == ( UBaseType_t ) 0 )
-	{
-		/* No RAM was allocated for the queue storage area, but PC head cannot
-		be set to NULL because NULL is used as a key to say the queue is used as
-		a mutex.  Therefore just set pcHead to point to the queue as a benign
-		value that is known to be within the memory map. */
-		pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
-	}
-	else
-	{
-		/* Set the head to the start of the queue storage area. */
-		pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
-	}
+    if( uxItemSize == ( UBaseType_t ) 0 )
+    {
+        /* No RAM was allocated for the queue storage area, but PC head cannot
+         * be set to NULL because NULL is used as a key to say the queue is used as
+         * a mutex.  Therefore just set pcHead to point to the queue as a benign
+         * value that is known to be within the memory map. */
+        pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
+    }
+    else
+    {
+        /* Set the head to the start of the queue storage area. */
+        pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
+    }
 
-	/* Initialise the queue members as described where the queue type is
-	defined. */
-	pxNewQueue->uxLength = uxQueueLength;
-	pxNewQueue->uxItemSize = uxItemSize;
-	( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
+    /* Initialise the queue members as described where the queue type is
+     * defined. */
+    pxNewQueue->uxLength = uxQueueLength;
+    pxNewQueue->uxItemSize = uxItemSize;
+    ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
 
-	#if ( configUSE_TRACE_FACILITY == 1 )
-	{
-		pxNewQueue->ucQueueType = ucQueueType;
-	}
-	#endif /* configUSE_TRACE_FACILITY */
+    #if ( configUSE_TRACE_FACILITY == 1 )
+    {
+        pxNewQueue->ucQueueType = ucQueueType;
+    }
+    #endif /* configUSE_TRACE_FACILITY */
 
-	#if( configUSE_QUEUE_SETS == 1 )
-	{
-		pxNewQueue->pxQueueSetContainer = NULL;
-	}
-	#endif /* configUSE_QUEUE_SETS */
+    #if ( configUSE_QUEUE_SETS == 1 )
+    {
+        pxNewQueue->pxQueueSetContainer = NULL;
+    }
+    #endif /* configUSE_QUEUE_SETS */
 
-	traceQUEUE_CREATE( pxNewQueue );
+    traceQUEUE_CREATE( pxNewQueue );
 }
 /*-----------------------------------------------------------*/
 
-#if( configUSE_MUTEXES == 1 )
+#if ( configUSE_MUTEXES == 1 )
 
-	static void prvInitialiseMutex( Queue_t *pxNewQueue )
-	{
-		if( pxNewQueue != NULL )
-		{
-			/* The queue create function will set all the queue structure members
-			correctly for a generic queue, but this function is creating a
-			mutex.  Overwrite those members that need to be set differently -
-			in particular the information required for priority inheritance. */
-			pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
-			pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
+    static void prvInitialiseMutex( Queue_t * pxNewQueue )
+    {
+        if( pxNewQueue != NULL )
+        {
+            /* The queue create function will set all the queue structure members
+            * correctly for a generic queue, but this function is creating a
+            * mutex.  Overwrite those members that need to be set differently -
+            * in particular the information required for priority inheritance. */
+            pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
+            pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
 
-			/* In case this is a recursive mutex. */
-			pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
+            /* In case this is a recursive mutex. */
+            pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
 
-			traceCREATE_MUTEX( pxNewQueue );
+            traceCREATE_MUTEX( pxNewQueue );
 
-			/* Start with the semaphore in the expected state. */
-			( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
-		}
-		else
-		{
-			traceCREATE_MUTEX_FAILED();
-		}
-	}
+            /* Start with the semaphore in the expected state. */
+            ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
+        }
+        else
+        {
+            traceCREATE_MUTEX_FAILED();
+        }
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
 
-	QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
-	{
-	QueueHandle_t xNewQueue;
-	const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
+    QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
+    {
+        QueueHandle_t xNewQueue;
+        const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
 
-		xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
-		prvInitialiseMutex( ( Queue_t * ) xNewQueue );
+        xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
+        prvInitialiseMutex( ( Queue_t * ) xNewQueue );
 
-		return xNewQueue;
-	}
+        return xNewQueue;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
 
-	QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
-	{
-	QueueHandle_t xNewQueue;
-	const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
+    QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                           StaticQueue_t * pxStaticQueue )
+    {
+        QueueHandle_t xNewQueue;
+        const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
 
-		/* Prevent compiler warnings about unused parameters if
-		configUSE_TRACE_FACILITY does not equal 1. */
-		( void ) ucQueueType;
+        /* Prevent compiler warnings about unused parameters if
+         * configUSE_TRACE_FACILITY does not equal 1. */
+        ( void ) ucQueueType;
 
-		xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
-		prvInitialiseMutex( ( Queue_t * ) xNewQueue );
+        xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
+        prvInitialiseMutex( ( Queue_t * ) xNewQueue );
 
-		return xNewQueue;
-	}
+        return xNewQueue;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
 
-	TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
-	{
-	TaskHandle_t pxReturn;
-	Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
+    TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
+    {
+        TaskHandle_t pxReturn;
+        Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
 
-		/* This function is called by xSemaphoreGetMutexHolder(), and should not
-		be called directly.  Note:  This is a good way of determining if the
-		calling task is the mutex holder, but not a good way of determining the
-		identity of the mutex holder, as the holder may change between the
-		following critical section exiting and the function returning. */
-		taskENTER_CRITICAL();
-		{
-			if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
-			{
-				pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
-			}
-			else
-			{
-				pxReturn = NULL;
-			}
-		}
-		taskEXIT_CRITICAL();
+        configASSERT( xSemaphore );
 
-		return pxReturn;
-	} /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
+        /* This function is called by xSemaphoreGetMutexHolder(), and should not
+         * be called directly.  Note:  This is a good way of determining if the
+         * calling task is the mutex holder, but not a good way of determining the
+         * identity of the mutex holder, as the holder may change between the
+         * following critical section exiting and the function returning. */
+        taskENTER_CRITICAL();
+        {
+            if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
+            {
+                pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
+            }
+            else
+            {
+                pxReturn = NULL;
+            }
+        }
+        taskEXIT_CRITICAL();
 
-#endif
+        return pxReturn;
+    } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
+
+#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
 
-	TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
-	{
-	TaskHandle_t pxReturn;
+    TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
+    {
+        TaskHandle_t pxReturn;
 
-		configASSERT( xSemaphore );
+        configASSERT( xSemaphore );
 
-		/* Mutexes cannot be used in interrupt service routines, so the mutex
-		holder should not change in an ISR, and therefore a critical section is
-		not required here. */
-		if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
-		{
-			pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
-		}
-		else
-		{
-			pxReturn = NULL;
-		}
+        /* Mutexes cannot be used in interrupt service routines, so the mutex
+         * holder should not change in an ISR, and therefore a critical section is
+         * not required here. */
+        if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
+        {
+            pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
+        }
+        else
+        {
+            pxReturn = NULL;
+        }
 
-		return pxReturn;
-	} /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
+        return pxReturn;
+    } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
 
-#endif
+#endif /* if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxMutex = ( Queue_t * ) xMutex;
+    BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxMutex = ( Queue_t * ) xMutex;
 
-		configASSERT( pxMutex );
+        configASSERT( pxMutex );
 
-		/* If this is the task that holds the mutex then xMutexHolder will not
-		change outside of this task.  If this task does not hold the mutex then
-		pxMutexHolder can never coincidentally equal the tasks handle, and as
-		this is the only condition we are interested in it does not matter if
-		pxMutexHolder is accessed simultaneously by another task.  Therefore no
-		mutual exclusion is required to test the pxMutexHolder variable. */
-		if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
-		{
-			traceGIVE_MUTEX_RECURSIVE( pxMutex );
+        /* If this is the task that holds the mutex then xMutexHolder will not
+         * change outside of this task.  If this task does not hold the mutex then
+         * pxMutexHolder can never coincidentally equal the tasks handle, and as
+         * this is the only condition we are interested in it does not matter if
+         * pxMutexHolder is accessed simultaneously by another task.  Therefore no
+         * mutual exclusion is required to test the pxMutexHolder variable. */
+        if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
+        {
+            traceGIVE_MUTEX_RECURSIVE( pxMutex );
 
-			/* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
-			the task handle, therefore no underflow check is required.  Also,
-			uxRecursiveCallCount is only modified by the mutex holder, and as
-			there can only be one, no mutual exclusion is required to modify the
-			uxRecursiveCallCount member. */
-			( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
+            /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
+             * the task handle, therefore no underflow check is required.  Also,
+             * uxRecursiveCallCount is only modified by the mutex holder, and as
+             * there can only be one, no mutual exclusion is required to modify the
+             * uxRecursiveCallCount member. */
+            ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
 
-			/* Has the recursive call count unwound to 0? */
-			if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
-			{
-				/* Return the mutex.  This will automatically unblock any other
-				task that might be waiting to access the mutex. */
-				( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Has the recursive call count unwound to 0? */
+            if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
+            {
+                /* Return the mutex.  This will automatically unblock any other
+                 * task that might be waiting to access the mutex. */
+                ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			/* The mutex cannot be given because the calling task is not the
-			holder. */
-			xReturn = pdFAIL;
+            xReturn = pdPASS;
+        }
+        else
+        {
+            /* The mutex cannot be given because the calling task is not the
+             * holder. */
+            xReturn = pdFAIL;
 
-			traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
-		}
+            traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxMutex = ( Queue_t * ) xMutex;
+    BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex,
+                                         TickType_t xTicksToWait )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxMutex = ( Queue_t * ) xMutex;
 
-		configASSERT( pxMutex );
+        configASSERT( pxMutex );
 
-		/* Comments regarding mutual exclusion as per those within
-		xQueueGiveMutexRecursive(). */
+        /* Comments regarding mutual exclusion as per those within
+         * xQueueGiveMutexRecursive(). */
 
-		traceTAKE_MUTEX_RECURSIVE( pxMutex );
+        traceTAKE_MUTEX_RECURSIVE( pxMutex );
 
-		if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
-		{
-			( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
+        if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
+        {
+            ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
 
-			/* pdPASS will only be returned if the mutex was successfully
-			obtained.  The calling task may have entered the Blocked state
-			before reaching here. */
-			if( xReturn != pdFAIL )
-			{
-				( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
-			}
-			else
-			{
-				traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
-			}
-		}
+            /* pdPASS will only be returned if the mutex was successfully
+             * obtained.  The calling task may have entered the Blocked state
+             * before reaching here. */
+            if( xReturn != pdFAIL )
+            {
+                ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
+            }
+            else
+            {
+                traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
+            }
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
 
-	QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
-	{
-	QueueHandle_t xHandle;
+    QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                       const UBaseType_t uxInitialCount,
+                                                       StaticQueue_t * pxStaticQueue )
+    {
+        QueueHandle_t xHandle = NULL;
 
-		configASSERT( uxMaxCount != 0 );
-		configASSERT( uxInitialCount <= uxMaxCount );
+        if( ( uxMaxCount != 0 ) &&
+            ( uxInitialCount <= uxMaxCount ) )
+        {
+            xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
 
-		xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
+            if( xHandle != NULL )
+            {
+                ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
 
-		if( xHandle != NULL )
-		{
-			( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
+                traceCREATE_COUNTING_SEMAPHORE();
+            }
+            else
+            {
+                traceCREATE_COUNTING_SEMAPHORE_FAILED();
+            }
+        }
+        else
+        {
+            configASSERT( xHandle );
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-			traceCREATE_COUNTING_SEMAPHORE();
-		}
-		else
-		{
-			traceCREATE_COUNTING_SEMAPHORE_FAILED();
-		}
-
-		return xHandle;
-	}
+        return xHandle;
+    }
 
 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
 /*-----------------------------------------------------------*/
 
-#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#if ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
 
-	QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
-	{
-	QueueHandle_t xHandle;
+    QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                                 const UBaseType_t uxInitialCount )
+    {
+        QueueHandle_t xHandle = NULL;
 
-		configASSERT( uxMaxCount != 0 );
-		configASSERT( uxInitialCount <= uxMaxCount );
+        if( ( uxMaxCount != 0 ) &&
+            ( uxInitialCount <= uxMaxCount ) )
+        {
+            xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
 
-		xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
+            if( xHandle != NULL )
+            {
+                ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
 
-		if( xHandle != NULL )
-		{
-			( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
+                traceCREATE_COUNTING_SEMAPHORE();
+            }
+            else
+            {
+                traceCREATE_COUNTING_SEMAPHORE_FAILED();
+            }
+        }
+        else
+        {
+            configASSERT( xHandle );
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-			traceCREATE_COUNTING_SEMAPHORE();
-		}
-		else
-		{
-			traceCREATE_COUNTING_SEMAPHORE_FAILED();
-		}
-
-		return xHandle;
-	}
+        return xHandle;
+    }
 
 #endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
+BaseType_t xQueueGenericSend( QueueHandle_t xQueue,
+                              const void * const pvItemToQueue,
+                              TickType_t xTicksToWait,
+                              const BaseType_t xCopyPosition )
 {
-BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
+    TimeOut_t xTimeOut;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
-	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
-	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-	{
-		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-	}
-	#endif
+    configASSERT( pxQueue );
+    configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
+    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+    {
+        configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+    }
+    #endif
 
+    /*lint -save -e904 This function relaxes the coding standard somewhat to
+     * allow return statements within the function itself.  This is done in the
+     * interest of execution time efficiency. */
+    for( ; ; )
+    {
+        taskENTER_CRITICAL();
+        {
+            /* Is there room on the queue now?  The running task must be the
+             * highest priority task wanting to access the queue.  If the head item
+             * in the queue is to be overwritten then it does not matter if the
+             * queue is full. */
+            if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
+            {
+                traceQUEUE_SEND( pxQueue );
 
-	/*lint -save -e904 This function relaxes the coding standard somewhat to
-	allow return statements within the function itself.  This is done in the
-	interest of execution time efficiency. */
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			/* Is there room on the queue now?  The running task must be the
-			highest priority task wanting to access the queue.  If the head item
-			in the queue is to be overwritten then it does not matter if the
-			queue is full. */
-			if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
-			{
-				traceQUEUE_SEND( pxQueue );
+                #if ( configUSE_QUEUE_SETS == 1 )
+                {
+                    const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-				#if ( configUSE_QUEUE_SETS == 1 )
-				{
-				const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+                    xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-					xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+                    if( pxQueue->pxQueueSetContainer != NULL )
+                    {
+                        if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
+                        {
+                            /* Do not notify the queue set as an existing item
+                             * was overwritten in the queue so the number of items
+                             * in the queue has not changed. */
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                        else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
+                        {
+                            /* The queue is a member of a queue set, and posting
+                             * to the queue set caused a higher priority task to
+                             * unblock. A context switch is required. */
+                            queueYIELD_IF_USING_PREEMPTION();
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        /* If there was a task waiting for data to arrive on the
+                         * queue then unblock it now. */
+                        if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                        {
+                            if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                            {
+                                /* The unblocked task has a priority higher than
+                                 * our own so yield immediately.  Yes it is ok to
+                                 * do this from within the critical section - the
+                                 * kernel takes care of that. */
+                                queueYIELD_IF_USING_PREEMPTION();
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else if( xYieldRequired != pdFALSE )
+                        {
+                            /* This path is a special case that will only get
+                             * executed if the task was holding multiple mutexes
+                             * and the mutexes were given back in an order that is
+                             * different to that in which they were taken. */
+                            queueYIELD_IF_USING_PREEMPTION();
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                }
+                #else /* configUSE_QUEUE_SETS */
+                {
+                    xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-					if( pxQueue->pxQueueSetContainer != NULL )
-					{
-						if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
-						{
-							/* Do not notify the queue set as an existing item
-							was overwritten in the queue so the number of items
-							in the queue has not changed. */
-							mtCOVERAGE_TEST_MARKER();
-						}
-						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
-						{
-							/* The queue is a member of a queue set, and posting
-							to the queue set caused a higher priority task to
-							unblock. A context switch is required. */
-							queueYIELD_IF_USING_PREEMPTION();
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						/* If there was a task waiting for data to arrive on the
-						queue then unblock it now. */
-						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-						{
-							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-							{
-								/* The unblocked task has a priority higher than
-								our own so yield immediately.  Yes it is ok to
-								do this from within the critical section - the
-								kernel takes care of that. */
-								queueYIELD_IF_USING_PREEMPTION();
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else if( xYieldRequired != pdFALSE )
-						{
-							/* This path is a special case that will only get
-							executed if the task was holding multiple mutexes
-							and the mutexes were given back in an order that is
-							different to that in which they were taken. */
-							queueYIELD_IF_USING_PREEMPTION();
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-				}
-				#else /* configUSE_QUEUE_SETS */
-				{
-					xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+                    /* If there was a task waiting for data to arrive on the
+                     * queue then unblock it now. */
+                    if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                    {
+                        if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                        {
+                            /* The unblocked task has a priority higher than
+                             * our own so yield immediately.  Yes it is ok to do
+                             * this from within the critical section - the kernel
+                             * takes care of that. */
+                            queueYIELD_IF_USING_PREEMPTION();
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else if( xYieldRequired != pdFALSE )
+                    {
+                        /* This path is a special case that will only get
+                         * executed if the task was holding multiple mutexes and
+                         * the mutexes were given back in an order that is
+                         * different to that in which they were taken. */
+                        queueYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* configUSE_QUEUE_SETS */
 
-					/* If there was a task waiting for data to arrive on the
-					queue then unblock it now. */
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-						{
-							/* The unblocked task has a priority higher than
-							our own so yield immediately.  Yes it is ok to do
-							this from within the critical section - the kernel
-							takes care of that. */
-							queueYIELD_IF_USING_PREEMPTION();
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else if( xYieldRequired != pdFALSE )
-					{
-						/* This path is a special case that will only get
-						executed if the task was holding multiple mutexes and
-						the mutexes were given back in an order that is
-						different to that in which they were taken. */
-						queueYIELD_IF_USING_PREEMPTION();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				#endif /* configUSE_QUEUE_SETS */
+                taskEXIT_CRITICAL();
+                return pdPASS;
+            }
+            else
+            {
+                if( xTicksToWait == ( TickType_t ) 0 )
+                {
+                    /* The queue was full and no block time is specified (or
+                     * the block time has expired) so leave now. */
+                    taskEXIT_CRITICAL();
 
-				taskEXIT_CRITICAL();
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( TickType_t ) 0 )
-				{
-					/* The queue was full and no block time is specified (or
-					the block time has expired) so leave now. */
-					taskEXIT_CRITICAL();
+                    /* Return to the original privilege level before exiting
+                     * the function. */
+                    traceQUEUE_SEND_FAILED( pxQueue );
+                    return errQUEUE_FULL;
+                }
+                else if( xEntryTimeSet == pdFALSE )
+                {
+                    /* The queue was full and a block time was specified so
+                     * configure the timeout structure. */
+                    vTaskInternalSetTimeOutState( &xTimeOut );
+                    xEntryTimeSet = pdTRUE;
+                }
+                else
+                {
+                    /* Entry time was already set. */
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        taskEXIT_CRITICAL();
 
-					/* Return to the original privilege level before exiting
-					the function. */
-					traceQUEUE_SEND_FAILED( pxQueue );
-					return errQUEUE_FULL;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The queue was full and a block time was specified so
-					configure the timeout structure. */
-					vTaskInternalSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-				else
-				{
-					/* Entry time was already set. */
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
+        /* Interrupts and other tasks can send to and receive from the queue
+         * now the critical section has been exited. */
 
-		/* Interrupts and other tasks can send to and receive from the queue
-		now the critical section has been exited. */
+        vTaskSuspendAll();
+        prvLockQueue( pxQueue );
 
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
+        /* Update the timeout state to see if it has expired yet. */
+        if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
+        {
+            if( prvIsQueueFull( pxQueue ) != pdFALSE )
+            {
+                traceBLOCKING_ON_QUEUE_SEND( pxQueue );
+                vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
 
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			if( prvIsQueueFull( pxQueue ) != pdFALSE )
-			{
-				traceBLOCKING_ON_QUEUE_SEND( pxQueue );
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
+                /* Unlocking the queue means queue events can effect the
+                 * event list. It is possible that interrupts occurring now
+                 * remove this task from the event list again - but as the
+                 * scheduler is suspended the task will go onto the pending
+                 * ready list instead of the actual ready list. */
+                prvUnlockQueue( pxQueue );
 
-				/* Unlocking the queue means queue events can effect the
-				event list.  It is possible that interrupts occurring now
-				remove this task from the event list again - but as the
-				scheduler is suspended the task will go onto the pending
-				ready last instead of the actual ready list. */
-				prvUnlockQueue( pxQueue );
+                /* Resuming the scheduler will move tasks from the pending
+                 * ready list into the ready list - so it is feasible that this
+                 * task is already in the ready list before it yields - in which
+                 * case the yield will not cause a context switch unless there
+                 * is also a higher priority task in the pending ready list. */
+                if( xTaskResumeAll() == pdFALSE )
+                {
+                    portYIELD_WITHIN_API();
+                }
+            }
+            else
+            {
+                /* Try again. */
+                prvUnlockQueue( pxQueue );
+                ( void ) xTaskResumeAll();
+            }
+        }
+        else
+        {
+            /* The timeout has expired. */
+            prvUnlockQueue( pxQueue );
+            ( void ) xTaskResumeAll();
 
-				/* Resuming the scheduler will move tasks from the pending
-				ready list into the ready list - so it is feasible that this
-				task is already in a ready list before it yields - in which
-				case the yield will not cause a context switch unless there
-				is also a higher priority task in the pending ready list. */
-				if( xTaskResumeAll() == pdFALSE )
-				{
-					portYIELD_WITHIN_API();
-				}
-			}
-			else
-			{
-				/* Try again. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			/* The timeout has expired. */
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
-
-			traceQUEUE_SEND_FAILED( pxQueue );
-			return errQUEUE_FULL;
-		}
-	} /*lint -restore */
+            traceQUEUE_SEND_FAILED( pxQueue );
+            return errQUEUE_FULL;
+        }
+    } /*lint -restore */
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
+BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                     const void * const pvItemToQueue,
+                                     BaseType_t * const pxHigherPriorityTaskWoken,
+                                     const BaseType_t xCopyPosition )
 {
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
-	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
+    configASSERT( pxQueue );
+    configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
 
-	/* RTOS ports that support interrupt nesting have the concept of a maximum
-	system call (or maximum API call) interrupt priority.  Interrupts that are
-	above the maximum system call priority are kept permanently enabled, even
-	when the RTOS kernel is in a critical section, but cannot make any calls to
-	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
-	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-	failure if a FreeRTOS API function is called from an interrupt that has been
-	assigned a priority above the configured maximum system call priority.
-	Only FreeRTOS functions that end in FromISR can be called from interrupts
-	that have been assigned a priority at or (logically) below the maximum
-	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
-	safe API to ensure interrupt entry is as fast and as simple as possible.
-	More information (albeit Cortex-M specific) is provided on the following
-	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+    /* RTOS ports that support interrupt nesting have the concept of a maximum
+     * system call (or maximum API call) interrupt priority.  Interrupts that are
+     * above the maximum system call priority are kept permanently enabled, even
+     * when the RTOS kernel is in a critical section, but cannot make any calls to
+     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+     * failure if a FreeRTOS API function is called from an interrupt that has been
+     * assigned a priority above the configured maximum system call priority.
+     * Only FreeRTOS functions that end in FromISR can be called from interrupts
+     * that have been assigned a priority at or (logically) below the maximum
+     * system call interrupt priority.  FreeRTOS maintains a separate interrupt
+     * safe API to ensure interrupt entry is as fast and as simple as possible.
+     * More information (albeit Cortex-M specific) is provided on the following
+     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-	/* Similar to xQueueGenericSend, except without blocking if there is no room
-	in the queue.  Also don't directly wake a task that was blocked on a queue
-	read, instead return a flag to say whether a context switch is required or
-	not (i.e. has a task with a higher priority than us been woken by this
-	post). */
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
-		{
-			const int8_t cTxLock = pxQueue->cTxLock;
-			const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+    /* Similar to xQueueGenericSend, except without blocking if there is no room
+     * in the queue.  Also don't directly wake a task that was blocked on a queue
+     * read, instead return a flag to say whether a context switch is required or
+     * not (i.e. has a task with a higher priority than us been woken by this
+     * post). */
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
+        {
+            const int8_t cTxLock = pxQueue->cTxLock;
+            const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-			traceQUEUE_SEND_FROM_ISR( pxQueue );
+            traceQUEUE_SEND_FROM_ISR( pxQueue );
 
-			/* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
-			semaphore or mutex.  That means prvCopyDataToQueue() cannot result
-			in a task disinheriting a priority and prvCopyDataToQueue() can be
-			called here even though the disinherit function does not check if
-			the scheduler is suspended before accessing the ready lists. */
-			( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
+            /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
+             *  semaphore or mutex.  That means prvCopyDataToQueue() cannot result
+             *  in a task disinheriting a priority and prvCopyDataToQueue() can be
+             *  called here even though the disinherit function does not check if
+             *  the scheduler is suspended before accessing the ready lists. */
+            ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-			/* The event list is not altered if the queue is locked.  This will
-			be done when the queue is unlocked later. */
-			if( cTxLock == queueUNLOCKED )
-			{
-				#if ( configUSE_QUEUE_SETS == 1 )
-				{
-					if( pxQueue->pxQueueSetContainer != NULL )
-					{
-						if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
-						{
-							/* Do not notify the queue set as an existing item
-							was overwritten in the queue so the number of items
-							in the queue has not changed. */
-							mtCOVERAGE_TEST_MARKER();
-						}
-						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
-						{
-							/* The queue is a member of a queue set, and posting
-							to the queue set caused a higher priority task to
-							unblock.  A context switch is required. */
-							if( pxHigherPriorityTaskWoken != NULL )
-							{
-								*pxHigherPriorityTaskWoken = pdTRUE;
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-						{
-							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-							{
-								/* The task waiting has a higher priority so
-								record that a context switch is required. */
-								if( pxHigherPriorityTaskWoken != NULL )
-								{
-									*pxHigherPriorityTaskWoken = pdTRUE;
-								}
-								else
-								{
-									mtCOVERAGE_TEST_MARKER();
-								}
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-				}
-				#else /* configUSE_QUEUE_SETS */
-				{
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-						{
-							/* The task waiting has a higher priority so record that a
-							context	switch is required. */
-							if( pxHigherPriorityTaskWoken != NULL )
-							{
-								*pxHigherPriorityTaskWoken = pdTRUE;
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-					
-					/* Not used in this path. */
-					( void ) uxPreviousMessagesWaiting;
-				}
-				#endif /* configUSE_QUEUE_SETS */
-			}
-			else
-			{
-				/* Increment the lock count so the task that unlocks the queue
-				knows that data was posted while it was locked. */
-				pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
-			}
+            /* The event list is not altered if the queue is locked.  This will
+             * be done when the queue is unlocked later. */
+            if( cTxLock == queueUNLOCKED )
+            {
+                #if ( configUSE_QUEUE_SETS == 1 )
+                {
+                    if( pxQueue->pxQueueSetContainer != NULL )
+                    {
+                        if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
+                        {
+                            /* Do not notify the queue set as an existing item
+                             * was overwritten in the queue so the number of items
+                             * in the queue has not changed. */
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                        else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
+                        {
+                            /* The queue is a member of a queue set, and posting
+                             * to the queue set caused a higher priority task to
+                             * unblock.  A context switch is required. */
+                            if( pxHigherPriorityTaskWoken != NULL )
+                            {
+                                *pxHigherPriorityTaskWoken = pdTRUE;
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                        {
+                            if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                            {
+                                /* The task waiting has a higher priority so
+                                 *  record that a context switch is required. */
+                                if( pxHigherPriorityTaskWoken != NULL )
+                                {
+                                    *pxHigherPriorityTaskWoken = pdTRUE;
+                                }
+                                else
+                                {
+                                    mtCOVERAGE_TEST_MARKER();
+                                }
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                }
+                #else /* configUSE_QUEUE_SETS */
+                {
+                    if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                    {
+                        if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                        {
+                            /* The task waiting has a higher priority so record that a
+                             * context switch is required. */
+                            if( pxHigherPriorityTaskWoken != NULL )
+                            {
+                                *pxHigherPriorityTaskWoken = pdTRUE;
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
-			xReturn = errQUEUE_FULL;
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+                    /* Not used in this path. */
+                    ( void ) uxPreviousMessagesWaiting;
+                }
+                #endif /* configUSE_QUEUE_SETS */
+            }
+            else
+            {
+                /* Increment the lock count so the task that unlocks the queue
+                 * knows that data was posted while it was locked. */
+                prvIncrementQueueTxLock( pxQueue, cTxLock );
+            }
 
-	return xReturn;
+            xReturn = pdPASS;
+        }
+        else
+        {
+            traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
+            xReturn = errQUEUE_FULL;
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
+BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
+                              BaseType_t * const pxHigherPriorityTaskWoken )
 {
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
+    Queue_t * const pxQueue = xQueue;
 
-	/* Similar to xQueueGenericSendFromISR() but used with semaphores where the
-	item size is 0.  Don't directly wake a task that was blocked on a queue
-	read, instead return a flag to say whether a context switch is required or
-	not (i.e. has a task with a higher priority than us been woken by this
-	post). */
+    /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
+     * item size is 0.  Don't directly wake a task that was blocked on a queue
+     * read, instead return a flag to say whether a context switch is required or
+     * not (i.e. has a task with a higher priority than us been woken by this
+     * post). */
 
-	configASSERT( pxQueue );
+    configASSERT( pxQueue );
 
-	/* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
-	if the item size is not 0. */
-	configASSERT( pxQueue->uxItemSize == 0 );
+    /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
+     * if the item size is not 0. */
+    configASSERT( pxQueue->uxItemSize == 0 );
 
-	/* Normally a mutex would not be given from an interrupt, especially if
-	there is a mutex holder, as priority inheritance makes no sense for an
-	interrupts, only tasks. */
-	configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
+    /* Normally a mutex would not be given from an interrupt, especially if
+     * there is a mutex holder, as priority inheritance makes no sense for an
+     * interrupts, only tasks. */
+    configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
 
-	/* RTOS ports that support interrupt nesting have the concept of a maximum
-	system call (or maximum API call) interrupt priority.  Interrupts that are
-	above the maximum system call priority are kept permanently enabled, even
-	when the RTOS kernel is in a critical section, but cannot make any calls to
-	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
-	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-	failure if a FreeRTOS API function is called from an interrupt that has been
-	assigned a priority above the configured maximum system call priority.
-	Only FreeRTOS functions that end in FromISR can be called from interrupts
-	that have been assigned a priority at or (logically) below the maximum
-	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
-	safe API to ensure interrupt entry is as fast and as simple as possible.
-	More information (albeit Cortex-M specific) is provided on the following
-	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+    /* RTOS ports that support interrupt nesting have the concept of a maximum
+     * system call (or maximum API call) interrupt priority.  Interrupts that are
+     * above the maximum system call priority are kept permanently enabled, even
+     * when the RTOS kernel is in a critical section, but cannot make any calls to
+     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+     * failure if a FreeRTOS API function is called from an interrupt that has been
+     * assigned a priority above the configured maximum system call priority.
+     * Only FreeRTOS functions that end in FromISR can be called from interrupts
+     * that have been assigned a priority at or (logically) below the maximum
+     * system call interrupt priority.  FreeRTOS maintains a separate interrupt
+     * safe API to ensure interrupt entry is as fast and as simple as possible.
+     * More information (albeit Cortex-M specific) is provided on the following
+     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-		/* When the queue is used to implement a semaphore no data is ever
-		moved through the queue but it is still valid to see if the queue 'has
-		space'. */
-		if( uxMessagesWaiting < pxQueue->uxLength )
-		{
-			const int8_t cTxLock = pxQueue->cTxLock;
+        /* When the queue is used to implement a semaphore no data is ever
+         * moved through the queue but it is still valid to see if the queue 'has
+         * space'. */
+        if( uxMessagesWaiting < pxQueue->uxLength )
+        {
+            const int8_t cTxLock = pxQueue->cTxLock;
 
-			traceQUEUE_SEND_FROM_ISR( pxQueue );
+            traceQUEUE_SEND_FROM_ISR( pxQueue );
 
-			/* A task can only have an inherited priority if it is a mutex
-			holder - and if there is a mutex holder then the mutex cannot be
-			given from an ISR.  As this is the ISR version of the function it
-			can be assumed there is no mutex holder and no need to determine if
-			priority disinheritance is needed.  Simply increase the count of
-			messages (semaphores) available. */
-			pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
+            /* A task can only have an inherited priority if it is a mutex
+             * holder - and if there is a mutex holder then the mutex cannot be
+             * given from an ISR.  As this is the ISR version of the function it
+             * can be assumed there is no mutex holder and no need to determine if
+             * priority disinheritance is needed.  Simply increase the count of
+             * messages (semaphores) available. */
+            pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
 
-			/* The event list is not altered if the queue is locked.  This will
-			be done when the queue is unlocked later. */
-			if( cTxLock == queueUNLOCKED )
-			{
-				#if ( configUSE_QUEUE_SETS == 1 )
-				{
-					if( pxQueue->pxQueueSetContainer != NULL )
-					{
-						if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
-						{
-							/* The semaphore is a member of a queue set, and
-							posting	to the queue set caused a higher priority
-							task to	unblock.  A context switch is required. */
-							if( pxHigherPriorityTaskWoken != NULL )
-							{
-								*pxHigherPriorityTaskWoken = pdTRUE;
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-						{
-							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-							{
-								/* The task waiting has a higher priority so
-								record that a context switch is required. */
-								if( pxHigherPriorityTaskWoken != NULL )
-								{
-									*pxHigherPriorityTaskWoken = pdTRUE;
-								}
-								else
-								{
-									mtCOVERAGE_TEST_MARKER();
-								}
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-				}
-				#else /* configUSE_QUEUE_SETS */
-				{
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-						{
-							/* The task waiting has a higher priority so record that a
-							context	switch is required. */
-							if( pxHigherPriorityTaskWoken != NULL )
-							{
-								*pxHigherPriorityTaskWoken = pdTRUE;
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				#endif /* configUSE_QUEUE_SETS */
-			}
-			else
-			{
-				/* Increment the lock count so the task that unlocks the queue
-				knows that data was posted while it was locked. */
-				pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
-			}
+            /* The event list is not altered if the queue is locked.  This will
+             * be done when the queue is unlocked later. */
+            if( cTxLock == queueUNLOCKED )
+            {
+                #if ( configUSE_QUEUE_SETS == 1 )
+                {
+                    if( pxQueue->pxQueueSetContainer != NULL )
+                    {
+                        if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
+                        {
+                            /* The semaphore is a member of a queue set, and
+                             * posting to the queue set caused a higher priority
+                             * task to unblock.  A context switch is required. */
+                            if( pxHigherPriorityTaskWoken != NULL )
+                            {
+                                *pxHigherPriorityTaskWoken = pdTRUE;
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                        {
+                            if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                            {
+                                /* The task waiting has a higher priority so
+                                 *  record that a context switch is required. */
+                                if( pxHigherPriorityTaskWoken != NULL )
+                                {
+                                    *pxHigherPriorityTaskWoken = pdTRUE;
+                                }
+                                else
+                                {
+                                    mtCOVERAGE_TEST_MARKER();
+                                }
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                }
+                #else /* configUSE_QUEUE_SETS */
+                {
+                    if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                    {
+                        if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                        {
+                            /* The task waiting has a higher priority so record that a
+                             * context switch is required. */
+                            if( pxHigherPriorityTaskWoken != NULL )
+                            {
+                                *pxHigherPriorityTaskWoken = pdTRUE;
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* configUSE_QUEUE_SETS */
+            }
+            else
+            {
+                /* Increment the lock count so the task that unlocks the queue
+                 * knows that data was posted while it was locked. */
+                prvIncrementQueueTxLock( pxQueue, cTxLock );
+            }
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
-			xReturn = errQUEUE_FULL;
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+            xReturn = pdPASS;
+        }
+        else
+        {
+            traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
+            xReturn = errQUEUE_FULL;
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
+BaseType_t xQueueReceive( QueueHandle_t xQueue,
+                          void * const pvBuffer,
+                          TickType_t xTicksToWait )
 {
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xEntryTimeSet = pdFALSE;
+    TimeOut_t xTimeOut;
+    Queue_t * const pxQueue = xQueue;
 
-	/* Check the pointer is not NULL. */
-	configASSERT( ( pxQueue ) );
+    /* Check the pointer is not NULL. */
+    configASSERT( ( pxQueue ) );
 
-	/* The buffer into which data is received can only be NULL if the data size
-	is zero (so no data is copied into the buffer. */
-	configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    /* The buffer into which data is received can only be NULL if the data size
+     * is zero (so no data is copied into the buffer). */
+    configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
 
-	/* Cannot block if the scheduler is suspended. */
-	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-	{
-		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-	}
-	#endif
+    /* Cannot block if the scheduler is suspended. */
+    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+    {
+        configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+    }
+    #endif
 
+    /*lint -save -e904  This function relaxes the coding standard somewhat to
+     * allow return statements within the function itself.  This is done in the
+     * interest of execution time efficiency. */
+    for( ; ; )
+    {
+        taskENTER_CRITICAL();
+        {
+            const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-	/*lint -save -e904  This function relaxes the coding standard somewhat to
-	allow return statements within the function itself.  This is done in the
-	interest of execution time efficiency. */
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
+            /* Is there data in the queue now?  To be running the calling task
+             * must be the highest priority task wanting to access the queue. */
+            if( uxMessagesWaiting > ( UBaseType_t ) 0 )
+            {
+                /* Data available, remove one item. */
+                prvCopyDataFromQueue( pxQueue, pvBuffer );
+                traceQUEUE_RECEIVE( pxQueue );
+                pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
 
-			/* Is there data in the queue now?  To be running the calling task
-			must be the highest priority task wanting to access the queue. */
-			if( uxMessagesWaiting > ( UBaseType_t ) 0 )
-			{
-				/* Data available, remove one item. */
-				prvCopyDataFromQueue( pxQueue, pvBuffer );
-				traceQUEUE_RECEIVE( pxQueue );
-				pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
+                /* There is now space in the queue, were any tasks waiting to
+                 * post to the queue?  If so, unblock the highest priority waiting
+                 * task. */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        queueYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* There is now space in the queue, were any tasks waiting to
-				post to the queue?  If so, unblock the highest priority waiting
-				task. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						queueYIELD_IF_USING_PREEMPTION();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                taskEXIT_CRITICAL();
+                return pdPASS;
+            }
+            else
+            {
+                if( xTicksToWait == ( TickType_t ) 0 )
+                {
+                    /* The queue was empty and no block time is specified (or
+                     * the block time has expired) so leave now. */
+                    taskEXIT_CRITICAL();
+                    traceQUEUE_RECEIVE_FAILED( pxQueue );
+                    return errQUEUE_EMPTY;
+                }
+                else if( xEntryTimeSet == pdFALSE )
+                {
+                    /* The queue was empty and a block time was specified so
+                     * configure the timeout structure. */
+                    vTaskInternalSetTimeOutState( &xTimeOut );
+                    xEntryTimeSet = pdTRUE;
+                }
+                else
+                {
+                    /* Entry time was already set. */
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        taskEXIT_CRITICAL();
 
-				taskEXIT_CRITICAL();
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( TickType_t ) 0 )
-				{
-					/* The queue was empty and no block time is specified (or
-					the block time has expired) so leave now. */
-					taskEXIT_CRITICAL();
-					traceQUEUE_RECEIVE_FAILED( pxQueue );
-					return errQUEUE_EMPTY;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The queue was empty and a block time was specified so
-					configure the timeout structure. */
-					vTaskInternalSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-				else
-				{
-					/* Entry time was already set. */
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
+        /* Interrupts and other tasks can send to and receive from the queue
+         * now the critical section has been exited. */
 
-		/* Interrupts and other tasks can send to and receive from the queue
-		now the critical section has been exited. */
+        vTaskSuspendAll();
+        prvLockQueue( pxQueue );
 
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
+        /* Update the timeout state to see if it has expired yet. */
+        if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
+        {
+            /* The timeout has not expired.  If the queue is still empty place
+             * the task on the list of tasks waiting to receive from the queue. */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
+                vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
+                prvUnlockQueue( pxQueue );
 
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			/* The timeout has not expired.  If the queue is still empty place
-			the task on the list of tasks waiting to receive from the queue. */
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
-				prvUnlockQueue( pxQueue );
-				if( xTaskResumeAll() == pdFALSE )
-				{
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				/* The queue contains data again.  Loop back to try and read the
-				data. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			/* Timed out.  If there is no data in the queue exit, otherwise loop
-			back and attempt to read the data. */
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
+                if( xTaskResumeAll() == pdFALSE )
+                {
+                    portYIELD_WITHIN_API();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* The queue contains data again.  Loop back to try and read the
+                 * data. */
+                prvUnlockQueue( pxQueue );
+                ( void ) xTaskResumeAll();
+            }
+        }
+        else
+        {
+            /* Timed out.  If there is no data in the queue exit, otherwise loop
+             * back and attempt to read the data. */
+            prvUnlockQueue( pxQueue );
+            ( void ) xTaskResumeAll();
 
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				traceQUEUE_RECEIVE_FAILED( pxQueue );
-				return errQUEUE_EMPTY;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-	} /*lint -restore */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                traceQUEUE_RECEIVE_FAILED( pxQueue );
+                return errQUEUE_EMPTY;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+    } /*lint -restore */
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
+BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
+                                TickType_t xTicksToWait )
 {
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xEntryTimeSet = pdFALSE;
+    TimeOut_t xTimeOut;
+    Queue_t * const pxQueue = xQueue;
 
-#if( configUSE_MUTEXES == 1 )
-	BaseType_t xInheritanceOccurred = pdFALSE;
-#endif
+    #if ( configUSE_MUTEXES == 1 )
+        BaseType_t xInheritanceOccurred = pdFALSE;
+    #endif
 
-	/* Check the queue pointer is not NULL. */
-	configASSERT( ( pxQueue ) );
+    /* Check the queue pointer is not NULL. */
+    configASSERT( ( pxQueue ) );
 
-	/* Check this really is a semaphore, in which case the item size will be
-	0. */
-	configASSERT( pxQueue->uxItemSize == 0 );
+    /* Check this really is a semaphore, in which case the item size will be
+     * 0. */
+    configASSERT( pxQueue->uxItemSize == 0 );
 
-	/* Cannot block if the scheduler is suspended. */
-	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-	{
-		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-	}
-	#endif
+    /* Cannot block if the scheduler is suspended. */
+    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+    {
+        configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+    }
+    #endif
 
+    /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
+     * statements within the function itself.  This is done in the interest
+     * of execution time efficiency. */
+    for( ; ; )
+    {
+        taskENTER_CRITICAL();
+        {
+            /* Semaphores are queues with an item size of 0, and where the
+             * number of messages in the queue is the semaphore's count value. */
+            const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
 
-	/*lint -save -e904 This function relaxes the coding standard somewhat to allow return
-	statements within the function itself.  This is done in the interest
-	of execution time efficiency. */
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			/* Semaphores are queues with an item size of 0, and where the
-			number of messages in the queue is the semaphore's count value. */
-			const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
+            /* Is there data in the queue now?  To be running the calling task
+             * must be the highest priority task wanting to access the queue. */
+            if( uxSemaphoreCount > ( UBaseType_t ) 0 )
+            {
+                traceQUEUE_RECEIVE( pxQueue );
 
-			/* Is there data in the queue now?  To be running the calling task
-			must be the highest priority task wanting to access the queue. */
-			if( uxSemaphoreCount > ( UBaseType_t ) 0 )
-			{
-				traceQUEUE_RECEIVE( pxQueue );
+                /* Semaphores are queues with a data size of zero and where the
+                 * messages waiting is the semaphore's count.  Reduce the count. */
+                pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
 
-				/* Semaphores are queues with a data size of zero and where the
-				messages waiting is the semaphore's count.  Reduce the count. */
-				pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
+                #if ( configUSE_MUTEXES == 1 )
+                {
+                    if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
+                    {
+                        /* Record the information required to implement
+                         * priority inheritance should it become necessary. */
+                        pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* configUSE_MUTEXES */
 
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-					{
-						/* Record the information required to implement
-						priority inheritance should it become necessary. */
-						pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				#endif /* configUSE_MUTEXES */
+                /* Check to see if other tasks are blocked waiting to give the
+                 * semaphore, and if so, unblock the highest priority such task. */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        queueYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* Check to see if other tasks are blocked waiting to give the
-				semaphore, and if so, unblock the highest priority such task. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						queueYIELD_IF_USING_PREEMPTION();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                taskEXIT_CRITICAL();
+                return pdPASS;
+            }
+            else
+            {
+                if( xTicksToWait == ( TickType_t ) 0 )
+                {
+                    /* The semaphore count was 0 and no block time is specified
+                     * (or the block time has expired) so exit now. */
+                    taskEXIT_CRITICAL();
+                    traceQUEUE_RECEIVE_FAILED( pxQueue );
+                    return errQUEUE_EMPTY;
+                }
+                else if( xEntryTimeSet == pdFALSE )
+                {
+                    /* The semaphore count was 0 and a block time was specified
+                     * so configure the timeout structure ready to block. */
+                    vTaskInternalSetTimeOutState( &xTimeOut );
+                    xEntryTimeSet = pdTRUE;
+                }
+                else
+                {
+                    /* Entry time was already set. */
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        taskEXIT_CRITICAL();
 
-				taskEXIT_CRITICAL();
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( TickType_t ) 0 )
-				{
-					/* For inheritance to have occurred there must have been an
-					initial timeout, and an adjusted timeout cannot become 0, as
-					if it were 0 the function would have exited. */
-					#if( configUSE_MUTEXES == 1 )
-					{
-						configASSERT( xInheritanceOccurred == pdFALSE );
-					}
-					#endif /* configUSE_MUTEXES */
+        /* Interrupts and other tasks can give to and take from the semaphore
+         * now the critical section has been exited. */
 
-					/* The semaphore count was 0 and no block time is specified
-					(or the block time has expired) so exit now. */
-					taskEXIT_CRITICAL();
-					traceQUEUE_RECEIVE_FAILED( pxQueue );
-					return errQUEUE_EMPTY;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The semaphore count was 0 and a block time was specified
-					so configure the timeout structure ready to block. */
-					vTaskInternalSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-				else
-				{
-					/* Entry time was already set. */
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
+        vTaskSuspendAll();
+        prvLockQueue( pxQueue );
 
-		/* Interrupts and other tasks can give to and take from the semaphore
-		now the critical section has been exited. */
+        /* Update the timeout state to see if it has expired yet. */
+        if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
+        {
+            /* A block time is specified and not expired.  If the semaphore
+             * count is 0 then enter the Blocked state to wait for a semaphore to
+             * become available.  As semaphores are implemented with queues the
+             * queue being empty is equivalent to the semaphore count being 0. */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
 
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
+                #if ( configUSE_MUTEXES == 1 )
+                {
+                    if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
+                    {
+                        taskENTER_CRITICAL();
+                        {
+                            xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
+                        }
+                        taskEXIT_CRITICAL();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* if ( configUSE_MUTEXES == 1 ) */
 
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			/* A block time is specified and not expired.  If the semaphore
-			count is 0 then enter the Blocked state to wait for a semaphore to
-			become available.  As semaphores are implemented with queues the
-			queue being empty is equivalent to the semaphore count being 0. */
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
+                vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
+                prvUnlockQueue( pxQueue );
 
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-					{
-						taskENTER_CRITICAL();
-						{
-							xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
-						}
-						taskEXIT_CRITICAL();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				#endif
+                if( xTaskResumeAll() == pdFALSE )
+                {
+                    portYIELD_WITHIN_API();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* There was no timeout and the semaphore count was not 0, so
+                 * attempt to take the semaphore again. */
+                prvUnlockQueue( pxQueue );
+                ( void ) xTaskResumeAll();
+            }
+        }
+        else
+        {
+            /* Timed out. */
+            prvUnlockQueue( pxQueue );
+            ( void ) xTaskResumeAll();
 
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
-				prvUnlockQueue( pxQueue );
-				if( xTaskResumeAll() == pdFALSE )
-				{
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				/* There was no timeout and the semaphore count was not 0, so
-				attempt to take the semaphore again. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			/* Timed out. */
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
+            /* If the semaphore count is 0 exit now as the timeout has
+             * expired.  Otherwise return to attempt to take the semaphore that is
+             * known to be available.  As semaphores are implemented by queues the
+             * queue being empty is equivalent to the semaphore count being 0. */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                #if ( configUSE_MUTEXES == 1 )
+                {
+                    /* xInheritanceOccurred could only have be set if
+                     * pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
+                     * test the mutex type again to check it is actually a mutex. */
+                    if( xInheritanceOccurred != pdFALSE )
+                    {
+                        taskENTER_CRITICAL();
+                        {
+                            UBaseType_t uxHighestWaitingPriority;
 
-			/* If the semaphore count is 0 exit now as the timeout has
-			expired.  Otherwise return to attempt to take the semaphore that is
-			known to be available.  As semaphores are implemented by queues the
-			queue being empty is equivalent to the semaphore count being 0. */
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					/* xInheritanceOccurred could only have be set if
-					pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
-					test the mutex type again to check it is actually a mutex. */
-					if( xInheritanceOccurred != pdFALSE )
-					{
-						taskENTER_CRITICAL();
-						{
-							UBaseType_t uxHighestWaitingPriority;
+                            /* This task blocking on the mutex caused another
+                             * task to inherit this task's priority.  Now this task
+                             * has timed out the priority should be disinherited
+                             * again, but only as low as the next highest priority
+                             * task that is waiting for the same mutex. */
+                            uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
+                            vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
+                        }
+                        taskEXIT_CRITICAL();
+                    }
+                }
+                #endif /* configUSE_MUTEXES */
 
-							/* This task blocking on the mutex caused another
-							task to inherit this task's priority.  Now this task
-							has timed out the priority should be disinherited
-							again, but only as low as the next highest priority
-							task that is waiting for the same mutex. */
-							uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
-							vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
-						}
-						taskEXIT_CRITICAL();
-					}
-				}
-				#endif /* configUSE_MUTEXES */
-
-				traceQUEUE_RECEIVE_FAILED( pxQueue );
-				return errQUEUE_EMPTY;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-	} /*lint -restore */
+                traceQUEUE_RECEIVE_FAILED( pxQueue );
+                return errQUEUE_EMPTY;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+    } /*lint -restore */
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
+BaseType_t xQueuePeek( QueueHandle_t xQueue,
+                       void * const pvBuffer,
+                       TickType_t xTicksToWait )
 {
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-int8_t *pcOriginalReadPosition;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xEntryTimeSet = pdFALSE;
+    TimeOut_t xTimeOut;
+    int8_t * pcOriginalReadPosition;
+    Queue_t * const pxQueue = xQueue;
 
-	/* Check the pointer is not NULL. */
-	configASSERT( ( pxQueue ) );
+    /* Check the pointer is not NULL. */
+    configASSERT( ( pxQueue ) );
 
-	/* The buffer into which data is received can only be NULL if the data size
-	is zero (so no data is copied into the buffer. */
-	configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    /* The buffer into which data is received can only be NULL if the data size
+     * is zero (so no data is copied into the buffer. */
+    configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
 
-	/* Cannot block if the scheduler is suspended. */
-	#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-	{
-		configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
-	}
-	#endif
+    /* Cannot block if the scheduler is suspended. */
+    #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+    {
+        configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
+    }
+    #endif
 
+    /*lint -save -e904  This function relaxes the coding standard somewhat to
+     * allow return statements within the function itself.  This is done in the
+     * interest of execution time efficiency. */
+    for( ; ; )
+    {
+        taskENTER_CRITICAL();
+        {
+            const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-	/*lint -save -e904  This function relaxes the coding standard somewhat to
-	allow return statements within the function itself.  This is done in the
-	interest of execution time efficiency. */
-	for( ;; )
-	{
-		taskENTER_CRITICAL();
-		{
-			const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
+            /* Is there data in the queue now?  To be running the calling task
+             * must be the highest priority task wanting to access the queue. */
+            if( uxMessagesWaiting > ( UBaseType_t ) 0 )
+            {
+                /* Remember the read position so it can be reset after the data
+                 * is read from the queue as this function is only peeking the
+                 * data, not removing it. */
+                pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
 
-			/* Is there data in the queue now?  To be running the calling task
-			must be the highest priority task wanting to access the queue. */
-			if( uxMessagesWaiting > ( UBaseType_t ) 0 )
-			{
-				/* Remember the read position so it can be reset after the data
-				is read from the queue as this function is only peeking the
-				data, not removing it. */
-				pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
+                prvCopyDataFromQueue( pxQueue, pvBuffer );
+                traceQUEUE_PEEK( pxQueue );
 
-				prvCopyDataFromQueue( pxQueue, pvBuffer );
-				traceQUEUE_PEEK( pxQueue );
+                /* The data is not being removed, so reset the read pointer. */
+                pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
 
-				/* The data is not being removed, so reset the read pointer. */
-				pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
+                /* The data is being left in the queue, so see if there are
+                 * any other tasks waiting for the data. */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                    {
+                        /* The task waiting has a higher priority than this task. */
+                        queueYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* The data is being left in the queue, so see if there are
-				any other tasks waiting for the data. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority than this task. */
-						queueYIELD_IF_USING_PREEMPTION();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                taskEXIT_CRITICAL();
+                return pdPASS;
+            }
+            else
+            {
+                if( xTicksToWait == ( TickType_t ) 0 )
+                {
+                    /* The queue was empty and no block time is specified (or
+                     * the block time has expired) so leave now. */
+                    taskEXIT_CRITICAL();
+                    traceQUEUE_PEEK_FAILED( pxQueue );
+                    return errQUEUE_EMPTY;
+                }
+                else if( xEntryTimeSet == pdFALSE )
+                {
+                    /* The queue was empty and a block time was specified so
+                     * configure the timeout structure ready to enter the blocked
+                     * state. */
+                    vTaskInternalSetTimeOutState( &xTimeOut );
+                    xEntryTimeSet = pdTRUE;
+                }
+                else
+                {
+                    /* Entry time was already set. */
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        taskEXIT_CRITICAL();
 
-				taskEXIT_CRITICAL();
-				return pdPASS;
-			}
-			else
-			{
-				if( xTicksToWait == ( TickType_t ) 0 )
-				{
-					/* The queue was empty and no block time is specified (or
-					the block time has expired) so leave now. */
-					taskEXIT_CRITICAL();
-					traceQUEUE_PEEK_FAILED( pxQueue );
-					return errQUEUE_EMPTY;
-				}
-				else if( xEntryTimeSet == pdFALSE )
-				{
-					/* The queue was empty and a block time was specified so
-					configure the timeout structure ready to enter the blocked
-					state. */
-					vTaskInternalSetTimeOutState( &xTimeOut );
-					xEntryTimeSet = pdTRUE;
-				}
-				else
-				{
-					/* Entry time was already set. */
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		taskEXIT_CRITICAL();
+        /* Interrupts and other tasks can send to and receive from the queue
+         * now that the critical section has been exited. */
 
-		/* Interrupts and other tasks can send to and receive from the queue
-		now the critical section has been exited. */
+        vTaskSuspendAll();
+        prvLockQueue( pxQueue );
 
-		vTaskSuspendAll();
-		prvLockQueue( pxQueue );
+        /* Update the timeout state to see if it has expired yet. */
+        if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
+        {
+            /* Timeout has not expired yet, check to see if there is data in the
+            * queue now, and if not enter the Blocked state to wait for data. */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
+                vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
+                prvUnlockQueue( pxQueue );
 
-		/* Update the timeout state to see if it has expired yet. */
-		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
-		{
-			/* Timeout has not expired yet, check to see if there is data in the
-			queue now, and if not enter the Blocked state to wait for data. */
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
-				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
-				prvUnlockQueue( pxQueue );
-				if( xTaskResumeAll() == pdFALSE )
-				{
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				/* There is data in the queue now, so don't enter the blocked
-				state, instead return to try and obtain the data. */
-				prvUnlockQueue( pxQueue );
-				( void ) xTaskResumeAll();
-			}
-		}
-		else
-		{
-			/* The timeout has expired.  If there is still no data in the queue
-			exit, otherwise go back and try to read the data again. */
-			prvUnlockQueue( pxQueue );
-			( void ) xTaskResumeAll();
+                if( xTaskResumeAll() == pdFALSE )
+                {
+                    portYIELD_WITHIN_API();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* There is data in the queue now, so don't enter the blocked
+                 * state, instead return to try and obtain the data. */
+                prvUnlockQueue( pxQueue );
+                ( void ) xTaskResumeAll();
+            }
+        }
+        else
+        {
+            /* The timeout has expired.  If there is still no data in the queue
+             * exit, otherwise go back and try to read the data again. */
+            prvUnlockQueue( pxQueue );
+            ( void ) xTaskResumeAll();
 
-			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
-			{
-				traceQUEUE_PEEK_FAILED( pxQueue );
-				return errQUEUE_EMPTY;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-	} /*lint -restore */
+            if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
+            {
+                traceQUEUE_PEEK_FAILED( pxQueue );
+                return errQUEUE_EMPTY;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+    } /*lint -restore */
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
+BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                 void * const pvBuffer,
+                                 BaseType_t * const pxHigherPriorityTaskWoken )
 {
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    configASSERT( pxQueue );
+    configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
 
-	/* RTOS ports that support interrupt nesting have the concept of a maximum
-	system call (or maximum API call) interrupt priority.  Interrupts that are
-	above the maximum system call priority are kept permanently enabled, even
-	when the RTOS kernel is in a critical section, but cannot make any calls to
-	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
-	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-	failure if a FreeRTOS API function is called from an interrupt that has been
-	assigned a priority above the configured maximum system call priority.
-	Only FreeRTOS functions that end in FromISR can be called from interrupts
-	that have been assigned a priority at or (logically) below the maximum
-	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
-	safe API to ensure interrupt entry is as fast and as simple as possible.
-	More information (albeit Cortex-M specific) is provided on the following
-	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+    /* RTOS ports that support interrupt nesting have the concept of a maximum
+     * system call (or maximum API call) interrupt priority.  Interrupts that are
+     * above the maximum system call priority are kept permanently enabled, even
+     * when the RTOS kernel is in a critical section, but cannot make any calls to
+     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+     * failure if a FreeRTOS API function is called from an interrupt that has been
+     * assigned a priority above the configured maximum system call priority.
+     * Only FreeRTOS functions that end in FromISR can be called from interrupts
+     * that have been assigned a priority at or (logically) below the maximum
+     * system call interrupt priority.  FreeRTOS maintains a separate interrupt
+     * safe API to ensure interrupt entry is as fast and as simple as possible.
+     * More information (albeit Cortex-M specific) is provided on the following
+     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-		/* Cannot block in an ISR, so check there is data available. */
-		if( uxMessagesWaiting > ( UBaseType_t ) 0 )
-		{
-			const int8_t cRxLock = pxQueue->cRxLock;
+        /* Cannot block in an ISR, so check there is data available. */
+        if( uxMessagesWaiting > ( UBaseType_t ) 0 )
+        {
+            const int8_t cRxLock = pxQueue->cRxLock;
 
-			traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
+            traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
 
-			prvCopyDataFromQueue( pxQueue, pvBuffer );
-			pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
+            prvCopyDataFromQueue( pxQueue, pvBuffer );
+            pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
 
-			/* If the queue is locked the event list will not be modified.
-			Instead update the lock count so the task that unlocks the queue
-			will know that an ISR has removed data while the queue was
-			locked. */
-			if( cRxLock == queueUNLOCKED )
-			{
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority than us so
-						force a context switch. */
-						if( pxHigherPriorityTaskWoken != NULL )
-						{
-							*pxHigherPriorityTaskWoken = pdTRUE;
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				/* Increment the lock count so the task that unlocks the queue
-				knows that data was removed while it was locked. */
-				pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
-			}
+            /* If the queue is locked the event list will not be modified.
+             * Instead update the lock count so the task that unlocks the queue
+             * will know that an ISR has removed data while the queue was
+             * locked. */
+            if( cRxLock == queueUNLOCKED )
+            {
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        /* The task waiting has a higher priority than us so
+                         * force a context switch. */
+                        if( pxHigherPriorityTaskWoken != NULL )
+                        {
+                            *pxHigherPriorityTaskWoken = pdTRUE;
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* Increment the lock count so the task that unlocks the queue
+                 * knows that data was removed while it was locked. */
+                prvIncrementQueueRxLock( pxQueue, cRxLock );
+            }
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = pdFAIL;
-			traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = pdFAIL;
+            traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,  void * const pvBuffer )
+BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
+                              void * const pvBuffer )
 {
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-int8_t *pcOriginalReadPosition;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
+    int8_t * pcOriginalReadPosition;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
-	configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
+    configASSERT( pxQueue );
+    configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
+    configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
 
-	/* RTOS ports that support interrupt nesting have the concept of a maximum
-	system call (or maximum API call) interrupt priority.  Interrupts that are
-	above the maximum system call priority are kept permanently enabled, even
-	when the RTOS kernel is in a critical section, but cannot make any calls to
-	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
-	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-	failure if a FreeRTOS API function is called from an interrupt that has been
-	assigned a priority above the configured maximum system call priority.
-	Only FreeRTOS functions that end in FromISR can be called from interrupts
-	that have been assigned a priority at or (logically) below the maximum
-	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
-	safe API to ensure interrupt entry is as fast and as simple as possible.
-	More information (albeit Cortex-M specific) is provided on the following
-	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+    /* RTOS ports that support interrupt nesting have the concept of a maximum
+     * system call (or maximum API call) interrupt priority.  Interrupts that are
+     * above the maximum system call priority are kept permanently enabled, even
+     * when the RTOS kernel is in a critical section, but cannot make any calls to
+     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+     * failure if a FreeRTOS API function is called from an interrupt that has been
+     * assigned a priority above the configured maximum system call priority.
+     * Only FreeRTOS functions that end in FromISR can be called from interrupts
+     * that have been assigned a priority at or (logically) below the maximum
+     * system call interrupt priority.  FreeRTOS maintains a separate interrupt
+     * safe API to ensure interrupt entry is as fast and as simple as possible.
+     * More information (albeit Cortex-M specific) is provided on the following
+     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		/* Cannot block in an ISR, so check there is data available. */
-		if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
-		{
-			traceQUEUE_PEEK_FROM_ISR( pxQueue );
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        /* Cannot block in an ISR, so check there is data available. */
+        if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
+        {
+            traceQUEUE_PEEK_FROM_ISR( pxQueue );
 
-			/* Remember the read position so it can be reset as nothing is
-			actually being removed from the queue. */
-			pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
-			prvCopyDataFromQueue( pxQueue, pvBuffer );
-			pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
+            /* Remember the read position so it can be reset as nothing is
+             * actually being removed from the queue. */
+            pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
+            prvCopyDataFromQueue( pxQueue, pvBuffer );
+            pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = pdFAIL;
-			traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = pdFAIL;
+            traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
 {
-UBaseType_t uxReturn;
+    UBaseType_t uxReturn;
 
-	configASSERT( xQueue );
+    configASSERT( xQueue );
 
-	taskENTER_CRITICAL();
-	{
-		uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
-	}
-	taskEXIT_CRITICAL();
+    taskENTER_CRITICAL();
+    {
+        uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
+    }
+    taskEXIT_CRITICAL();
 
-	return uxReturn;
+    return uxReturn;
 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
 {
-UBaseType_t uxReturn;
-Queue_t * const pxQueue = xQueue;
+    UBaseType_t uxReturn;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
+    configASSERT( pxQueue );
 
-	taskENTER_CRITICAL();
-	{
-		uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
-	}
-	taskEXIT_CRITICAL();
+    taskENTER_CRITICAL();
+    {
+        uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
+    }
+    taskEXIT_CRITICAL();
 
-	return uxReturn;
+    return uxReturn;
 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
 {
-UBaseType_t uxReturn;
-Queue_t * const pxQueue = xQueue;
+    UBaseType_t uxReturn;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	uxReturn = pxQueue->uxMessagesWaiting;
+    configASSERT( pxQueue );
+    uxReturn = pxQueue->uxMessagesWaiting;
 
-	return uxReturn;
+    return uxReturn;
 } /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
 void vQueueDelete( QueueHandle_t xQueue )
 {
-Queue_t * const pxQueue = xQueue;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	traceQUEUE_DELETE( pxQueue );
+    configASSERT( pxQueue );
+    traceQUEUE_DELETE( pxQueue );
 
-	#if ( configQUEUE_REGISTRY_SIZE > 0 )
-	{
-		vQueueUnregisterQueue( pxQueue );
-	}
-	#endif
+    #if ( configQUEUE_REGISTRY_SIZE > 0 )
+    {
+        vQueueUnregisterQueue( pxQueue );
+    }
+    #endif
 
-	#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
-	{
-		/* The queue can only have been allocated dynamically - free it
-		again. */
-		vPortFree( pxQueue );
-	}
-	#elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-	{
-		/* The queue could have been allocated statically or dynamically, so
-		check before attempting to free the memory. */
-		if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
-		{
-			vPortFree( pxQueue );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	#else
-	{
-		/* The queue must have been statically allocated, so is not going to be
-		deleted.  Avoid compiler warnings about the unused parameter. */
-		( void ) pxQueue;
-	}
-	#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+    #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
+    {
+        /* The queue can only have been allocated dynamically - free it
+         * again. */
+        vPortFree( pxQueue );
+    }
+    #elif ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+    {
+        /* The queue could have been allocated statically or dynamically, so
+         * check before attempting to free the memory. */
+        if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
+        {
+            vPortFree( pxQueue );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    #else /* if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) ) */
+    {
+        /* The queue must have been statically allocated, so is not going to be
+         * deleted.  Avoid compiler warnings about the unused parameter. */
+        ( void ) pxQueue;
+    }
+    #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
-	{
-		return ( ( Queue_t * ) xQueue )->uxQueueNumber;
-	}
+    UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
+    {
+        return ( ( Queue_t * ) xQueue )->uxQueueNumber;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
-	{
-		( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
-	}
+    void vQueueSetQueueNumber( QueueHandle_t xQueue,
+                               UBaseType_t uxQueueNumber )
+    {
+        ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
-	{
-		return ( ( Queue_t * ) xQueue )->ucQueueType;
-	}
+    uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
+    {
+        return ( ( Queue_t * ) xQueue )->ucQueueType;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_MUTEXES == 1 )
+UBaseType_t uxQueueGetQueueItemSize( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+{
+    return ( ( Queue_t * ) xQueue )->uxItemSize;
+}
+/*-----------------------------------------------------------*/
 
-	static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
-	{
-	UBaseType_t uxHighestPriorityOfWaitingTasks;
+UBaseType_t uxQueueGetQueueLength( QueueHandle_t xQueue ) /* PRIVILEGED_FUNCTION */
+{
+    return ( ( Queue_t * ) xQueue )->uxLength;
+}
+/*-----------------------------------------------------------*/
 
-		/* If a task waiting for a mutex causes the mutex holder to inherit a
-		priority, but the waiting task times out, then the holder should
-		disinherit the priority - but only down to the highest priority of any
-		other tasks that are waiting for the same mutex.  For this purpose,
-		return the priority of the highest priority task that is waiting for the
-		mutex. */
-		if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
-		{
-			uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
-		}
-		else
-		{
-			uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
-		}
+#if ( configUSE_MUTEXES == 1 )
 
-		return uxHighestPriorityOfWaitingTasks;
-	}
+    static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
+    {
+        UBaseType_t uxHighestPriorityOfWaitingTasks;
+
+        /* If a task waiting for a mutex causes the mutex holder to inherit a
+         * priority, but the waiting task times out, then the holder should
+         * disinherit the priority - but only down to the highest priority of any
+         * other tasks that are waiting for the same mutex.  For this purpose,
+         * return the priority of the highest priority task that is waiting for the
+         * mutex. */
+        if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
+        {
+            uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
+        }
+        else
+        {
+            uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
+        }
+
+        return uxHighestPriorityOfWaitingTasks;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
+static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue,
+                                      const void * pvItemToQueue,
+                                      const BaseType_t xPosition )
 {
-BaseType_t xReturn = pdFALSE;
-UBaseType_t uxMessagesWaiting;
+    BaseType_t xReturn = pdFALSE;
+    UBaseType_t uxMessagesWaiting;
 
-	/* This function is called from a critical section. */
+    /* This function is called from a critical section. */
 
-	uxMessagesWaiting = pxQueue->uxMessagesWaiting;
+    uxMessagesWaiting = pxQueue->uxMessagesWaiting;
 
-	if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
-	{
-		#if ( configUSE_MUTEXES == 1 )
-		{
-			if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
-			{
-				/* The mutex is no longer being held. */
-				xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
-				pxQueue->u.xSemaphore.xMutexHolder = NULL;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* configUSE_MUTEXES */
-	}
-	else if( xPosition == queueSEND_TO_BACK )
-	{
-		( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
-		pxQueue->pcWriteTo += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
-		if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
-		{
-			pxQueue->pcWriteTo = pxQueue->pcHead;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes.  Assert checks null pointer only used when length is 0. */
-		pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
-		if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
-		{
-			pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+    if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
+    {
+        #if ( configUSE_MUTEXES == 1 )
+        {
+            if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
+            {
+                /* The mutex is no longer being held. */
+                xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
+                pxQueue->u.xSemaphore.xMutexHolder = NULL;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* configUSE_MUTEXES */
+    }
+    else if( xPosition == queueSEND_TO_BACK )
+    {
+        ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
+        pxQueue->pcWriteTo += pxQueue->uxItemSize;                                                       /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
 
-		if( xPosition == queueOVERWRITE )
-		{
-			if( uxMessagesWaiting > ( UBaseType_t ) 0 )
-			{
-				/* An item is not being added but overwritten, so subtract
-				one from the recorded number of items in the queue so when
-				one is added again below the number of recorded items remains
-				correct. */
-				--uxMessagesWaiting;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+        if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail )                                             /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
+        {
+            pxQueue->pcWriteTo = pxQueue->pcHead;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        ( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes.  Assert checks null pointer only used when length is 0. */
+        pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
 
-	pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
+        if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
+        {
+            pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-	return xReturn;
+        if( xPosition == queueOVERWRITE )
+        {
+            if( uxMessagesWaiting > ( UBaseType_t ) 0 )
+            {
+                /* An item is not being added but overwritten, so subtract
+                 * one from the recorded number of items in the queue so when
+                 * one is added again below the number of recorded items remains
+                 * correct. */
+                --uxMessagesWaiting;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+
+    pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
+static void prvCopyDataFromQueue( Queue_t * const pxQueue,
+                                  void * const pvBuffer )
 {
-	if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
-	{
-		pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
-		if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
-		{
-			pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-		( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports.  Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
-	}
+    if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
+    {
+        pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;           /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
+
+        if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
+        {
+            pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports.  Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0.  Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
+    }
 }
 /*-----------------------------------------------------------*/
 
 static void prvUnlockQueue( Queue_t * const pxQueue )
 {
-	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
+    /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
 
-	/* The lock counts contains the number of extra data items placed or
-	removed from the queue while the queue was locked.  When a queue is
-	locked items can be added or removed, but the event lists cannot be
-	updated. */
-	taskENTER_CRITICAL();
-	{
-		int8_t cTxLock = pxQueue->cTxLock;
+    /* The lock counts contains the number of extra data items placed or
+     * removed from the queue while the queue was locked.  When a queue is
+     * locked items can be added or removed, but the event lists cannot be
+     * updated. */
+    taskENTER_CRITICAL();
+    {
+        int8_t cTxLock = pxQueue->cTxLock;
 
-		/* See if data was added to the queue while it was locked. */
-		while( cTxLock > queueLOCKED_UNMODIFIED )
-		{
-			/* Data was posted while the queue was locked.  Are any tasks
-			blocked waiting for data to become available? */
-			#if ( configUSE_QUEUE_SETS == 1 )
-			{
-				if( pxQueue->pxQueueSetContainer != NULL )
-				{
-					if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
-					{
-						/* The queue is a member of a queue set, and posting to
-						the queue set caused a higher priority task to unblock.
-						A context switch is required. */
-						vTaskMissedYield();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					/* Tasks that are removed from the event list will get
-					added to the pending ready list as the scheduler is still
-					suspended. */
-					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-					{
-						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-						{
-							/* The task waiting has a higher priority so record that a
-							context	switch is required. */
-							vTaskMissedYield();
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						break;
-					}
-				}
-			}
-			#else /* configUSE_QUEUE_SETS */
-			{
-				/* Tasks that are removed from the event list will get added to
-				the pending ready list as the scheduler is still suspended. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority so record that
-						a context switch is required. */
-						vTaskMissedYield();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					break;
-				}
-			}
-			#endif /* configUSE_QUEUE_SETS */
+        /* See if data was added to the queue while it was locked. */
+        while( cTxLock > queueLOCKED_UNMODIFIED )
+        {
+            /* Data was posted while the queue was locked.  Are any tasks
+             * blocked waiting for data to become available? */
+            #if ( configUSE_QUEUE_SETS == 1 )
+            {
+                if( pxQueue->pxQueueSetContainer != NULL )
+                {
+                    if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
+                    {
+                        /* The queue is a member of a queue set, and posting to
+                         * the queue set caused a higher priority task to unblock.
+                         * A context switch is required. */
+                        vTaskMissedYield();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    /* Tasks that are removed from the event list will get
+                     * added to the pending ready list as the scheduler is still
+                     * suspended. */
+                    if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                    {
+                        if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                        {
+                            /* The task waiting has a higher priority so record that a
+                             * context switch is required. */
+                            vTaskMissedYield();
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        break;
+                    }
+                }
+            }
+            #else /* configUSE_QUEUE_SETS */
+            {
+                /* Tasks that are removed from the event list will get added to
+                 * the pending ready list as the scheduler is still suspended. */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                    {
+                        /* The task waiting has a higher priority so record that
+                         * a context switch is required. */
+                        vTaskMissedYield();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    break;
+                }
+            }
+            #endif /* configUSE_QUEUE_SETS */
 
-			--cTxLock;
-		}
+            --cTxLock;
+        }
 
-		pxQueue->cTxLock = queueUNLOCKED;
-	}
-	taskEXIT_CRITICAL();
+        pxQueue->cTxLock = queueUNLOCKED;
+    }
+    taskEXIT_CRITICAL();
 
-	/* Do the same for the Rx lock. */
-	taskENTER_CRITICAL();
-	{
-		int8_t cRxLock = pxQueue->cRxLock;
+    /* Do the same for the Rx lock. */
+    taskENTER_CRITICAL();
+    {
+        int8_t cRxLock = pxQueue->cRxLock;
 
-		while( cRxLock > queueLOCKED_UNMODIFIED )
-		{
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-			{
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					vTaskMissedYield();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+        while( cRxLock > queueLOCKED_UNMODIFIED )
+        {
+            if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+            {
+                if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                {
+                    vTaskMissedYield();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				--cRxLock;
-			}
-			else
-			{
-				break;
-			}
-		}
+                --cRxLock;
+            }
+            else
+            {
+                break;
+            }
+        }
 
-		pxQueue->cRxLock = queueUNLOCKED;
-	}
-	taskEXIT_CRITICAL();
+        pxQueue->cRxLock = queueUNLOCKED;
+    }
+    taskEXIT_CRITICAL();
 }
 /*-----------------------------------------------------------*/
 
-static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
+static BaseType_t prvIsQueueEmpty( const Queue_t * pxQueue )
 {
-BaseType_t xReturn;
+    BaseType_t xReturn;
 
-	taskENTER_CRITICAL();
-	{
-		if( pxQueue->uxMessagesWaiting == ( UBaseType_t )  0 )
-		{
-			xReturn = pdTRUE;
-		}
-		else
-		{
-			xReturn = pdFALSE;
-		}
-	}
-	taskEXIT_CRITICAL();
+    taskENTER_CRITICAL();
+    {
+        if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
+        {
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+    }
+    taskEXIT_CRITICAL();
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
 {
-BaseType_t xReturn;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+    configASSERT( pxQueue );
 
-	return xReturn;
+    if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
+    {
+        xReturn = pdTRUE;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
+
+    return xReturn;
 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 /*-----------------------------------------------------------*/
 
-static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
+static BaseType_t prvIsQueueFull( const Queue_t * pxQueue )
 {
-BaseType_t xReturn;
+    BaseType_t xReturn;
 
-	taskENTER_CRITICAL();
-	{
-		if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
-		{
-			xReturn = pdTRUE;
-		}
-		else
-		{
-			xReturn = pdFALSE;
-		}
-	}
-	taskEXIT_CRITICAL();
+    taskENTER_CRITICAL();
+    {
+        if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
+        {
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+    }
+    taskEXIT_CRITICAL();
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
 {
-BaseType_t xReturn;
-Queue_t * const pxQueue = xQueue;
+    BaseType_t xReturn;
+    Queue_t * const pxQueue = xQueue;
 
-	configASSERT( pxQueue );
-	if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+    configASSERT( pxQueue );
 
-	return xReturn;
+    if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
+    {
+        xReturn = pdTRUE;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
+
+    return xReturn;
 } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_CO_ROUTINES == 1 )
 
-	BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxQueue = xQueue;
+    BaseType_t xQueueCRSend( QueueHandle_t xQueue,
+                             const void * pvItemToQueue,
+                             TickType_t xTicksToWait )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxQueue = xQueue;
 
-		/* If the queue is already full we may have to block.  A critical section
-		is required to prevent an interrupt removing something from the queue
-		between the check to see if the queue is full and blocking on the queue. */
-		portDISABLE_INTERRUPTS();
-		{
-			if( prvIsQueueFull( pxQueue ) != pdFALSE )
-			{
-				/* The queue is full - do we want to block or just leave without
-				posting? */
-				if( xTicksToWait > ( TickType_t ) 0 )
-				{
-					/* As this is called from a coroutine we cannot block directly, but
-					return indicating that we need to block. */
-					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
-					portENABLE_INTERRUPTS();
-					return errQUEUE_BLOCKED;
-				}
-				else
-				{
-					portENABLE_INTERRUPTS();
-					return errQUEUE_FULL;
-				}
-			}
-		}
-		portENABLE_INTERRUPTS();
+        /* If the queue is already full we may have to block.  A critical section
+         * is required to prevent an interrupt removing something from the queue
+         * between the check to see if the queue is full and blocking on the queue. */
+        portDISABLE_INTERRUPTS();
+        {
+            if( prvIsQueueFull( pxQueue ) != pdFALSE )
+            {
+                /* The queue is full - do we want to block or just leave without
+                 * posting? */
+                if( xTicksToWait > ( TickType_t ) 0 )
+                {
+                    /* As this is called from a coroutine we cannot block directly, but
+                     * return indicating that we need to block. */
+                    vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
+                    portENABLE_INTERRUPTS();
+                    return errQUEUE_BLOCKED;
+                }
+                else
+                {
+                    portENABLE_INTERRUPTS();
+                    return errQUEUE_FULL;
+                }
+            }
+        }
+        portENABLE_INTERRUPTS();
 
-		portDISABLE_INTERRUPTS();
-		{
-			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-			{
-				/* There is room in the queue, copy the data into the queue. */
-				prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-				xReturn = pdPASS;
+        portDISABLE_INTERRUPTS();
+        {
+            if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+            {
+                /* There is room in the queue, copy the data into the queue. */
+                prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+                xReturn = pdPASS;
 
-				/* Were any co-routines waiting for data to become available? */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					/* In this instance the co-routine could be placed directly
-					into the ready list as we are within a critical section.
-					Instead the same pending ready list mechanism is used as if
-					the event were caused from within an interrupt. */
-					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						/* The co-routine waiting has a higher priority so record
-						that a yield might be appropriate. */
-						xReturn = errQUEUE_YIELD;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				xReturn = errQUEUE_FULL;
-			}
-		}
-		portENABLE_INTERRUPTS();
+                /* Were any co-routines waiting for data to become available? */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                {
+                    /* In this instance the co-routine could be placed directly
+                     * into the ready list as we are within a critical section.
+                     * Instead the same pending ready list mechanism is used as if
+                     * the event were caused from within an interrupt. */
+                    if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                    {
+                        /* The co-routine waiting has a higher priority so record
+                         * that a yield might be appropriate. */
+                        xReturn = errQUEUE_YIELD;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                xReturn = errQUEUE_FULL;
+            }
+        }
+        portENABLE_INTERRUPTS();
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_CO_ROUTINES == 1 )
 
-	BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxQueue = xQueue;
+    BaseType_t xQueueCRReceive( QueueHandle_t xQueue,
+                                void * pvBuffer,
+                                TickType_t xTicksToWait )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxQueue = xQueue;
 
-		/* If the queue is already empty we may have to block.  A critical section
-		is required to prevent an interrupt adding something to the queue
-		between the check to see if the queue is empty and blocking on the queue. */
-		portDISABLE_INTERRUPTS();
-		{
-			if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
-			{
-				/* There are no messages in the queue, do we want to block or just
-				leave with nothing? */
-				if( xTicksToWait > ( TickType_t ) 0 )
-				{
-					/* As this is a co-routine we cannot block directly, but return
-					indicating that we need to block. */
-					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
-					portENABLE_INTERRUPTS();
-					return errQUEUE_BLOCKED;
-				}
-				else
-				{
-					portENABLE_INTERRUPTS();
-					return errQUEUE_FULL;
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		portENABLE_INTERRUPTS();
+        /* If the queue is already empty we may have to block.  A critical section
+         * is required to prevent an interrupt adding something to the queue
+         * between the check to see if the queue is empty and blocking on the queue. */
+        portDISABLE_INTERRUPTS();
+        {
+            if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
+            {
+                /* There are no messages in the queue, do we want to block or just
+                 * leave with nothing? */
+                if( xTicksToWait > ( TickType_t ) 0 )
+                {
+                    /* As this is a co-routine we cannot block directly, but return
+                     * indicating that we need to block. */
+                    vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
+                    portENABLE_INTERRUPTS();
+                    return errQUEUE_BLOCKED;
+                }
+                else
+                {
+                    portENABLE_INTERRUPTS();
+                    return errQUEUE_FULL;
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        portENABLE_INTERRUPTS();
 
-		portDISABLE_INTERRUPTS();
-		{
-			if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
-			{
-				/* Data is available from the queue. */
-				pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
-				if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
-				{
-					pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-				--( pxQueue->uxMessagesWaiting );
-				( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+        portDISABLE_INTERRUPTS();
+        {
+            if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
+            {
+                /* Data is available from the queue. */
+                pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
 
-				xReturn = pdPASS;
+                if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
+                {
+                    pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* Were any co-routines waiting for space to become available? */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-				{
-					/* In this instance the co-routine could be placed directly
-					into the ready list as we are within a critical section.
-					Instead the same pending ready list mechanism is used as if
-					the event were caused from within an interrupt. */
-					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						xReturn = errQUEUE_YIELD;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				xReturn = pdFAIL;
-			}
-		}
-		portENABLE_INTERRUPTS();
+                --( pxQueue->uxMessagesWaiting );
+                ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
 
-		return xReturn;
-	}
+                xReturn = pdPASS;
+
+                /* Were any co-routines waiting for space to become available? */
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    /* In this instance the co-routine could be placed directly
+                     * into the ready list as we are within a critical section.
+                     * Instead the same pending ready list mechanism is used as if
+                     * the event were caused from within an interrupt. */
+                    if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        xReturn = errQUEUE_YIELD;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                xReturn = pdFAIL;
+            }
+        }
+        portENABLE_INTERRUPTS();
+
+        return xReturn;
+    }
 
 #endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_CO_ROUTINES == 1 )
 
-	BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
-	{
-	Queue_t * const pxQueue = xQueue;
+    BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue,
+                                    const void * pvItemToQueue,
+                                    BaseType_t xCoRoutinePreviouslyWoken )
+    {
+        Queue_t * const pxQueue = xQueue;
 
-		/* Cannot block within an ISR so if there is no space on the queue then
-		exit without doing anything. */
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-		{
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+        /* Cannot block within an ISR so if there is no space on the queue then
+         * exit without doing anything. */
+        if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+        {
+            prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
 
-			/* We only want to wake one co-routine per ISR, so check that a
-			co-routine has not already been woken. */
-			if( xCoRoutinePreviouslyWoken == pdFALSE )
-			{
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						return pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+            /* We only want to wake one co-routine per ISR, so check that a
+             * co-routine has not already been woken. */
+            if( xCoRoutinePreviouslyWoken == pdFALSE )
+            {
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+                {
+                    if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+                    {
+                        return pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return xCoRoutinePreviouslyWoken;
-	}
+        return xCoRoutinePreviouslyWoken;
+    }
 
 #endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_CO_ROUTINES == 1 )
 
-	BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxQueue = xQueue;
+    BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue,
+                                       void * pvBuffer,
+                                       BaseType_t * pxCoRoutineWoken )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxQueue = xQueue;
 
-		/* We cannot block from an ISR, so check there is data available. If
-		not then just leave without doing anything. */
-		if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
-		{
-			/* Copy the data from the queue. */
-			pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
-			if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
-			{
-				pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-			--( pxQueue->uxMessagesWaiting );
-			( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+        /* We cannot block from an ISR, so check there is data available. If
+         * not then just leave without doing anything. */
+        if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
+        {
+            /* Copy the data from the queue. */
+            pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
 
-			if( ( *pxCoRoutineWoken ) == pdFALSE )
-			{
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-				{
-					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-					{
-						*pxCoRoutineWoken = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
+            {
+                pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
+            --( pxQueue->uxMessagesWaiting );
+            ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
 
-		return xReturn;
-	}
+            if( ( *pxCoRoutineWoken ) == pdFALSE )
+            {
+                if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+                {
+                    if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+                    {
+                        *pxCoRoutineWoken = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = pdFAIL;
+        }
+
+        return xReturn;
+    }
 
 #endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
 #if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	{
-	UBaseType_t ux;
+    void vQueueAddToRegistry( QueueHandle_t xQueue,
+                              const char * pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    {
+        UBaseType_t ux;
+        QueueRegistryItem_t * pxEntryToWrite = NULL;
 
-		/* See if there is an empty space in the registry.  A NULL name denotes
-		a free slot. */
-		for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
-		{
-			if( xQueueRegistry[ ux ].pcQueueName == NULL )
-			{
-				/* Store the information on this queue. */
-				xQueueRegistry[ ux ].pcQueueName = pcQueueName;
-				xQueueRegistry[ ux ].xHandle = xQueue;
+        configASSERT( xQueue );
 
-				traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
-				break;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-	}
+        if( pcQueueName != NULL )
+        {
+            /* See if there is an empty space in the registry.  A NULL name denotes
+             * a free slot. */
+            for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
+            {
+                /* Replace an existing entry if the queue is already in the registry. */
+                if( xQueue == xQueueRegistry[ ux ].xHandle )
+                {
+                    pxEntryToWrite = &( xQueueRegistry[ ux ] );
+                    break;
+                }
+                /* Otherwise, store in the next empty location */
+                else if( ( pxEntryToWrite == NULL ) && ( xQueueRegistry[ ux ].pcQueueName == NULL ) )
+                {
+                    pxEntryToWrite = &( xQueueRegistry[ ux ] );
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+
+        if( pxEntryToWrite != NULL )
+        {
+            /* Store the information on this queue. */
+            pxEntryToWrite->pcQueueName = pcQueueName;
+            pxEntryToWrite->xHandle = xQueue;
+
+            traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
+        }
+    }
 
 #endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
 #if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	{
-	UBaseType_t ux;
-	const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    const char * pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    {
+        UBaseType_t ux;
+        const char * pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
-		/* Note there is nothing here to protect against another task adding or
-		removing entries from the registry while it is being searched. */
-		for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
-		{
-			if( xQueueRegistry[ ux ].xHandle == xQueue )
-			{
-				pcReturn = xQueueRegistry[ ux ].pcQueueName;
-				break;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+        configASSERT( xQueue );
 
-		return pcReturn;
-	} /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
+        /* Note there is nothing here to protect against another task adding or
+         * removing entries from the registry while it is being searched. */
+
+        for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
+        {
+            if( xQueueRegistry[ ux ].xHandle == xQueue )
+            {
+                pcReturn = xQueueRegistry[ ux ].pcQueueName;
+                break;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+
+        return pcReturn;
+    } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
 
 #endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
 #if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	void vQueueUnregisterQueue( QueueHandle_t xQueue )
-	{
-	UBaseType_t ux;
+    void vQueueUnregisterQueue( QueueHandle_t xQueue )
+    {
+        UBaseType_t ux;
 
-		/* See if the handle of the queue being unregistered in actually in the
-		registry. */
-		for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
-		{
-			if( xQueueRegistry[ ux ].xHandle == xQueue )
-			{
-				/* Set the name to NULL to show that this slot if free again. */
-				xQueueRegistry[ ux ].pcQueueName = NULL;
+        configASSERT( xQueue );
 
-				/* Set the handle to NULL to ensure the same queue handle cannot
-				appear in the registry twice if it is added, removed, then
-				added again. */
-				xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
-				break;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+        /* See if the handle of the queue being unregistered in actually in the
+         * registry. */
+        for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
+        {
+            if( xQueueRegistry[ ux ].xHandle == xQueue )
+            {
+                /* Set the name to NULL to show that this slot if free again. */
+                xQueueRegistry[ ux ].pcQueueName = NULL;
 
-	} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
+                /* Set the handle to NULL to ensure the same queue handle cannot
+                 * appear in the registry twice if it is added, removed, then
+                 * added again. */
+                xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
+                break;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+    } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 
 #endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TIMERS == 1 )
 
-	void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
-	{
-	Queue_t * const pxQueue = xQueue;
+    void vQueueWaitForMessageRestricted( QueueHandle_t xQueue,
+                                         TickType_t xTicksToWait,
+                                         const BaseType_t xWaitIndefinitely )
+    {
+        Queue_t * const pxQueue = xQueue;
 
-		/* This function should not be called by application code hence the
-		'Restricted' in its name.  It is not part of the public API.  It is
-		designed for use by kernel code, and has special calling requirements.
-		It can result in vListInsert() being called on a list that can only
-		possibly ever have one item in it, so the list will be fast, but even
-		so it should be called with the scheduler locked and not from a critical
-		section. */
+        /* This function should not be called by application code hence the
+         * 'Restricted' in its name.  It is not part of the public API.  It is
+         * designed for use by kernel code, and has special calling requirements.
+         * It can result in vListInsert() being called on a list that can only
+         * possibly ever have one item in it, so the list will be fast, but even
+         * so it should be called with the scheduler locked and not from a critical
+         * section. */
 
-		/* Only do anything if there are no messages in the queue.  This function
-		will not actually cause the task to block, just place it on a blocked
-		list.  It will not block until the scheduler is unlocked - at which
-		time a yield will be performed.  If an item is added to the queue while
-		the queue is locked, and the calling task blocks on the queue, then the
-		calling task will be immediately unblocked when the queue is unlocked. */
-		prvLockQueue( pxQueue );
-		if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
-		{
-			/* There is nothing in the queue, block for the specified period. */
-			vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-		prvUnlockQueue( pxQueue );
-	}
+        /* Only do anything if there are no messages in the queue.  This function
+         *  will not actually cause the task to block, just place it on a blocked
+         *  list.  It will not block until the scheduler is unlocked - at which
+         *  time a yield will be performed.  If an item is added to the queue while
+         *  the queue is locked, and the calling task blocks on the queue, then the
+         *  calling task will be immediately unblocked when the queue is unlocked. */
+        prvLockQueue( pxQueue );
+
+        if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
+        {
+            /* There is nothing in the queue, block for the specified period. */
+            vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        prvUnlockQueue( pxQueue );
+    }
 
 #endif /* configUSE_TIMERS */
 /*-----------------------------------------------------------*/
 
-#if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#if ( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
 
-	QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
-	{
-	QueueSetHandle_t pxQueue;
+    QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
+    {
+        QueueSetHandle_t pxQueue;
 
-		pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
+        pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
 
-		return pxQueue;
-	}
+        return pxQueue;
+    }
 
 #endif /* configUSE_QUEUE_SETS */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
-	{
-	BaseType_t xReturn;
+    BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                               QueueSetHandle_t xQueueSet )
+    {
+        BaseType_t xReturn;
 
-		taskENTER_CRITICAL();
-		{
-			if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
-			{
-				/* Cannot add a queue/semaphore to more than one queue set. */
-				xReturn = pdFAIL;
-			}
-			else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
-			{
-				/* Cannot add a queue/semaphore to a queue set if there are already
-				items in the queue/semaphore. */
-				xReturn = pdFAIL;
-			}
-			else
-			{
-				( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
-				xReturn = pdPASS;
-			}
-		}
-		taskEXIT_CRITICAL();
+        taskENTER_CRITICAL();
+        {
+            if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
+            {
+                /* Cannot add a queue/semaphore to more than one queue set. */
+                xReturn = pdFAIL;
+            }
+            else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
+            {
+                /* Cannot add a queue/semaphore to a queue set if there are already
+                 * items in the queue/semaphore. */
+                xReturn = pdFAIL;
+            }
+            else
+            {
+                ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
+                xReturn = pdPASS;
+            }
+        }
+        taskEXIT_CRITICAL();
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_QUEUE_SETS */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
-	{
-	BaseType_t xReturn;
-	Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
+    BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                    QueueSetHandle_t xQueueSet )
+    {
+        BaseType_t xReturn;
+        Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
 
-		if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
-		{
-			/* The queue was not a member of the set. */
-			xReturn = pdFAIL;
-		}
-		else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
-		{
-			/* It is dangerous to remove a queue from a set when the queue is
-			not empty because the queue set will still hold pending events for
-			the queue. */
-			xReturn = pdFAIL;
-		}
-		else
-		{
-			taskENTER_CRITICAL();
-			{
-				/* The queue is no longer contained in the set. */
-				pxQueueOrSemaphore->pxQueueSetContainer = NULL;
-			}
-			taskEXIT_CRITICAL();
-			xReturn = pdPASS;
-		}
+        if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
+        {
+            /* The queue was not a member of the set. */
+            xReturn = pdFAIL;
+        }
+        else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
+        {
+            /* It is dangerous to remove a queue from a set when the queue is
+             * not empty because the queue set will still hold pending events for
+             * the queue. */
+            xReturn = pdFAIL;
+        }
+        else
+        {
+            taskENTER_CRITICAL();
+            {
+                /* The queue is no longer contained in the set. */
+                pxQueueOrSemaphore->pxQueueSetContainer = NULL;
+            }
+            taskEXIT_CRITICAL();
+            xReturn = pdPASS;
+        }
 
-		return xReturn;
-	} /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
+        return xReturn;
+    } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
 
 #endif /* configUSE_QUEUE_SETS */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
-	{
-	QueueSetMemberHandle_t xReturn = NULL;
+    QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
+                                                TickType_t const xTicksToWait )
+    {
+        QueueSetMemberHandle_t xReturn = NULL;
 
-		( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
-		return xReturn;
-	}
+        ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
+        return xReturn;
+    }
 
 #endif /* configUSE_QUEUE_SETS */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
-	{
-	QueueSetMemberHandle_t xReturn = NULL;
+    QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
+    {
+        QueueSetMemberHandle_t xReturn = NULL;
 
-		( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
-		return xReturn;
-	}
+        ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
+        return xReturn;
+    }
 
 #endif /* configUSE_QUEUE_SETS */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
-	{
-	Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
-	BaseType_t xReturn = pdFALSE;
+    static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
+    {
+        Queue_t * pxQueueSetContainer = pxQueue->pxQueueSetContainer;
+        BaseType_t xReturn = pdFALSE;
 
-		/* This function must be called form a critical section. */
+        /* This function must be called form a critical section. */
 
-		configASSERT( pxQueueSetContainer );
-		configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
+        /* The following line is not reachable in unit tests because every call
+         * to prvNotifyQueueSetContainer is preceded by a check that
+         * pxQueueSetContainer != NULL */
+        configASSERT( pxQueueSetContainer ); /* LCOV_EXCL_BR_LINE */
+        configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
 
-		if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
-		{
-			const int8_t cTxLock = pxQueueSetContainer->cTxLock;
+        if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
+        {
+            const int8_t cTxLock = pxQueueSetContainer->cTxLock;
 
-			traceQUEUE_SEND( pxQueueSetContainer );
+            traceQUEUE_SET_SEND( pxQueueSetContainer );
 
-			/* The data copied is the handle of the queue that contains data. */
-			xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
+            /* The data copied is the handle of the queue that contains data. */
+            xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
 
-			if( cTxLock == queueUNLOCKED )
-			{
-				if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
-				{
-					if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
-					{
-						/* The task waiting has a higher priority. */
-						xReturn = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+            if( cTxLock == queueUNLOCKED )
+            {
+                if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
+                {
+                    if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
+                    {
+                        /* The task waiting has a higher priority. */
+                        xReturn = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                prvIncrementQueueTxLock( pxQueueSetContainer, cTxLock );
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_QUEUE_SETS */
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/readme.txt b/Middlewares/Third_Party/FreeRTOS/Source/readme.txt
deleted file mode 100644
index 58480c5..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/readme.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-Each real time kernel port consists of three files that contain the core kernel
-components and are common to every port, and one or more files that are 
-specific to a particular microcontroller and or compiler.
-
-+ The FreeRTOS/Source directory contains the three files that are common to 
-every port - list.c, queue.c and tasks.c.  The kernel is contained within these 
-three files.  croutine.c implements the optional co-routine functionality - which
-is normally only used on very memory limited systems.
-
-+ The FreeRTOS/Source/Portable directory contains the files that are specific to 
-a particular microcontroller and or compiler.
-
-+ The FreeRTOS/Source/include directory contains the real time kernel header 
-files.
-
-See the readme file in the FreeRTOS/Source/Portable directory for more 
-information.
\ No newline at end of file
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt b/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt
deleted file mode 100644
index 4f679b0..0000000
--- a/Middlewares/Third_Party/FreeRTOS/Source/st_readme.txt
+++ /dev/null
@@ -1,422 +0,0 @@
-
-  @verbatim
-  ******************************************************************************
-  *
-  *           Portions Copyright  2019 STMicroelectronics International N.V. All rights reserved.
-  *           Portions Copyright (C) 2016 Real Time Engineers Ltd, All rights reserved
-  *
-  * @file    st_readme.txt
-  * @author  MCD Application Team
-  * @brief   This file lists the main modification done by STMicroelectronics on
-  *          FreeRTOS for integration with STM32Cube solution.
-  *          For more details on FreeRTOS implementation on STM32Cube, please refer
-  *          to UM1722 "Developing Applications on STM32Cube with FreeRTOS"
-  ******************************************************************************
-  *
-  * Copyright (c) 2019 STMicroelectronics. All rights reserved.
-  *
-  * This software component is licensed by ST under BSD 3-Clause license,
-  * the "License"; You may not use this file except in compliance with the
-  * License. You may obtain a copy of the License at:
-  *                       opensource.org/licenses/BSD-3-Clause
-  *
-  ******************************************************************************
-  @endverbatim
-
-=======
-
-### 31-August-2020 ###
-=========================
-  + Bug fix for G0 compilation error due to IRQn_Type mismatch between G0 and other families
-      - Source/CMSIS_RTOS_V2/cmsis_os2.c
-  + Bug fix when using systick as timebasse for HAL
-      - Source/CMSIS_RTOS_V2/cmsis_os2.c
-
-### 20-July-2020 ###
-=========================
-  + FreeRTOS: Update to FreeRTOS v10.3.1
-  
-  + CMSIS_RTOS_V2: update against the latest CMSIS-FreeRTOS v10.3.0 release
-      - CMSIS_RTOS_V2/cmsis_os2.c
-      - CMSIS_RTOS_V2/freertos_mpool.h
-      - CMSIS_RTOS_V2/freertos_os2.h
-      - CMSIS_RTOS_V2/os_systick.c
-
-  + Add Tickless Idle support for CM23/CM33
-      - GCC/ARM_CM23/non_secure/port.c
-      - GCC/ARM_CM23/non_secure/portmacro.h
-      - GCC/ARM_CM23_NTZ/non_secure/port.c
-      - GCC/ARM_CM23_NTZ/non_secure/portmacro.h
-      - GCC/ARM_CM33/non_secure/port.c
-      - GCC/ARM_CM33/non_secure/portmacro.h
-      - GCC/ARM_CM33_NTZ/non_secure/port.c
-      - GCC/ARM_CM33_NTZ/non_secure/portmacro.h
-      - IAR/ARM_CM23/non_secure/port.c
-      - IAR/ARM_CM23/non_secure/portmacro.h
-      - IAR/ARM_CM23_NTZ/non_secure/port.c
-      - IAR/ARM_CM23_NTZ/non_secure/portmacro.h
-      - IAR/ARM_CM33/non_secure/port.c
-      - IAR/ARM_CM33/non_secure/portmacro.h
-      - IAR/ARM_CM33_NTZ/non_secure/port.c
-      - IAR/ARM_CM33_NTZ/non_secure/portmacro.h
-  
-  +  Fix MPU hardfault bug for Cortex-M4 MPU
-      - GCC\ARM_CM4_MPU\port.c
-      - IAR\ARM_CM4_MPU\port.c
-      - RVDS\ARM_CM4_MPU\port.c
-
-  +  Add support for 16 MPU regions to Cortex-M4 MPU ports
-      - GCC/ARM_CM4_MPU/portmacro.h
-      - IAR/ARM_CM4_MPU/portmacro.h
-      - RVDS/ARM_CM4_MPU/portmacro.h
-
-  + Update ARM_CM7_MPU source files for all compilers
-      - GCC/ARM_CM7_MPU/r0p1/port.c
-      - GCC/ARM_CM7_MPU/r0p1/portmacro.h
-      - IAR/ARM_CM7_MPU/r0p1/port.c
-      - IAR/ARM_CM7_MPU/r0p1/portasm.s
-      - IAR/ARM_CM7_MPU/r0p1/portmacro.h
-      - RVDS/ARM_CM7_MPU/r0p1/port.c
-      - RVDS/ARM_CM7_MPU/r0p1/portmacro.h
-
-### 17-January-2020 ###
-=========================
-  + Fix compile error in the GCC CM7_MPU port caused by a duplicated variable declaration
-      - Source/portable/GCC/ARM_CM7_MPU/r0p1/port.c
-
-### 13-December-2019 ###
-=========================
-  + Remove warnings thrown by EWARM for CM33/CM23 ports
-      - IAR/ARM_CM23/non_secure/portmacro.h
-      - IAR/ARM_CM23_NTZ/non_secure/portmacro.h
-      - IAR/ARM_CM33/non_secure/portmacro.h
-      - IAR/ARM_CM33_NTZ/non_secure/portmacro.h
-
-### 19-July-2019 ###
-=========================
-  + Fix runtime error in the  IAR/CM4_MPU port
-       - IAR/ARM_CM4_MPU/port.c
-
-### 12-July-2019 ###
-=========================
-  + FreeRTOS: Update against the FreeRTOS v10.2.1 release
-    - support for the CM33 and CM23 cores
-
-  + CMSIS_RTOS_V2: update against the latest CMSIS-FreeRTOS v10.2.0 release
-
-  + Add MPU support for the CM7/r0p1:
-       - GCC/ARM_CM7_MPU/r0p1/port.c
-       - GCC/ARM_CM7_MPU/r0p1/portmacro.h
-       - IAR/ARM_CM7_MPU/r0p1/port.c
-       - IAR/ARM_CM7_MPU/r0p1/portasm.s
-       - IAR/ARM_CM7_MPU/r0p1/portmacro.h
-       - RVDS/ARM_CM7_MPU/r0p1/port.c
-       - RVDS/ARM_CM7_MPU/r0p1/portmacro.h
-
-  + cmsis_os.c: Fix compile errors by using the correct TimerCallbackFunction_t type for timer creation
-
-### 29-Mars-2019 ###
-=========================
-  + cmsis_os.c : Fix bug in osPoolAlloc(): memory blocks can't be reused after being free'd
-  + Source/CMSIS_RTOS_V2/cmsis_os, Source/CMSIS_RTOS_V2/cmsis_os1.c, Source/CMSIS_RTOS_V2/cmsis_os2.c, Source/CMSIS_RTOS_V2/cmsis_os2.h: restore original Apache license terms
-  + st_readme.txt: update license terms to BSD-3-Clause
-
-
-### 13-August-2018 ###
-=========================
-  + Add empty implementation for the missing function osThreadGetStackSize()
-    to avoid link errors when using CMSIS-RTOS V2.
-
-  + Update the FreeRTOSConfig_template.h with specific defines for the
-    CMSIS-RTOS V2.
-
-  + Rename the "RTE_RTOS_FreeRTOS_XXXX" macros to "USE_FreeRTOS_XXXX" in
-    cmsis_os2.c.
-
-### 30-July-2018 ###
-=========================
- + Update License.txt file to MIT license instead of GPLv2
-
-### 23-July-2018 ###
-=========================
- + Fix compiler warnings thrown by IAR compiler 8.20
-
- + Add MPU support for the CM7/r0p1:
-  - GCC/ARM_CM7_MPU/r0p1/port.c
-  - GCC/ARM_CM7_MPU/r0p1/portmacro.h
-  - IAR/ARM_CM7_MPU/r0p1/port.c
-  - IAR/ARM_CM7_MPU/r0p1/portasm.s
-  - IAR/ARM_CM7_MPU/r0p1/portmacro.h
-  - RVDS/ARM_CM7_MPU/r0p1/port.c
-  - RVDS/ARM_CM7_MPU/r0p1/portmacro.h
-
-### 09-April-2018 ###
-=========================
-  Update the FreeRTOS against the latest release 10.0.1
-  more details are available in: https://www.freertos.org/History.txt
-
-  + Integrate support for tickless mode for ARM_CM0 core:
-    - GCC/ARM_CM0/port.c
-    - GCC/ARM_CM0/portmacro.h
-    - IAR/ARM_CM0/port.c
-    - IAR/ARM_CM0/portmacro.h
-    - RVDS/ARM_CM0/port.c
-
- Integrate CMSIS-RTOSv2 wrapper based on: https://github.com/ARM-software/CMSIS-FreeRTOS/releases/tag/10.0.1
-  + Add new files:
-    - CMSIS_RTOS_V2/cmsis_os.h
-    - CMSIS_RTOS_V2/cmsis_os1.c
-    - CMSIS_RTOS_V2/cmsis_os2.c
-    - CMSIS_RTOS_V2/cmsis_os2.h
-      "cmsis_os1.c" and "cmsis_os1.h" contains the reference implementation of
-       CMSIS-RTOSv1,i.e as released by ARM, using the CMSIS-RTOSV2 API.
-
-  + The ST customized CMSIS-RTOSv1 is maintained under:
-    - CMSIS_RTOS/cmsis_os.c
-    - CMSIS_RTOS/cmsis_os.h
-
-  + When using CMSIS-RTOSv2 APIs, the following FreeRTOS defines are required:
-    - #define configMAX_PRIORITIES                     56
-    - #define configSUPPORT_STATIC_ALLOCATION          0
-    - #define configUSE_PORT_OPTIMISED_TASK_SELECTION  0
-
-
-### 10-August-2017 ###
-=========================
-  Update FreeRTOS to support MPU feature with IAR compiler.
-
-  + Add the following ports:
-    - IAR/ARM_CM4_MPU
-    - IAR/ARM_CM7_MPU
-    - RVDS/ARM_CM7_MPU
-
-
-### 03-March-2017 ###
-=========================
-  Update CMSIS-RTOS drivers to support both CMSIS Core V4.x and V5.x
-
-  Bug fixes:
-  + CMSIS-RTOS: Wrong return value for osSignalWait()
-  + CMSIS-RTOS: Not all queue size is 0 initialized with osMailCAlloc()
-
-  Limitation:
-  + CMSIS-RTOS: osSignalWAit() function is not fully compliant with the specification
-
-
-### 30-September-2016 ###
-=========================
-  The purpose of this release is to Upgrade to use FreeRTOS V9.0.0, this version
-  is a drop-in compatible replacement for FreeRTOS V8.2.3.
-  For more details please refer to http://www.freertos.org/History.txt
-
-  + Add support to tickless mode for MPU ports:
-    - GCC/ARM_CM3_MPU/port.c
-    - GCC/ARM_CM4_MPU/port.c
-    - RVDS/ARM_CM4_MPU/port.c
-
-  + Update CM0 ports, add possibility to use a timebase different than Systick:
-    - IAR/ARM_CM0/port.c
-    - RVDS/ARM_CM0/port.c
-    - GCC/ARM_CM0/port.c
-
-  + Fix compilation error in CM3_MPU and CM4_MPU ports:
-    - GCC/ARM_CM3_MPU/portmacro.h
-    - GCC/ARM_CM4_MPU/portmacro.h
-    - RVDS/ARM_CM4_MPU/portmacro.h
-    - Add "Source\portable\Common\" directory
-
-  + cmsis_os.c
-    - Add support of Statically Allocated Systems introduced with FreeRTOS V9.0.0
-    - Add new wrappers CMSIS-RTOS APIs
-
-         FreeRTOS APIs       |     CMSIS-RTOS APIs        |               Description
-   ==================================================================================================================
-    uxQueueMessagesWaiting() |  osMessageWaiting()        |  Return the number of messages stored in a queue
-   ------------------------------------------------------------------------------------------------------------------
-    xTaskAbortDelay()        |  osAbortDelay()            |  Force a thread to get out the blocked state immediately
-   ------------------------------------------------------------------------------------------------------------------
-    uxSemaphoreGetCount()    |  osSemaphoreGetCount()     |  Return the current count of a semaphore
-   ------------------------------------------------------------------------------------------------------------------
-    uxQueueSpacesAvailable() |  osMessageAvailableSpace() |  Return the available space in a message queue
-   ------------------------------------------------------------------------------------------------------------------
-    vQueueDelete()           |  osMessageDelete()         |  Delete a message Queue
-   ------------------------------------------------------------------------------------------------------------------
-
-
-### 22-January-2016 ###
-=======================
-  The purpose of this release is to Upgrade to use FreeRTOS V8.2.3.
-  It also provides fixes for minor issues.
-
-  + cmsis_os.c
-    - Implementation of functions "osSignalSet" and "osSignalWait" are now delimited by
-         #define configUSE_TASK_NOTIFICATIONS.
-    - Function "osTimerStart" : fix for an assert issue when called from an ISR.
-    - Function "osMailCreate"  : internal variables initialization.
-    - Function "osSignalWait" : signals value is now compared versus integer zero for error checking.
-
-  + freeRTOS sources
-    - FreeRTOS.h file : Add configuration sanity check in case of configUSE_RECURSIVE_MUTEXES  set
-      and configUSE_MUTEXES  not set.
-
-  + STMicroelectronics license simplifications, see license disclaimer within this file's header
-
-
-### 27-March-2015 ###
-=====================
-  The purpose of this release is to Upgrade to use FreeRTOS V8.2.1.
-
-  + Major change of the version 8.2.1 is the support of CM7 core.
-  For STM32F746xx/STM32F756xx devices, need to use port files under Source/Portable/XXX/ARM_CM7/r0p1,
-  where XXX refers to the compiler used.
-
-  + It also provides implementation of osSignal management APIs, osSignalSet() and osSignalWait(),
-  fixes osMassage queue size, osMailQDef macro and osDelayUntil parameters.
-
-  + In this release an alignment has been done in ARM_CM4 and ARM_CM3 port.c versus ARM_CM0 port.c
-  regarding the use of macros configPRE_SLEEP_PROCESSING and configPOST_SLEEP_PROCESSING, these tow macros
-  are now taking as parameter as pointer to TickType_t.
-
-  + cmsis_os.c
-    - Add implementation of osSignalSet() and osSignalWait() APIs
-    - Fix massage queue size in osMessageCreate API
-    - osDelayUntil: parameter PreviousWakeTime is now passed as a pointer.
-    - Enabling Mail queue management APIs (temporary removed in previous version).
-    - Function "osThreadGetPriority" uses now uxTaskPriorityGetFromISR if called from an interrupt handler, if not use uxTaskPriorityGet.
-
-  + cmsis_os.h
-    - osFeature_Wait is defined to 0 to indicate that osWait function is not available (as specified by cmsis_os template by ARM)
-    - Fix compilation issue with osMailQDef macro.
-    - Enabling Mail queue management APIs (temporary removed in previous version)
-
-  + freeRTOS sources
-    - ARM_CM3 port.c and ARM_CM4 port.c:
-      function vPortSuppressTicksAndSleep : configPRE_SLEEP_PROCESSING and configPOST_SLEEP_PROCESSING are now taking
-      as parameter as pointer to TickType_t.
-      The purpose of this change is to align the CM3 and CM4 implementation with CM0 one.
-
-  + Note
-    - osSignalSet returns an int32_t value which is a a status (osOK or osError)
-      instead of the previous signal value as specified in cmsis_os template by ARM.
-      This is mainly due to freeRTOS implementation, the return value will be aligned (with the cmsis os template by ARM) as soon as the freeRTOS next version will allow it.
-
-    - osThreadDef() macro is defined in the freeRTOS cmsis_os.h wrapper as follow :
-        osThreadDef(name, thread, priority, instances, stacksz)
-      the macro osThreadDef() as defined in ARM cmsis_os.h is defined with 4 parameters :
-      name : name of the thread function.
-      priority : initial priority of the thread function.
-      instances : number of possible thread instances.
-      stacksz : stack size (in bytes) requirements for the thread function.
-
-    - osThreadDef as defined in the ARM template file cmsis_os.h assumes that the thread name is the same as the thread function name.
-      where the freeRTOS implementation gives separate parameters for the thread name and the thread function name.
-
-      care must be taken when porting an application from/to another OS to/from freeRTOS cmsis_os regarding this macro.
-
-        the macro osThreadDef() as defined in ARM cmsis_os.h template is defined with 4 parameters :
-           name : name of the thread function.
-           priority : initial priority of the thread function.
-           instances : number of possible thread instances.
-           stacksz : stack size (in bytes) requirements for the thread function.
-
-        the macro osThreadDef() as defined in freeRTOS cmsis_os.h is defined with 5 parameters :
-           name : name of the thread (used for debugging and trace).
-           thread : name of the thread function
-           priority : initial priority of the thread function.
-           instances : number of possible thread instances.
-           stacksz : stack size (in bytes) requirements for the thread function.
-
-
-### 25-December-2014 ###
-========================
-  The purpose of this release is to remove compilation errors and warning. It also reintroduces
-  the function osThreadIsSuspended() which has been removed in the version V1.2.0.
-
-  + cmsis_os.c
-      - osThreadGetPriority() and makeCmsisPriority(): replace INCLUDE_vTaskPriorityGet by the correct
-         freeRTOS constant uxTaskPriorityGet.
-         The version 1.2.2 is using a wrong constant INCLUDE_vTaskPriorityGet, while the correct freeRTOS
-         constant is uxTaskPriorityGet.
-         This fix ensure a safe use of osThreadGetPriority() function.
-
-      - osThreadIsSuspended(): this function has been removed in version V1.2.0, it is now available gain.
-         User can either use this function to check if a Thread is suspended either use function osThreadGetState,
-         which is more generic, to check the exact state of a thread.
-
-      - osThreadList(): this function is now taking as argument a pointer to uint8_t instead of a pointer to int8_t.
-         The change is made to remove a compilation warning.
-
-      - osRecursiveMutexCreate(): the prototype has been changed to osMutexId osRecursiveMutexCreate (const osMutexDef_t *mutex_def)
-          This change is made to make osRecursiveMutexCreate() compatible with function MutexCreate().
-          It also allow the better use of the function in conjunction with the macro osMutex, note that osMutex return a
-          "const osMutexDef_t *mutex_def".
-          example : osMutex1Id = osRecursiveMutexCreate (osMutex(Mutex1));
-
-      - Fix implementation of functions osSemaphoreWait(), osMutexRelease() and osMutexWait() by using the appropriate
-         freeRTOS FromISR APIs when called from an interrupt.
-
-      - Fix compilation warning when the constant INCLUDE_eTaskGetState is not defined
-
-  + cmsis_os.h
-      - osThreadIsSuspended(): add function prototype.
-      - osThreadList(): function prototype modified as described in cmsis_os.c section.
-      - osRecursiveMutexCreate(): function modified as described in cmsis_os.c section.
-
-  + Important note:
-    Mail Queue Management Functions are not supported in this cmsis_os version, will be added in the next release.
-
-
-### 04-December-2014 ###
-========================
-  + cmsis_os.c, osSemaphoreCreate(): use vSemaphoreCreateBinary() instead of xSemaphoreCreateBinary(),
-    to keep compatibility with application code developed on FreeRTOS V7.6.0.
-
-
-### 07-November-2014 ###
-========================
-  + cmsis_os.h: modify the osThreadState enum to fix warning generated by ARMCC compiler
-  + task.c: add preprocessor compilation condition for prvTaskIsTaskSuspended() function
-            (it's build only when INCLUDE_vTaskSuspend option is enabled in FreeRTOSConfig.h file)
-
-
-### 04-November-2014 ###
-========================
-  + Upgrade to use FreeRTOS V8.1.2 and CMSIS-RTOS V1.02.
-  + cmsis_os.c
-      - Almost of CMSIS-RTOS APIs are implemented for FreeRTOS
-      - Additional wrapper APIs created for FreeRTOS
-
-  + Important note:
-    When upgrading existing application code to use this last version, the following
-    update should be considered:
-      - osThreadIsSuspended() is no longer public API in FreeRTOS and it should
-        be replaced by the wrapping of eTaskGetState()
-      - osKernelStart() API changed, must be updated
-      - update FreeRTOSConfig.h file, taking FreeRTOSConfig_template.h file as reference
-
-
-### 13-June-2014 ###
-====================
-  + FreeRTOSConfig_template.h: add this definition #define INCLUDE_xTaskGetSchedulerState 1
-                               to enable the use of xTaskGetSchedulerState() API in the
-                               application code.
-
-
-### 30-April-2014 ###
-=====================
-  + cmsis_os.c: add preprocessor compilation condition when calling some FreeRTOS APIs, to avoid link
-                errors with MDK-ARM when some FreeRTOS features are not enabled in FreeRTOSConfig.h
-
-
-### 22-April-2014 ###
-=====================
-  + Add Tickles mode for CM0 port (IAR, GCC, RVDS).
-
-
-### 18-February-2014 ###
-========================
-   + FreeRTOS V7.6.0 customized version for STM32Cube solution.
-
-
- * 
© COPYRIGHT STMicroelectronics

- */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c b/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
index 7ad5d54..53208ac 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /* Standard includes. */
@@ -30,8 +31,8 @@
 #include 
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 /* FreeRTOS includes. */
@@ -39,119 +40,205 @@ task.h is included from an application file. */
 #include "task.h"
 #include "stream_buffer.h"
 
-#if( configUSE_TASK_NOTIFICATIONS != 1 )
-	#error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c
+#if ( configUSE_TASK_NOTIFICATIONS != 1 )
+    #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c
+#endif
+
+#if ( INCLUDE_xTaskGetCurrentTaskHandle != 1 )
+    #error INCLUDE_xTaskGetCurrentTaskHandle must be set to 1 to build stream_buffer.c
 #endif
 
 /* Lint e961, e9021 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+ * for the header files above, but not in this file, in order to generate the
+ * correct privileged Vs unprivileged linkage and placement. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
 
 /* If the user has not provided application specific Rx notification macros,
-or #defined the notification macros away, them provide default implementations
-that uses task notifications. */
-/*lint -save -e9026 Function like macros allowed and needed here so they can be overidden. */
+ * or #defined the notification macros away, then provide default implementations
+ * that uses task notifications. */
+/*lint -save -e9026 Function like macros allowed and needed here so they can be overridden. */
 #ifndef sbRECEIVE_COMPLETED
-	#define sbRECEIVE_COMPLETED( pxStreamBuffer )										\
-		vTaskSuspendAll();																\
-		{																				\
-			if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )						\
-			{																			\
-				( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend,			\
-									  ( uint32_t ) 0,									\
-									  eNoAction );										\
-				( pxStreamBuffer )->xTaskWaitingToSend = NULL;							\
-			}																			\
-		}																				\
-		( void ) xTaskResumeAll();
+    #define sbRECEIVE_COMPLETED( pxStreamBuffer )                         \
+    vTaskSuspendAll();                                                    \
+    {                                                                     \
+        if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )              \
+        {                                                                 \
+            ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \
+                                  ( uint32_t ) 0,                         \
+                                  eNoAction );                            \
+            ( pxStreamBuffer )->xTaskWaitingToSend = NULL;                \
+        }                                                                 \
+    }                                                                     \
+    ( void ) xTaskResumeAll()
 #endif /* sbRECEIVE_COMPLETED */
 
+/* If user has provided a per-instance receive complete callback, then
+ * invoke the callback else use the receive complete macro which is provided by default for all instances.
+ */
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define prvRECEIVE_COMPLETED( pxStreamBuffer )                                               \
+    do {                                                                                         \
+        if( ( pxStreamBuffer )->pxReceiveCompletedCallback != NULL )                             \
+        {                                                                                        \
+            ( pxStreamBuffer )->pxReceiveCompletedCallback( ( pxStreamBuffer ), pdFALSE, NULL ); \
+        }                                                                                        \
+        else                                                                                     \
+        {                                                                                        \
+            sbRECEIVE_COMPLETED( ( pxStreamBuffer ) );                                           \
+        }                                                                                        \
+    } while( 0 )
+#else /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+    #define prvRECEIVE_COMPLETED( pxStreamBuffer )    sbRECEIVE_COMPLETED( ( pxStreamBuffer ) )
+#endif /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+
 #ifndef sbRECEIVE_COMPLETED_FROM_ISR
-	#define sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer,								\
-										  pxHigherPriorityTaskWoken )					\
-	{																					\
-	UBaseType_t uxSavedInterruptStatus;													\
-																						\
-		uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();		\
-		{																				\
-			if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )						\
-			{																			\
-				( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend,	\
-											 ( uint32_t ) 0,							\
-											 eNoAction,									\
-											 pxHigherPriorityTaskWoken );				\
-				( pxStreamBuffer )->xTaskWaitingToSend = NULL;							\
-			}																			\
-		}																				\
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );					\
-	}
+    #define sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer,                            \
+                                          pxHigherPriorityTaskWoken )                \
+    do {                                                                             \
+        UBaseType_t uxSavedInterruptStatus;                                          \
+                                                                                     \
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();                  \
+        {                                                                            \
+            if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )                     \
+            {                                                                        \
+                ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend, \
+                                             ( uint32_t ) 0,                         \
+                                             eNoAction,                              \
+                                             ( pxHigherPriorityTaskWoken ) );        \
+                ( pxStreamBuffer )->xTaskWaitingToSend = NULL;                       \
+            }                                                                        \
+        }                                                                            \
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );                 \
+    } while( 0 )
 #endif /* sbRECEIVE_COMPLETED_FROM_ISR */
 
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define prvRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer,                                                               \
+                                           pxHigherPriorityTaskWoken )                                                   \
+    do {                                                                                                                 \
+        if( ( pxStreamBuffer )->pxReceiveCompletedCallback != NULL )                                                     \
+        {                                                                                                                \
+            ( pxStreamBuffer )->pxReceiveCompletedCallback( ( pxStreamBuffer ), pdTRUE, ( pxHigherPriorityTaskWoken ) ); \
+        }                                                                                                                \
+        else                                                                                                             \
+        {                                                                                                                \
+            sbRECEIVE_COMPLETED_FROM_ISR( ( pxStreamBuffer ), ( pxHigherPriorityTaskWoken ) );                           \
+        }                                                                                                                \
+    } while( 0 )
+#else /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+    #define prvRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ) \
+    sbRECEIVE_COMPLETED_FROM_ISR( ( pxStreamBuffer ), ( pxHigherPriorityTaskWoken ) )
+#endif /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+
 /* If the user has not provided an application specific Tx notification macro,
-or #defined the notification macro away, them provide a default implementation
-that uses task notifications. */
+ * or #defined the notification macro away, then provide a default
+ * implementation that uses task notifications.
+ */
 #ifndef sbSEND_COMPLETED
-	#define sbSEND_COMPLETED( pxStreamBuffer )											\
-		vTaskSuspendAll();																\
-		{																				\
-			if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )						\
-			{																			\
-				( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive,		\
-									  ( uint32_t ) 0,									\
-									  eNoAction );										\
-				( pxStreamBuffer )->xTaskWaitingToReceive = NULL;						\
-			}																			\
-		}																				\
-		( void ) xTaskResumeAll();
+    #define sbSEND_COMPLETED( pxStreamBuffer )                               \
+    vTaskSuspendAll();                                                       \
+    {                                                                        \
+        if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )              \
+        {                                                                    \
+            ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \
+                                  ( uint32_t ) 0,                            \
+                                  eNoAction );                               \
+            ( pxStreamBuffer )->xTaskWaitingToReceive = NULL;                \
+        }                                                                    \
+    }                                                                        \
+    ( void ) xTaskResumeAll()
 #endif /* sbSEND_COMPLETED */
 
+/* If user has provided a per-instance send completed callback, then
+ * invoke the callback else use the send complete macro which is provided by default for all instances.
+ */
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define prvSEND_COMPLETED( pxStreamBuffer )                                           \
+    do {                                                                                  \
+        if( ( pxStreamBuffer )->pxSendCompletedCallback != NULL )                         \
+        {                                                                                 \
+            pxStreamBuffer->pxSendCompletedCallback( ( pxStreamBuffer ), pdFALSE, NULL ); \
+        }                                                                                 \
+        else                                                                              \
+        {                                                                                 \
+            sbSEND_COMPLETED( ( pxStreamBuffer ) );                                       \
+        }                                                                                 \
+    } while( 0 )
+#else /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+    #define prvSEND_COMPLETED( pxStreamBuffer )    sbSEND_COMPLETED( ( pxStreamBuffer ) )
+#endif /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+
+
 #ifndef sbSEND_COMPLETE_FROM_ISR
-	#define sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken )		\
-	{																					\
-	UBaseType_t uxSavedInterruptStatus;													\
-																						\
-		uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();		\
-		{																				\
-			if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )						\
-			{																			\
-				( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive,	\
-											 ( uint32_t ) 0,							\
-											 eNoAction,									\
-											 pxHigherPriorityTaskWoken );				\
-				( pxStreamBuffer )->xTaskWaitingToReceive = NULL;						\
-			}																			\
-		}																				\
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );					\
-	}
+    #define sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken )       \
+    do {                                                                                \
+        UBaseType_t uxSavedInterruptStatus;                                             \
+                                                                                        \
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();                     \
+        {                                                                               \
+            if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )                     \
+            {                                                                           \
+                ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive, \
+                                             ( uint32_t ) 0,                            \
+                                             eNoAction,                                 \
+                                             ( pxHigherPriorityTaskWoken ) );           \
+                ( pxStreamBuffer )->xTaskWaitingToReceive = NULL;                       \
+            }                                                                           \
+        }                                                                               \
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );                    \
+    } while( 0 )
 #endif /* sbSEND_COMPLETE_FROM_ISR */
+
+
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define prvSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken )                                    \
+    do {                                                                                                              \
+        if( ( pxStreamBuffer )->pxSendCompletedCallback != NULL )                                                     \
+        {                                                                                                             \
+            ( pxStreamBuffer )->pxSendCompletedCallback( ( pxStreamBuffer ), pdTRUE, ( pxHigherPriorityTaskWoken ) ); \
+        }                                                                                                             \
+        else                                                                                                          \
+        {                                                                                                             \
+            sbSEND_COMPLETE_FROM_ISR( ( pxStreamBuffer ), ( pxHigherPriorityTaskWoken ) );                            \
+        }                                                                                                             \
+    } while( 0 )
+#else /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+    #define prvSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ) \
+    sbSEND_COMPLETE_FROM_ISR( ( pxStreamBuffer ), ( pxHigherPriorityTaskWoken ) )
+#endif /* if ( configUSE_SB_COMPLETED_CALLBACK == 1 ) */
+
 /*lint -restore (9026) */
 
 /* The number of bytes used to hold the length of a message in the buffer. */
-#define sbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
+#define sbBYTES_TO_STORE_MESSAGE_LENGTH    ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
 
 /* Bits stored in the ucFlags field of the stream buffer. */
-#define sbFLAGS_IS_MESSAGE_BUFFER		( ( uint8_t ) 1 ) /* Set if the stream buffer was created as a message buffer, in which case it holds discrete messages rather than a stream. */
-#define sbFLAGS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 2 ) /* Set if the stream buffer was created using statically allocated memory. */
+#define sbFLAGS_IS_MESSAGE_BUFFER          ( ( uint8_t ) 1 ) /* Set if the stream buffer was created as a message buffer, in which case it holds discrete messages rather than a stream. */
+#define sbFLAGS_IS_STATICALLY_ALLOCATED    ( ( uint8_t ) 2 ) /* Set if the stream buffer was created using statically allocated memory. */
 
 /*-----------------------------------------------------------*/
 
 /* Structure that hold state information on the buffer. */
-typedef struct StreamBufferDef_t /*lint !e9058 Style convention uses tag. */
+typedef struct StreamBufferDef_t                 /*lint !e9058 Style convention uses tag. */
 {
-	volatile size_t xTail;				/* Index to the next item to read within the buffer. */
-	volatile size_t xHead;				/* Index to the next item to write within the buffer. */
-	size_t xLength;						/* The length of the buffer pointed to by pucBuffer. */
-	size_t xTriggerLevelBytes;			/* The number of bytes that must be in the stream buffer before a task that is waiting for data is unblocked. */
-	volatile TaskHandle_t xTaskWaitingToReceive; /* Holds the handle of a task waiting for data, or NULL if no tasks are waiting. */
-	volatile TaskHandle_t xTaskWaitingToSend;	/* Holds the handle of a task waiting to send data to a message buffer that is full. */
-	uint8_t *pucBuffer;					/* Points to the buffer itself - that is - the RAM that stores the data passed through the buffer. */
-	uint8_t ucFlags;
+    volatile size_t xTail;                       /* Index to the next item to read within the buffer. */
+    volatile size_t xHead;                       /* Index to the next item to write within the buffer. */
+    size_t xLength;                              /* The length of the buffer pointed to by pucBuffer. */
+    size_t xTriggerLevelBytes;                   /* The number of bytes that must be in the stream buffer before a task that is waiting for data is unblocked. */
+    volatile TaskHandle_t xTaskWaitingToReceive; /* Holds the handle of a task waiting for data, or NULL if no tasks are waiting. */
+    volatile TaskHandle_t xTaskWaitingToSend;    /* Holds the handle of a task waiting to send data to a message buffer that is full. */
+    uint8_t * pucBuffer;                         /* Points to the buffer itself - that is - the RAM that stores the data passed through the buffer. */
+    uint8_t ucFlags;
 
-	#if ( configUSE_TRACE_FACILITY == 1 )
-		UBaseType_t uxStreamBufferNumber;		/* Used for tracing purposes. */
-	#endif
+    #if ( configUSE_TRACE_FACILITY == 1 )
+        UBaseType_t uxStreamBufferNumber; /* Used for tracing purposes. */
+    #endif
+
+    #if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+        StreamBufferCallbackFunction_t pxSendCompletedCallback;    /* Optional callback called on send complete. sbSEND_COMPLETED is called if this is NULL. */
+        StreamBufferCallbackFunction_t pxReceiveCompletedCallback; /* Optional callback called on receive complete.  sbRECEIVE_COMPLETED is called if this is NULL. */
+    #endif
 } StreamBuffer_t;
 
 /*
@@ -160,12 +247,20 @@ typedef struct StreamBufferDef_t /*lint !e9058 Style convention uses tag. */
 static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /*
- * Add xCount bytes from pucData into the pxStreamBuffer message buffer.
- * Returns the number of bytes written, which will either equal xCount in the
- * success case, or 0 if there was not enough space in the buffer (in which case
- * no data is written into the buffer).
+ * Add xCount bytes from pucData into the pxStreamBuffer's data storage area.
+ * This function does not update the buffer's xHead pointer, so multiple writes
+ * may be chained together "atomically". This is useful for Message Buffers where
+ * the length and data bytes are written in two separate chunks, and we don't want
+ * the reader to see the buffer as having grown until after all data is copied over.
+ * This function takes a custom xHead value to indicate where to write to (necessary
+ * for chaining) and returns the the resulting xHead position.
+ * To mark the write as complete, manually set the buffer's xHead field with the
+ * returned xHead from this function.
  */
-static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, const uint8_t *pucData, size_t xCount ) PRIVILEGED_FUNCTION;
+static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer,
+                                     const uint8_t * pucData,
+                                     size_t xCount,
+                                     size_t xHead ) PRIVILEGED_FUNCTION;
 
 /*
  * If the stream buffer is being used as a message buffer, then reads an entire
@@ -174,11 +269,10 @@ static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, cons
  * prvReadBytesFromBuffer() is called to actually extract the bytes from the
  * buffer's data storage area.
  */
-static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
-										void *pvRxData,
-										size_t xBufferLengthBytes,
-										size_t xBytesAvailable,
-										size_t xBytesToStoreMessageLength ) PRIVILEGED_FUNCTION;
+static size_t prvReadMessageFromBuffer( StreamBuffer_t * pxStreamBuffer,
+                                        void * pvRxData,
+                                        size_t xBufferLengthBytes,
+                                        size_t xBytesAvailable ) PRIVILEGED_FUNCTION;
 
 /*
  * If the stream buffer is being used as a message buffer, then writes an entire
@@ -187,1077 +281,1175 @@ static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
  * prvWriteBytestoBuffer() is called to actually send the bytes to the buffer's
  * data storage area.
  */
-static size_t prvWriteMessageToBuffer(  StreamBuffer_t * const pxStreamBuffer,
-										const void * pvTxData,
-										size_t xDataLengthBytes,
-										size_t xSpace,
-										size_t xRequiredSpace ) PRIVILEGED_FUNCTION;
+static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer,
+                                       const void * pvTxData,
+                                       size_t xDataLengthBytes,
+                                       size_t xSpace,
+                                       size_t xRequiredSpace ) PRIVILEGED_FUNCTION;
 
 /*
- * Read xMaxCount bytes from the pxStreamBuffer message buffer and write them
- * to pucData.
+ * Copies xCount bytes from the pxStreamBuffer's data storage area to pucData.
+ * This function does not update the buffer's xTail pointer, so multiple reads
+ * may be chained together "atomically". This is useful for Message Buffers where
+ * the length and data bytes are read in two separate chunks, and we don't want
+ * the writer to see the buffer as having more free space until after all data is
+ * copied over, especially if we have to abort the read due to insufficient receiving space.
+ * This function takes a custom xTail value to indicate where to read from (necessary
+ * for chaining) and returns the the resulting xTail position.
+ * To mark the read as complete, manually set the buffer's xTail field with the
+ * returned xTail from this function.
  */
-static size_t prvReadBytesFromBuffer( StreamBuffer_t *pxStreamBuffer,
-									  uint8_t *pucData,
-									  size_t xMaxCount,
-									  size_t xBytesAvailable ) PRIVILEGED_FUNCTION;
+static size_t prvReadBytesFromBuffer( StreamBuffer_t * pxStreamBuffer,
+                                      uint8_t * pucData,
+                                      size_t xCount,
+                                      size_t xTail ) PRIVILEGED_FUNCTION;
 
 /*
  * Called by both pxStreamBufferCreate() and pxStreamBufferCreateStatic() to
  * initialise the members of the newly created stream buffer structure.
  */
 static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
-										  uint8_t * const pucBuffer,
-										  size_t xBufferSizeBytes,
-										  size_t xTriggerLevelBytes,
-										  uint8_t ucFlags ) PRIVILEGED_FUNCTION;
+                                          uint8_t * const pucBuffer,
+                                          size_t xBufferSizeBytes,
+                                          size_t xTriggerLevelBytes,
+                                          uint8_t ucFlags,
+                                          StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                          StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------*/
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
+                                                     size_t xTriggerLevelBytes,
+                                                     BaseType_t xIsMessageBuffer,
+                                                     StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                     StreamBufferCallbackFunction_t pxReceiveCompletedCallback )
+    {
+        void * pvAllocatedMemory;
+        uint8_t ucFlags;
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+        /* In case the stream buffer is going to be used as a message buffer
+         * (that is, it will hold discrete messages with a little meta data that
+         * says how big the next message is) check the buffer will be large enough
+         * to hold at least one message. */
+        if( xIsMessageBuffer == pdTRUE )
+        {
+            /* Is a message buffer but not statically allocated. */
+            ucFlags = sbFLAGS_IS_MESSAGE_BUFFER;
+            configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
+        }
+        else
+        {
+            /* Not a message buffer and not statically allocated. */
+            ucFlags = 0;
+            configASSERT( xBufferSizeBytes > 0 );
+        }
 
-	StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer )
-	{
-	uint8_t *pucAllocatedMemory;
-	uint8_t ucFlags;
+        configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
 
-		/* In case the stream buffer is going to be used as a message buffer
-		(that is, it will hold discrete messages with a little meta data that
-		says how big the next message is) check the buffer will be large enough
-		to hold at least one message. */
-		if( xIsMessageBuffer == pdTRUE )
-		{
-			/* Is a message buffer but not statically allocated. */
-			ucFlags = sbFLAGS_IS_MESSAGE_BUFFER;
-			configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
-		}
-		else
-		{
-			/* Not a message buffer and not statically allocated. */
-			ucFlags = 0;
-			configASSERT( xBufferSizeBytes > 0 );
-		}
-		configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
+        /* A trigger level of 0 would cause a waiting task to unblock even when
+         * the buffer was empty. */
+        if( xTriggerLevelBytes == ( size_t ) 0 )
+        {
+            xTriggerLevelBytes = ( size_t ) 1;
+        }
 
-		/* A trigger level of 0 would cause a waiting task to unblock even when
-		the buffer was empty. */
-		if( xTriggerLevelBytes == ( size_t ) 0 )
-		{
-			xTriggerLevelBytes = ( size_t ) 1;
-		}
+        /* A stream buffer requires a StreamBuffer_t structure and a buffer.
+         * Both are allocated in a single call to pvPortMalloc().  The
+         * StreamBuffer_t structure is placed at the start of the allocated memory
+         * and the buffer follows immediately after.  The requested size is
+         * incremented so the free space is returned as the user would expect -
+         * this is a quirk of the implementation that means otherwise the free
+         * space would be reported as one byte smaller than would be logically
+         * expected. */
+        if( xBufferSizeBytes < ( xBufferSizeBytes + 1 + sizeof( StreamBuffer_t ) ) )
+        {
+            xBufferSizeBytes++;
+            pvAllocatedMemory = pvPortMalloc( xBufferSizeBytes + sizeof( StreamBuffer_t ) );
+        }
+        else
+        {
+            pvAllocatedMemory = NULL;
+        }
 
-		/* A stream buffer requires a StreamBuffer_t structure and a buffer.
-		Both are allocated in a single call to pvPortMalloc().  The
-		StreamBuffer_t structure is placed at the start of the allocated memory
-		and the buffer follows immediately after.  The requested size is
-		incremented so the free space is returned as the user would expect -
-		this is a quirk of the implementation that means otherwise the free
-		space would be reported as one byte smaller than would be logically
-		expected. */
-		xBufferSizeBytes++;
-		pucAllocatedMemory = ( uint8_t * ) pvPortMalloc( xBufferSizeBytes + sizeof( StreamBuffer_t ) ); /*lint !e9079 malloc() only returns void*. */
+        if( pvAllocatedMemory != NULL )
+        {
+            prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pvAllocatedMemory,                         /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */
+                                          ( ( uint8_t * ) pvAllocatedMemory ) + sizeof( StreamBuffer_t ), /* Storage area follows. */ /*lint !e9016 Indexing past structure valid for uint8_t pointer, also storage area has no alignment requirement. */
+                                          xBufferSizeBytes,
+                                          xTriggerLevelBytes,
+                                          ucFlags,
+                                          pxSendCompletedCallback,
+                                          pxReceiveCompletedCallback );
 
-		if( pucAllocatedMemory != NULL )
-		{
-			prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory, /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */
-										   pucAllocatedMemory + sizeof( StreamBuffer_t ),  /* Storage area follows. */ /*lint !e9016 Indexing past structure valid for uint8_t pointer, also storage area has no alignment requirement. */
-										   xBufferSizeBytes,
-										   xTriggerLevelBytes,
-										   ucFlags );
-
-			traceSTREAM_BUFFER_CREATE( ( ( StreamBuffer_t * ) pucAllocatedMemory ), xIsMessageBuffer );
-		}
-		else
-		{
-			traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer );
-		}
-
-		return ( StreamBufferHandle_t ) pucAllocatedMemory; /*lint !e9087 !e826 Safe cast as allocated memory is aligned. */
-	}
+            traceSTREAM_BUFFER_CREATE( ( ( StreamBuffer_t * ) pvAllocatedMemory ), xIsMessageBuffer );
+        }
+        else
+        {
+            traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer );
+        }
 
+        return ( StreamBufferHandle_t ) pvAllocatedMemory; /*lint !e9087 !e826 Safe cast as allocated memory is aligned. */
+    }
 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-	StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
-														   size_t xTriggerLevelBytes,
-														   BaseType_t xIsMessageBuffer,
-														   uint8_t * const pucStreamBufferStorageArea,
-														   StaticStreamBuffer_t * const pxStaticStreamBuffer )
-	{
-	StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) pxStaticStreamBuffer; /*lint !e740 !e9087 Safe cast as StaticStreamBuffer_t is opaque Streambuffer_t. */
-	StreamBufferHandle_t xReturn;
-	uint8_t ucFlags;
+    StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
+                                                           size_t xTriggerLevelBytes,
+                                                           BaseType_t xIsMessageBuffer,
+                                                           uint8_t * const pucStreamBufferStorageArea,
+                                                           StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                           StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                           StreamBufferCallbackFunction_t pxReceiveCompletedCallback )
+    {
+        StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) pxStaticStreamBuffer; /*lint !e740 !e9087 Safe cast as StaticStreamBuffer_t is opaque Streambuffer_t. */
+        StreamBufferHandle_t xReturn;
+        uint8_t ucFlags;
 
-		configASSERT( pucStreamBufferStorageArea );
-		configASSERT( pxStaticStreamBuffer );
-		configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
+        configASSERT( pucStreamBufferStorageArea );
+        configASSERT( pxStaticStreamBuffer );
+        configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
 
-		/* A trigger level of 0 would cause a waiting task to unblock even when
-		the buffer was empty. */
-		if( xTriggerLevelBytes == ( size_t ) 0 )
-		{
-			xTriggerLevelBytes = ( size_t ) 1;
-		}
+        /* A trigger level of 0 would cause a waiting task to unblock even when
+         * the buffer was empty. */
+        if( xTriggerLevelBytes == ( size_t ) 0 )
+        {
+            xTriggerLevelBytes = ( size_t ) 1;
+        }
 
-		if( xIsMessageBuffer != pdFALSE )
-		{
-			/* Statically allocated message buffer. */
-			ucFlags = sbFLAGS_IS_MESSAGE_BUFFER | sbFLAGS_IS_STATICALLY_ALLOCATED;
-		}
-		else
-		{
-			/* Statically allocated stream buffer. */
-			ucFlags = sbFLAGS_IS_STATICALLY_ALLOCATED;
-		}
+        if( xIsMessageBuffer != pdFALSE )
+        {
+            /* Statically allocated message buffer. */
+            ucFlags = sbFLAGS_IS_MESSAGE_BUFFER | sbFLAGS_IS_STATICALLY_ALLOCATED;
+        }
+        else
+        {
+            /* Statically allocated stream buffer. */
+            ucFlags = sbFLAGS_IS_STATICALLY_ALLOCATED;
+        }
 
-		/* In case the stream buffer is going to be used as a message buffer
-		(that is, it will hold discrete messages with a little meta data that
-		says how big the next message is) check the buffer will be large enough
-		to hold at least one message. */
-		configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
+        /* In case the stream buffer is going to be used as a message buffer
+         * (that is, it will hold discrete messages with a little meta data that
+         * says how big the next message is) check the buffer will be large enough
+         * to hold at least one message. */
+        configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
 
-		#if( configASSERT_DEFINED == 1 )
-		{
-			/* Sanity check that the size of the structure used to declare a
-			variable of type StaticStreamBuffer_t equals the size of the real
-			message buffer structure. */
-			volatile size_t xSize = sizeof( StaticStreamBuffer_t );
-			configASSERT( xSize == sizeof( StreamBuffer_t ) );
-		} /*lint !e529 xSize is referenced is configASSERT() is defined. */
-		#endif /* configASSERT_DEFINED */
+        #if ( configASSERT_DEFINED == 1 )
+        {
+            /* Sanity check that the size of the structure used to declare a
+             * variable of type StaticStreamBuffer_t equals the size of the real
+             * message buffer structure. */
+            volatile size_t xSize = sizeof( StaticStreamBuffer_t );
+            configASSERT( xSize == sizeof( StreamBuffer_t ) );
+        } /*lint !e529 xSize is referenced is configASSERT() is defined. */
+        #endif /* configASSERT_DEFINED */
 
-		if( ( pucStreamBufferStorageArea != NULL ) && ( pxStaticStreamBuffer != NULL ) )
-		{
-			prvInitialiseNewStreamBuffer( pxStreamBuffer,
-										  pucStreamBufferStorageArea,
-										  xBufferSizeBytes,
-										  xTriggerLevelBytes,
-										  ucFlags );
+        if( ( pucStreamBufferStorageArea != NULL ) && ( pxStaticStreamBuffer != NULL ) )
+        {
+            prvInitialiseNewStreamBuffer( pxStreamBuffer,
+                                          pucStreamBufferStorageArea,
+                                          xBufferSizeBytes,
+                                          xTriggerLevelBytes,
+                                          ucFlags,
+                                          pxSendCompletedCallback,
+                                          pxReceiveCompletedCallback );
 
-			/* Remember this was statically allocated in case it is ever deleted
-			again. */
-			pxStreamBuffer->ucFlags |= sbFLAGS_IS_STATICALLY_ALLOCATED;
+            /* Remember this was statically allocated in case it is ever deleted
+             * again. */
+            pxStreamBuffer->ucFlags |= sbFLAGS_IS_STATICALLY_ALLOCATED;
 
-			traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer );
+            traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer );
 
-			xReturn = ( StreamBufferHandle_t ) pxStaticStreamBuffer; /*lint !e9087 Data hiding requires cast to opaque type. */
-		}
-		else
-		{
-			xReturn = NULL;
-			traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer );
-		}
-
-		return xReturn;
-	}
+            xReturn = ( StreamBufferHandle_t ) pxStaticStreamBuffer; /*lint !e9087 Data hiding requires cast to opaque type. */
+        }
+        else
+        {
+            xReturn = NULL;
+            traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer );
+        }
 
+        return xReturn;
+    }
 #endif /* ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 /*-----------------------------------------------------------*/
 
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffer,
+                                              uint8_t ** ppucStreamBufferStorageArea,
+                                              StaticStreamBuffer_t ** ppxStaticStreamBuffer )
+    {
+        BaseType_t xReturn;
+        StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+
+        configASSERT( pxStreamBuffer );
+        configASSERT( ppucStreamBufferStorageArea );
+        configASSERT( ppxStaticStreamBuffer );
+
+        if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_STATICALLY_ALLOCATED ) != ( uint8_t ) 0 )
+        {
+            *ppucStreamBufferStorageArea = pxStreamBuffer->pucBuffer;
+            *ppxStaticStreamBuffer = ( StaticStreamBuffer_t * ) pxStreamBuffer;
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+
+        return xReturn;
+    }
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
 void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )
 {
-StreamBuffer_t * pxStreamBuffer = xStreamBuffer;
+    StreamBuffer_t * pxStreamBuffer = xStreamBuffer;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	traceSTREAM_BUFFER_DELETE( xStreamBuffer );
+    traceSTREAM_BUFFER_DELETE( xStreamBuffer );
 
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) pdFALSE )
-	{
-		#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-		{
-			/* Both the structure and the buffer were allocated using a single call
-			to pvPortMalloc(), hence only one call to vPortFree() is required. */
-			vPortFree( ( void * ) pxStreamBuffer ); /*lint !e9087 Standard free() semantics require void *, plus pxStreamBuffer was allocated by pvPortMalloc(). */
-		}
-		#else
-		{
-			/* Should not be possible to get here, ucFlags must be corrupt.
-			Force an assert. */
-			configASSERT( xStreamBuffer == ( StreamBufferHandle_t ) ~0 );
-		}
-		#endif
-	}
-	else
-	{
-		/* The structure and buffer were not allocated dynamically and cannot be
-		freed - just scrub the structure so future use will assert. */
-		( void ) memset( pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) );
-	}
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) pdFALSE )
+    {
+        #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+        {
+            /* Both the structure and the buffer were allocated using a single call
+            * to pvPortMalloc(), hence only one call to vPortFree() is required. */
+            vPortFree( ( void * ) pxStreamBuffer ); /*lint !e9087 Standard free() semantics require void *, plus pxStreamBuffer was allocated by pvPortMalloc(). */
+        }
+        #else
+        {
+            /* Should not be possible to get here, ucFlags must be corrupt.
+             * Force an assert. */
+            configASSERT( xStreamBuffer == ( StreamBufferHandle_t ) ~0 );
+        }
+        #endif
+    }
+    else
+    {
+        /* The structure and buffer were not allocated dynamically and cannot be
+         * freed - just scrub the structure so future use will assert. */
+        ( void ) memset( pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) );
+    }
 }
 /*-----------------------------------------------------------*/
 
 BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn = pdFAIL;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn = pdFAIL;
+    StreamBufferCallbackFunction_t pxSendCallback = NULL, pxReceiveCallback = NULL;
 
-#if( configUSE_TRACE_FACILITY == 1 )
-	UBaseType_t uxStreamBufferNumber;
-#endif
+    #if ( configUSE_TRACE_FACILITY == 1 )
+        UBaseType_t uxStreamBufferNumber;
+    #endif
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	#if( configUSE_TRACE_FACILITY == 1 )
-	{
-		/* Store the stream buffer number so it can be restored after the
-		reset. */
-		uxStreamBufferNumber = pxStreamBuffer->uxStreamBufferNumber;
-	}
-	#endif
+    #if ( configUSE_TRACE_FACILITY == 1 )
+    {
+        /* Store the stream buffer number so it can be restored after the
+         * reset. */
+        uxStreamBufferNumber = pxStreamBuffer->uxStreamBufferNumber;
+    }
+    #endif
 
-	/* Can only reset a message buffer if there are no tasks blocked on it. */
-	taskENTER_CRITICAL();
-	{
-		if( pxStreamBuffer->xTaskWaitingToReceive == NULL )
-		{
-			if( pxStreamBuffer->xTaskWaitingToSend == NULL )
-			{
-				prvInitialiseNewStreamBuffer( pxStreamBuffer,
-											  pxStreamBuffer->pucBuffer,
-											  pxStreamBuffer->xLength,
-											  pxStreamBuffer->xTriggerLevelBytes,
-											  pxStreamBuffer->ucFlags );
-				xReturn = pdPASS;
+    /* Can only reset a message buffer if there are no tasks blocked on it. */
+    taskENTER_CRITICAL();
+    {
+        if( ( pxStreamBuffer->xTaskWaitingToReceive == NULL ) && ( pxStreamBuffer->xTaskWaitingToSend == NULL ) )
+        {
+            #if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+            {
+                pxSendCallback = pxStreamBuffer->pxSendCompletedCallback;
+                pxReceiveCallback = pxStreamBuffer->pxReceiveCompletedCallback;
+            }
+            #endif
 
-				#if( configUSE_TRACE_FACILITY == 1 )
-				{
-					pxStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
-				}
-				#endif
+            prvInitialiseNewStreamBuffer( pxStreamBuffer,
+                                          pxStreamBuffer->pucBuffer,
+                                          pxStreamBuffer->xLength,
+                                          pxStreamBuffer->xTriggerLevelBytes,
+                                          pxStreamBuffer->ucFlags,
+                                          pxSendCallback,
+                                          pxReceiveCallback );
 
-				traceSTREAM_BUFFER_RESET( xStreamBuffer );
-			}
-		}
-	}
-	taskEXIT_CRITICAL();
+            #if ( configUSE_TRACE_FACILITY == 1 )
+            {
+                pxStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
+            }
+            #endif
 
-	return xReturn;
+            traceSTREAM_BUFFER_RESET( xStreamBuffer );
+
+            xReturn = pdPASS;
+        }
+    }
+    taskEXIT_CRITICAL();
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel )
+BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
+                                         size_t xTriggerLevel )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	/* It is not valid for the trigger level to be 0. */
-	if( xTriggerLevel == ( size_t ) 0 )
-	{
-		xTriggerLevel = ( size_t ) 1;
-	}
+    /* It is not valid for the trigger level to be 0. */
+    if( xTriggerLevel == ( size_t ) 0 )
+    {
+        xTriggerLevel = ( size_t ) 1;
+    }
 
-	/* The trigger level is the number of bytes that must be in the stream
-	buffer before a task that is waiting for data is unblocked. */
-	if( xTriggerLevel <= pxStreamBuffer->xLength )
-	{
-		pxStreamBuffer->xTriggerLevelBytes = xTriggerLevel;
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+    /* The trigger level is the number of bytes that must be in the stream
+     * buffer before a task that is waiting for data is unblocked. */
+    if( xTriggerLevel < pxStreamBuffer->xLength )
+    {
+        pxStreamBuffer->xTriggerLevelBytes = xTriggerLevel;
+        xReturn = pdPASS;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer )
 {
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xSpace;
+    const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xSpace;
+    size_t xOriginalTail;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	xSpace = pxStreamBuffer->xLength + pxStreamBuffer->xTail;
-	xSpace -= pxStreamBuffer->xHead;
-	xSpace -= ( size_t ) 1;
+    /* The code below reads xTail and then xHead.  This is safe if the stream
+     * buffer is updated once between the two reads - but not if the stream buffer
+     * is updated more than once between the two reads - hence the loop. */
+    do
+    {
+        xOriginalTail = pxStreamBuffer->xTail;
+        xSpace = pxStreamBuffer->xLength + pxStreamBuffer->xTail;
+        xSpace -= pxStreamBuffer->xHead;
+    } while( xOriginalTail != pxStreamBuffer->xTail );
 
-	if( xSpace >= pxStreamBuffer->xLength )
-	{
-		xSpace -= pxStreamBuffer->xLength;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    xSpace -= ( size_t ) 1;
 
-	return xSpace;
+    if( xSpace >= pxStreamBuffer->xLength )
+    {
+        xSpace -= pxStreamBuffer->xLength;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
+
+    return xSpace;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer )
 {
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn;
+    const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReturn;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	xReturn = prvBytesInBuffer( pxStreamBuffer );
-	return xReturn;
+    xReturn = prvBytesInBuffer( pxStreamBuffer );
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
-						  const void *pvTxData,
-						  size_t xDataLengthBytes,
-						  TickType_t xTicksToWait )
+                          const void * pvTxData,
+                          size_t xDataLengthBytes,
+                          TickType_t xTicksToWait )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xSpace = 0;
-size_t xRequiredSpace = xDataLengthBytes;
-TimeOut_t xTimeOut;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReturn, xSpace = 0;
+    size_t xRequiredSpace = xDataLengthBytes;
+    TimeOut_t xTimeOut;
+    size_t xMaxReportedSpace = 0;
 
-	configASSERT( pvTxData );
-	configASSERT( pxStreamBuffer );
+    configASSERT( pvTxData );
+    configASSERT( pxStreamBuffer );
 
-	/* This send function is used to write to both message buffers and stream
-	buffers.  If this is a message buffer then the space needed must be
-	increased by the amount of bytes needed to store the length of the
-	message. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
+    /* The maximum amount of space a stream buffer will ever report is its length
+     * minus 1. */
+    xMaxReportedSpace = pxStreamBuffer->xLength - ( size_t ) 1;
 
-		/* Overflow? */
-		configASSERT( xRequiredSpace > xDataLengthBytes );
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* This send function is used to write to both message buffers and stream
+     * buffers.  If this is a message buffer then the space needed must be
+     * increased by the amount of bytes needed to store the length of the
+     * message. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
 
-	if( xTicksToWait != ( TickType_t ) 0 )
-	{
-		vTaskSetTimeOutState( &xTimeOut );
+        /* Overflow? */
+        configASSERT( xRequiredSpace > xDataLengthBytes );
 
-		do
-		{
-			/* Wait until the required number of bytes are free in the message
-			buffer. */
-			taskENTER_CRITICAL();
-			{
-				xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
+        /* If this is a message buffer then it must be possible to write the
+         * whole message. */
+        if( xRequiredSpace > xMaxReportedSpace )
+        {
+            /* The message would not fit even if the entire buffer was empty,
+             * so don't wait for space. */
+            xTicksToWait = ( TickType_t ) 0;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        /* If this is a stream buffer then it is acceptable to write only part
+         * of the message to the buffer.  Cap the length to the total length of
+         * the buffer. */
+        if( xRequiredSpace > xMaxReportedSpace )
+        {
+            xRequiredSpace = xMaxReportedSpace;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
-				if( xSpace < xRequiredSpace )
-				{
-					/* Clear notification state as going to wait for space. */
-					( void ) xTaskNotifyStateClear( NULL );
+    if( xTicksToWait != ( TickType_t ) 0 )
+    {
+        vTaskSetTimeOutState( &xTimeOut );
 
-					/* Should only be one writer. */
-					configASSERT( pxStreamBuffer->xTaskWaitingToSend == NULL );
-					pxStreamBuffer->xTaskWaitingToSend = xTaskGetCurrentTaskHandle();
-				}
-				else
-				{
-					taskEXIT_CRITICAL();
-					break;
-				}
-			}
-			taskEXIT_CRITICAL();
+        do
+        {
+            /* Wait until the required number of bytes are free in the message
+             * buffer. */
+            taskENTER_CRITICAL();
+            {
+                xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
 
-			traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer );
-			( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
-			pxStreamBuffer->xTaskWaitingToSend = NULL;
+                if( xSpace < xRequiredSpace )
+                {
+                    /* Clear notification state as going to wait for space. */
+                    ( void ) xTaskNotifyStateClear( NULL );
 
-		} while( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE );
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+                    /* Should only be one writer. */
+                    configASSERT( pxStreamBuffer->xTaskWaitingToSend == NULL );
+                    pxStreamBuffer->xTaskWaitingToSend = xTaskGetCurrentTaskHandle();
+                }
+                else
+                {
+                    taskEXIT_CRITICAL();
+                    break;
+                }
+            }
+            taskEXIT_CRITICAL();
 
-	if( xSpace == ( size_t ) 0 )
-	{
-		xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+            traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer );
+            ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
+            pxStreamBuffer->xTaskWaitingToSend = NULL;
+        } while( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE );
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
+    if( xSpace == ( size_t ) 0 )
+    {
+        xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	if( xReturn > ( size_t ) 0 )
-	{
-		traceSTREAM_BUFFER_SEND( xStreamBuffer, xReturn );
+    xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
 
-		/* Was a task waiting for the data? */
-		if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
-		{
-			sbSEND_COMPLETED( pxStreamBuffer );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-		traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer );
-	}
+    if( xReturn > ( size_t ) 0 )
+    {
+        traceSTREAM_BUFFER_SEND( xStreamBuffer, xReturn );
 
-	return xReturn;
+        /* Was a task waiting for the data? */
+        if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
+        {
+            prvSEND_COMPLETED( pxStreamBuffer );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+        traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer );
+    }
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
-								 const void *pvTxData,
-								 size_t xDataLengthBytes,
-								 BaseType_t * const pxHigherPriorityTaskWoken )
+                                 const void * pvTxData,
+                                 size_t xDataLengthBytes,
+                                 BaseType_t * const pxHigherPriorityTaskWoken )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xSpace;
-size_t xRequiredSpace = xDataLengthBytes;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReturn, xSpace;
+    size_t xRequiredSpace = xDataLengthBytes;
 
-	configASSERT( pvTxData );
-	configASSERT( pxStreamBuffer );
+    configASSERT( pvTxData );
+    configASSERT( pxStreamBuffer );
 
-	/* This send function is used to write to both message buffers and stream
-	buffers.  If this is a message buffer then the space needed must be
-	increased by the amount of bytes needed to store the length of the
-	message. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* This send function is used to write to both message buffers and stream
+     * buffers.  If this is a message buffer then the space needed must be
+     * increased by the amount of bytes needed to store the length of the
+     * message. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
-	xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
+    xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
+    xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
 
-	if( xReturn > ( size_t ) 0 )
-	{
-		/* Was a task waiting for the data? */
-		if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
-		{
-			sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    if( xReturn > ( size_t ) 0 )
+    {
+        /* Was a task waiting for the data? */
+        if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
+        {
+            prvSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xReturn );
+    traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xReturn );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer,
-									   const void * pvTxData,
-									   size_t xDataLengthBytes,
-									   size_t xSpace,
-									   size_t xRequiredSpace )
+                                       const void * pvTxData,
+                                       size_t xDataLengthBytes,
+                                       size_t xSpace,
+                                       size_t xRequiredSpace )
 {
-	BaseType_t xShouldWrite;
-	size_t xReturn;
+    size_t xNextHead = pxStreamBuffer->xHead;
+    configMESSAGE_BUFFER_LENGTH_TYPE xMessageLength;
 
-	if( xSpace == ( size_t ) 0 )
-	{
-		/* Doesn't matter if this is a stream buffer or a message buffer, there
-		is no space to write. */
-		xShouldWrite = pdFALSE;
-	}
-	else if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) == ( uint8_t ) 0 )
-	{
-		/* This is a stream buffer, as opposed to a message buffer, so writing a
-		stream of bytes rather than discrete messages.  Write as many bytes as
-		possible. */
-		xShouldWrite = pdTRUE;
-		xDataLengthBytes = configMIN( xDataLengthBytes, xSpace );
-	}
-	else if( xSpace >= xRequiredSpace )
-	{
-		/* This is a message buffer, as opposed to a stream buffer, and there
-		is enough space to write both the message length and the message itself
-		into the buffer.  Start by writing the length of the data, the data
-		itself will be written later in this function. */
-		xShouldWrite = pdTRUE;
-		( void ) prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) &( xDataLengthBytes ), sbBYTES_TO_STORE_MESSAGE_LENGTH );
-	}
-	else
-	{
-		/* There is space available, but not enough space. */
-		xShouldWrite = pdFALSE;
-	}
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        /* This is a message buffer, as opposed to a stream buffer. */
 
-	if( xShouldWrite != pdFALSE )
-	{
-		/* Writes the data itself. */
-		xReturn = prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) pvTxData, xDataLengthBytes ); /*lint !e9079 Storage buffer is implemented as uint8_t for ease of sizing, alighment and access. */
-	}
-	else
-	{
-		xReturn = 0;
-	}
+        /* Convert xDataLengthBytes to the message length type. */
+        xMessageLength = ( configMESSAGE_BUFFER_LENGTH_TYPE ) xDataLengthBytes;
 
-	return xReturn;
+        /* Ensure the data length given fits within configMESSAGE_BUFFER_LENGTH_TYPE. */
+        configASSERT( ( size_t ) xMessageLength == xDataLengthBytes );
+
+        if( xSpace >= xRequiredSpace )
+        {
+            /* There is enough space to write both the message length and the message
+             * itself into the buffer.  Start by writing the length of the data, the data
+             * itself will be written later in this function. */
+            xNextHead = prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) &( xMessageLength ), sbBYTES_TO_STORE_MESSAGE_LENGTH, xNextHead );
+        }
+        else
+        {
+            /* Not enough space, so do not write data to the buffer. */
+            xDataLengthBytes = 0;
+        }
+    }
+    else
+    {
+        /* This is a stream buffer, as opposed to a message buffer, so writing a
+         * stream of bytes rather than discrete messages.  Plan to write as many
+         * bytes as possible. */
+        xDataLengthBytes = configMIN( xDataLengthBytes, xSpace );
+    }
+
+    if( xDataLengthBytes != ( size_t ) 0 )
+    {
+        /* Write the data to the buffer. */
+        pxStreamBuffer->xHead = prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) pvTxData, xDataLengthBytes, xNextHead ); /*lint !e9079 Storage buffer is implemented as uint8_t for ease of sizing, alignment and access. */
+    }
+
+    return xDataLengthBytes;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
-							 void *pvRxData,
-							 size_t xBufferLengthBytes,
-							 TickType_t xTicksToWait )
+                             void * pvRxData,
+                             size_t xBufferLengthBytes,
+                             TickType_t xTicksToWait )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
 
-	configASSERT( pvRxData );
-	configASSERT( pxStreamBuffer );
+    configASSERT( pvRxData );
+    configASSERT( pxStreamBuffer );
 
-	/* This receive function is used by both message buffers, which store
-	discrete messages, and stream buffers, which store a continuous stream of
-	bytes.  Discrete messages include an additional
-	sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
-	message. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
-	}
-	else
-	{
-		xBytesToStoreMessageLength = 0;
-	}
+    /* This receive function is used by both message buffers, which store
+     * discrete messages, and stream buffers, which store a continuous stream of
+     * bytes.  Discrete messages include an additional
+     * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
+     * message. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
+    }
+    else
+    {
+        xBytesToStoreMessageLength = 0;
+    }
 
-	if( xTicksToWait != ( TickType_t ) 0 )
-	{
-		/* Checking if there is data and clearing the notification state must be
-		performed atomically. */
-		taskENTER_CRITICAL();
-		{
-			xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
+    if( xTicksToWait != ( TickType_t ) 0 )
+    {
+        /* Checking if there is data and clearing the notification state must be
+         * performed atomically. */
+        taskENTER_CRITICAL();
+        {
+            xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
 
-			/* If this function was invoked by a message buffer read then
-			xBytesToStoreMessageLength holds the number of bytes used to hold
-			the length of the next discrete message.  If this function was
-			invoked by a stream buffer read then xBytesToStoreMessageLength will
-			be 0. */
-			if( xBytesAvailable <= xBytesToStoreMessageLength )
-			{
-				/* Clear notification state as going to wait for data. */
-				( void ) xTaskNotifyStateClear( NULL );
+            /* If this function was invoked by a message buffer read then
+             * xBytesToStoreMessageLength holds the number of bytes used to hold
+             * the length of the next discrete message.  If this function was
+             * invoked by a stream buffer read then xBytesToStoreMessageLength will
+             * be 0. */
+            if( xBytesAvailable <= xBytesToStoreMessageLength )
+            {
+                /* Clear notification state as going to wait for data. */
+                ( void ) xTaskNotifyStateClear( NULL );
 
-				/* Should only be one reader. */
-				configASSERT( pxStreamBuffer->xTaskWaitingToReceive == NULL );
-				pxStreamBuffer->xTaskWaitingToReceive = xTaskGetCurrentTaskHandle();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		taskEXIT_CRITICAL();
+                /* Should only be one reader. */
+                configASSERT( pxStreamBuffer->xTaskWaitingToReceive == NULL );
+                pxStreamBuffer->xTaskWaitingToReceive = xTaskGetCurrentTaskHandle();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        taskEXIT_CRITICAL();
 
-		if( xBytesAvailable <= xBytesToStoreMessageLength )
-		{
-			/* Wait for data to be available. */
-			traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer );
-			( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
-			pxStreamBuffer->xTaskWaitingToReceive = NULL;
+        if( xBytesAvailable <= xBytesToStoreMessageLength )
+        {
+            /* Wait for data to be available. */
+            traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer );
+            ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
+            pxStreamBuffer->xTaskWaitingToReceive = NULL;
 
-			/* Recheck the data available after blocking. */
-			xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
-	}
+            /* Recheck the data available after blocking. */
+            xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
+    }
 
-	/* Whether receiving a discrete message (where xBytesToStoreMessageLength
-	holds the number of bytes used to store the message length) or a stream of
-	bytes (where xBytesToStoreMessageLength is zero), the number of bytes
-	available must be greater than xBytesToStoreMessageLength to be able to
-	read bytes from the buffer. */
-	if( xBytesAvailable > xBytesToStoreMessageLength )
-	{
-		xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength );
+    /* Whether receiving a discrete message (where xBytesToStoreMessageLength
+     * holds the number of bytes used to store the message length) or a stream of
+     * bytes (where xBytesToStoreMessageLength is zero), the number of bytes
+     * available must be greater than xBytesToStoreMessageLength to be able to
+     * read bytes from the buffer. */
+    if( xBytesAvailable > xBytesToStoreMessageLength )
+    {
+        xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable );
 
-		/* Was a task waiting for space in the buffer? */
-		if( xReceivedLength != ( size_t ) 0 )
-		{
-			traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength );
-			sbRECEIVE_COMPLETED( pxStreamBuffer );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer );
-		mtCOVERAGE_TEST_MARKER();
-	}
+        /* Was a task waiting for space in the buffer? */
+        if( xReceivedLength != ( size_t ) 0 )
+        {
+            traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength );
+            prvRECEIVE_COMPLETED( xStreamBuffer );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer );
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	return xReceivedLength;
+    return xReceivedLength;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xBytesAvailable, xOriginalTail;
-configMESSAGE_BUFFER_LENGTH_TYPE xTempReturn;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReturn, xBytesAvailable;
+    configMESSAGE_BUFFER_LENGTH_TYPE xTempReturn;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	/* Ensure the stream buffer is being used as a message buffer. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
-		if( xBytesAvailable > sbBYTES_TO_STORE_MESSAGE_LENGTH )
-		{
-			/* The number of bytes available is greater than the number of bytes
-			required to hold the length of the next message, so another message
-			is available.  Return its length without removing the length bytes
-			from the buffer.  A copy of the tail is stored so the buffer can be
-			returned to its prior state as the message is not actually being
-			removed from the buffer. */
-			xOriginalTail = pxStreamBuffer->xTail;
-			( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempReturn, sbBYTES_TO_STORE_MESSAGE_LENGTH, xBytesAvailable );
-			xReturn = ( size_t ) xTempReturn;
-			pxStreamBuffer->xTail = xOriginalTail;
-		}
-		else
-		{
-			/* The minimum amount of bytes in a message buffer is
-			( sbBYTES_TO_STORE_MESSAGE_LENGTH + 1 ), so if xBytesAvailable is
-			less than sbBYTES_TO_STORE_MESSAGE_LENGTH the only other valid
-			value is 0. */
-			configASSERT( xBytesAvailable == 0 );
-			xReturn = 0;
-		}
-	}
-	else
-	{
-		xReturn = 0;
-	}
+    /* Ensure the stream buffer is being used as a message buffer. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
 
-	return xReturn;
+        if( xBytesAvailable > sbBYTES_TO_STORE_MESSAGE_LENGTH )
+        {
+            /* The number of bytes available is greater than the number of bytes
+             * required to hold the length of the next message, so another message
+             * is available. */
+            ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempReturn, sbBYTES_TO_STORE_MESSAGE_LENGTH, pxStreamBuffer->xTail );
+            xReturn = ( size_t ) xTempReturn;
+        }
+        else
+        {
+            /* The minimum amount of bytes in a message buffer is
+             * ( sbBYTES_TO_STORE_MESSAGE_LENGTH + 1 ), so if xBytesAvailable is
+             * less than sbBYTES_TO_STORE_MESSAGE_LENGTH the only other valid
+             * value is 0. */
+            configASSERT( xBytesAvailable == 0 );
+            xReturn = 0;
+        }
+    }
+    else
+    {
+        xReturn = 0;
+    }
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
-									void *pvRxData,
-									size_t xBufferLengthBytes,
-									BaseType_t * const pxHigherPriorityTaskWoken )
+                                    void * pvRxData,
+                                    size_t xBufferLengthBytes,
+                                    BaseType_t * const pxHigherPriorityTaskWoken )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
 
-	configASSERT( pvRxData );
-	configASSERT( pxStreamBuffer );
+    configASSERT( pvRxData );
+    configASSERT( pxStreamBuffer );
 
-	/* This receive function is used by both message buffers, which store
-	discrete messages, and stream buffers, which store a continuous stream of
-	bytes.  Discrete messages include an additional
-	sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
-	message. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
-	}
-	else
-	{
-		xBytesToStoreMessageLength = 0;
-	}
+    /* This receive function is used by both message buffers, which store
+     * discrete messages, and stream buffers, which store a continuous stream of
+     * bytes.  Discrete messages include an additional
+     * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
+     * message. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
+    }
+    else
+    {
+        xBytesToStoreMessageLength = 0;
+    }
 
-	xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
+    xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
 
-	/* Whether receiving a discrete message (where xBytesToStoreMessageLength
-	holds the number of bytes used to store the message length) or a stream of
-	bytes (where xBytesToStoreMessageLength is zero), the number of bytes
-	available must be greater than xBytesToStoreMessageLength to be able to
-	read bytes from the buffer. */
-	if( xBytesAvailable > xBytesToStoreMessageLength )
-	{
-		xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength );
+    /* Whether receiving a discrete message (where xBytesToStoreMessageLength
+     * holds the number of bytes used to store the message length) or a stream of
+     * bytes (where xBytesToStoreMessageLength is zero), the number of bytes
+     * available must be greater than xBytesToStoreMessageLength to be able to
+     * read bytes from the buffer. */
+    if( xBytesAvailable > xBytesToStoreMessageLength )
+    {
+        xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable );
 
-		/* Was a task waiting for space in the buffer? */
-		if( xReceivedLength != ( size_t ) 0 )
-		{
-			sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+        /* Was a task waiting for space in the buffer? */
+        if( xReceivedLength != ( size_t ) 0 )
+        {
+            prvRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength );
+    traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength );
 
-	return xReceivedLength;
+    return xReceivedLength;
 }
 /*-----------------------------------------------------------*/
 
-static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
-										void *pvRxData,
-										size_t xBufferLengthBytes,
-										size_t xBytesAvailable,
-										size_t xBytesToStoreMessageLength )
+static size_t prvReadMessageFromBuffer( StreamBuffer_t * pxStreamBuffer,
+                                        void * pvRxData,
+                                        size_t xBufferLengthBytes,
+                                        size_t xBytesAvailable )
 {
-size_t xOriginalTail, xReceivedLength, xNextMessageLength;
-configMESSAGE_BUFFER_LENGTH_TYPE xTempNextMessageLength;
+    size_t xCount, xNextMessageLength;
+    configMESSAGE_BUFFER_LENGTH_TYPE xTempNextMessageLength;
+    size_t xNextTail = pxStreamBuffer->xTail;
 
-	if( xBytesToStoreMessageLength != ( size_t ) 0 )
-	{
-		/* A discrete message is being received.  First receive the length
-		of the message.  A copy of the tail is stored so the buffer can be
-		returned to its prior state if the length of the message is too
-		large for the provided buffer. */
-		xOriginalTail = pxStreamBuffer->xTail;
-		( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempNextMessageLength, xBytesToStoreMessageLength, xBytesAvailable );
-		xNextMessageLength = ( size_t ) xTempNextMessageLength;
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        /* A discrete message is being received.  First receive the length
+         * of the message. */
+        xNextTail = prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempNextMessageLength, sbBYTES_TO_STORE_MESSAGE_LENGTH, xNextTail );
+        xNextMessageLength = ( size_t ) xTempNextMessageLength;
 
-		/* Reduce the number of bytes available by the number of bytes just
-		read out. */
-		xBytesAvailable -= xBytesToStoreMessageLength;
+        /* Reduce the number of bytes available by the number of bytes just
+         * read out. */
+        xBytesAvailable -= sbBYTES_TO_STORE_MESSAGE_LENGTH;
 
-		/* Check there is enough space in the buffer provided by the
-		user. */
-		if( xNextMessageLength > xBufferLengthBytes )
-		{
-			/* The user has provided insufficient space to read the message
-			so return the buffer to its previous state (so the length of
-			the message is in the buffer again). */
-			pxStreamBuffer->xTail = xOriginalTail;
-			xNextMessageLength = 0;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		/* A stream of bytes is being received (as opposed to a discrete
-		message), so read as many bytes as possible. */
-		xNextMessageLength = xBufferLengthBytes;
-	}
+        /* Check there is enough space in the buffer provided by the
+         * user. */
+        if( xNextMessageLength > xBufferLengthBytes )
+        {
+            /* The user has provided insufficient space to read the message. */
+            xNextMessageLength = 0;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        /* A stream of bytes is being received (as opposed to a discrete
+         * message), so read as many bytes as possible. */
+        xNextMessageLength = xBufferLengthBytes;
+    }
 
-	/* Read the actual data. */
-	xReceivedLength = prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) pvRxData, xNextMessageLength, xBytesAvailable ); /*lint !e9079 Data storage area is implemented as uint8_t array for ease of sizing, indexing and alignment. */
+    /* Use the minimum of the wanted bytes and the available bytes. */
+    xCount = configMIN( xNextMessageLength, xBytesAvailable );
 
-	return xReceivedLength;
+    if( xCount != ( size_t ) 0 )
+    {
+        /* Read the actual data and update the tail to mark the data as officially consumed. */
+        pxStreamBuffer->xTail = prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) pvRxData, xCount, xNextTail ); /*lint !e9079 Data storage area is implemented as uint8_t array for ease of sizing, indexing and alignment. */
+    }
+
+    return xCount;
 }
 /*-----------------------------------------------------------*/
 
 BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer )
 {
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-size_t xTail;
+    const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn;
+    size_t xTail;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	/* True if no bytes are available. */
-	xTail = pxStreamBuffer->xTail;
-	if( pxStreamBuffer->xHead == xTail )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+    /* True if no bytes are available. */
+    xTail = pxStreamBuffer->xTail;
 
-	return xReturn;
+    if( pxStreamBuffer->xHead == xTail )
+    {
+        xReturn = pdTRUE;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
+
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer )
 {
-BaseType_t xReturn;
-size_t xBytesToStoreMessageLength;
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn;
+    size_t xBytesToStoreMessageLength;
+    const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	/* This generic version of the receive function is used by both message
-	buffers, which store discrete messages, and stream buffers, which store a
-	continuous stream of bytes.  Discrete messages include an additional
-	sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the message. */
-	if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
-	{
-		xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
-	}
-	else
-	{
-		xBytesToStoreMessageLength = 0;
-	}
+    /* This generic version of the receive function is used by both message
+     * buffers, which store discrete messages, and stream buffers, which store a
+     * continuous stream of bytes.  Discrete messages include an additional
+     * sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the message. */
+    if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
+    {
+        xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
+    }
+    else
+    {
+        xBytesToStoreMessageLength = 0;
+    }
 
-	/* True if the available space equals zero. */
-	if( xStreamBufferSpacesAvailable( xStreamBuffer ) <= xBytesToStoreMessageLength )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+    /* True if the available space equals zero. */
+    if( xStreamBufferSpacesAvailable( xStreamBuffer ) <= xBytesToStoreMessageLength )
+    {
+        xReturn = pdTRUE;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken )
+BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                              BaseType_t * pxHigherPriorityTaskWoken )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )
-		{
-			( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive,
-										 ( uint32_t ) 0,
-										 eNoAction,
-										 pxHigherPriorityTaskWoken );
-			( pxStreamBuffer )->xTaskWaitingToReceive = NULL;
-			xReturn = pdTRUE;
-		}
-		else
-		{
-			xReturn = pdFALSE;
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )
+        {
+            ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive,
+                                         ( uint32_t ) 0,
+                                         eNoAction,
+                                         pxHigherPriorityTaskWoken );
+            ( pxStreamBuffer )->xTaskWaitingToReceive = NULL;
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken )
+BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                 BaseType_t * pxHigherPriorityTaskWoken )
 {
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
+    StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
+    BaseType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
 
-	configASSERT( pxStreamBuffer );
+    configASSERT( pxStreamBuffer );
 
-	uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();
-	{
-		if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )
-		{
-			( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend,
-										 ( uint32_t ) 0,
-										 eNoAction,
-										 pxHigherPriorityTaskWoken );
-			( pxStreamBuffer )->xTaskWaitingToSend = NULL;
-			xReturn = pdTRUE;
-		}
-		else
-		{
-			xReturn = pdFALSE;
-		}
-	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+    {
+        if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )
+        {
+            ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend,
+                                         ( uint32_t ) 0,
+                                         eNoAction,
+                                         pxHigherPriorityTaskWoken );
+            ( pxStreamBuffer )->xTaskWaitingToSend = NULL;
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+    }
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, const uint8_t *pucData, size_t xCount )
+static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer,
+                                     const uint8_t * pucData,
+                                     size_t xCount,
+                                     size_t xHead )
 {
-size_t xNextHead, xFirstLength;
+    size_t xFirstLength;
 
-	configASSERT( xCount > ( size_t ) 0 );
+    configASSERT( xCount > ( size_t ) 0 );
 
-	xNextHead = pxStreamBuffer->xHead;
+    /* Calculate the number of bytes that can be added in the first write -
+     * which may be less than the total number of bytes that need to be added if
+     * the buffer will wrap back to the beginning. */
+    xFirstLength = configMIN( pxStreamBuffer->xLength - xHead, xCount );
 
-	/* Calculate the number of bytes that can be added in the first write -
-	which may be less than the total number of bytes that need to be added if
-	the buffer will wrap back to the beginning. */
-	xFirstLength = configMIN( pxStreamBuffer->xLength - xNextHead, xCount );
+    /* Write as many bytes as can be written in the first write. */
+    configASSERT( ( xHead + xFirstLength ) <= pxStreamBuffer->xLength );
+    ( void ) memcpy( ( void * ) ( &( pxStreamBuffer->pucBuffer[ xHead ] ) ), ( const void * ) pucData, xFirstLength ); /*lint !e9087 memcpy() requires void *. */
 
-	/* Write as many bytes as can be written in the first write. */
-	configASSERT( ( xNextHead + xFirstLength ) <= pxStreamBuffer->xLength );
-	( void ) memcpy( ( void* ) ( &( pxStreamBuffer->pucBuffer[ xNextHead ] ) ), ( const void * ) pucData, xFirstLength ); /*lint !e9087 memcpy() requires void *. */
+    /* If the number of bytes written was less than the number that could be
+     * written in the first write... */
+    if( xCount > xFirstLength )
+    {
+        /* ...then write the remaining bytes to the start of the buffer. */
+        configASSERT( ( xCount - xFirstLength ) <= pxStreamBuffer->xLength );
+        ( void ) memcpy( ( void * ) pxStreamBuffer->pucBuffer, ( const void * ) &( pucData[ xFirstLength ] ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	/* If the number of bytes written was less than the number that could be
-	written in the first write... */
-	if( xCount > xFirstLength )
-	{
-		/* ...then write the remaining bytes to the start of the buffer. */
-		configASSERT( ( xCount - xFirstLength ) <= pxStreamBuffer->xLength );
-		( void ) memcpy( ( void * ) pxStreamBuffer->pucBuffer, ( const void * ) &( pucData[ xFirstLength ] ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    xHead += xCount;
 
-	xNextHead += xCount;
-	if( xNextHead >= pxStreamBuffer->xLength )
-	{
-		xNextHead -= pxStreamBuffer->xLength;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    if( xHead >= pxStreamBuffer->xLength )
+    {
+        xHead -= pxStreamBuffer->xLength;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	pxStreamBuffer->xHead = xNextHead;
-
-	return xCount;
+    return xHead;
 }
 /*-----------------------------------------------------------*/
 
-static size_t prvReadBytesFromBuffer( StreamBuffer_t *pxStreamBuffer, uint8_t *pucData, size_t xMaxCount, size_t xBytesAvailable )
+static size_t prvReadBytesFromBuffer( StreamBuffer_t * pxStreamBuffer,
+                                      uint8_t * pucData,
+                                      size_t xCount,
+                                      size_t xTail )
 {
-size_t xCount, xFirstLength, xNextTail;
+    size_t xFirstLength;
 
-	/* Use the minimum of the wanted bytes and the available bytes. */
-	xCount = configMIN( xBytesAvailable, xMaxCount );
+    configASSERT( xCount != ( size_t ) 0 );
 
-	if( xCount > ( size_t ) 0 )
-	{
-		xNextTail = pxStreamBuffer->xTail;
+    /* Calculate the number of bytes that can be read - which may be
+     * less than the number wanted if the data wraps around to the start of
+     * the buffer. */
+    xFirstLength = configMIN( pxStreamBuffer->xLength - xTail, xCount );
 
-		/* Calculate the number of bytes that can be read - which may be
-		less than the number wanted if the data wraps around to the start of
-		the buffer. */
-		xFirstLength = configMIN( pxStreamBuffer->xLength - xNextTail, xCount );
+    /* Obtain the number of bytes it is possible to obtain in the first
+     * read.  Asserts check bounds of read and write. */
+    configASSERT( xFirstLength <= xCount );
+    configASSERT( ( xTail + xFirstLength ) <= pxStreamBuffer->xLength );
+    ( void ) memcpy( ( void * ) pucData, ( const void * ) &( pxStreamBuffer->pucBuffer[ xTail ] ), xFirstLength ); /*lint !e9087 memcpy() requires void *. */
 
-		/* Obtain the number of bytes it is possible to obtain in the first
-		read.  Asserts check bounds of read and write. */
-		configASSERT( xFirstLength <= xMaxCount );
-		configASSERT( ( xNextTail + xFirstLength ) <= pxStreamBuffer->xLength );
-		( void ) memcpy( ( void * ) pucData, ( const void * ) &( pxStreamBuffer->pucBuffer[ xNextTail ] ), xFirstLength ); /*lint !e9087 memcpy() requires void *. */
+    /* If the total number of wanted bytes is greater than the number
+     * that could be read in the first read... */
+    if( xCount > xFirstLength )
+    {
+        /* ...then read the remaining bytes from the start of the buffer. */
+        ( void ) memcpy( ( void * ) &( pucData[ xFirstLength ] ), ( void * ) ( pxStreamBuffer->pucBuffer ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-		/* If the total number of wanted bytes is greater than the number
-		that could be read in the first read... */
-		if( xCount > xFirstLength )
-		{
-			/*...then read the remaining bytes from the start of the buffer. */
-			configASSERT( xCount <= xMaxCount );
-			( void ) memcpy( ( void * ) &( pucData[ xFirstLength ] ), ( void * ) ( pxStreamBuffer->pucBuffer ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+    /* Move the tail pointer to effectively remove the data read from the buffer. */
+    xTail += xCount;
 
-		/* Move the tail pointer to effectively remove the data read from
-		the buffer. */
-		xNextTail += xCount;
+    if( xTail >= pxStreamBuffer->xLength )
+    {
+        xTail -= pxStreamBuffer->xLength;
+    }
 
-		if( xNextTail >= pxStreamBuffer->xLength )
-		{
-			xNextTail -= pxStreamBuffer->xLength;
-		}
-
-		pxStreamBuffer->xTail = xNextTail;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
-
-	return xCount;
+    return xTail;
 }
 /*-----------------------------------------------------------*/
 
 static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer )
 {
 /* Returns the distance between xTail and xHead. */
-size_t xCount;
+    size_t xCount;
 
-	xCount = pxStreamBuffer->xLength + pxStreamBuffer->xHead;
-	xCount -= pxStreamBuffer->xTail;
-	if ( xCount >= pxStreamBuffer->xLength )
-	{
-		xCount -= pxStreamBuffer->xLength;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    xCount = pxStreamBuffer->xLength + pxStreamBuffer->xHead;
+    xCount -= pxStreamBuffer->xTail;
 
-	return xCount;
+    if( xCount >= pxStreamBuffer->xLength )
+    {
+        xCount -= pxStreamBuffer->xLength;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
+
+    return xCount;
 }
 /*-----------------------------------------------------------*/
 
 static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
-										  uint8_t * const pucBuffer,
-										  size_t xBufferSizeBytes,
-										  size_t xTriggerLevelBytes,
-										  uint8_t ucFlags )
+                                          uint8_t * const pucBuffer,
+                                          size_t xBufferSizeBytes,
+                                          size_t xTriggerLevelBytes,
+                                          uint8_t ucFlags,
+                                          StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                          StreamBufferCallbackFunction_t pxReceiveCompletedCallback )
 {
-	/* Assert here is deliberately writing to the entire buffer to ensure it can
-	be written to without generating exceptions, and is setting the buffer to a
-	known value to assist in development/debugging. */
-	#if( configASSERT_DEFINED == 1 )
-	{
-		/* The value written just has to be identifiable when looking at the
-		memory.  Don't use 0xA5 as that is the stack fill value and could
-		result in confusion as to what is actually being observed. */
-		const BaseType_t xWriteValue = 0x55;
-		configASSERT( memset( pucBuffer, ( int ) xWriteValue, xBufferSizeBytes ) == pucBuffer );
-	} /*lint !e529 !e438 xWriteValue is only used if configASSERT() is defined. */
-	#endif
+    /* Assert here is deliberately writing to the entire buffer to ensure it can
+     * be written to without generating exceptions, and is setting the buffer to a
+     * known value to assist in development/debugging. */
+    #if ( configASSERT_DEFINED == 1 )
+    {
+        /* The value written just has to be identifiable when looking at the
+         * memory.  Don't use 0xA5 as that is the stack fill value and could
+         * result in confusion as to what is actually being observed. */
+    #define STREAM_BUFFER_BUFFER_WRITE_VALUE    ( 0x55 )
+        configASSERT( memset( pucBuffer, ( int ) STREAM_BUFFER_BUFFER_WRITE_VALUE, xBufferSizeBytes ) == pucBuffer );
+    }
+    #endif
 
-	( void ) memset( ( void * ) pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) ); /*lint !e9087 memset() requires void *. */
-	pxStreamBuffer->pucBuffer = pucBuffer;
-	pxStreamBuffer->xLength = xBufferSizeBytes;
-	pxStreamBuffer->xTriggerLevelBytes = xTriggerLevelBytes;
-	pxStreamBuffer->ucFlags = ucFlags;
+    ( void ) memset( ( void * ) pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) ); /*lint !e9087 memset() requires void *. */
+    pxStreamBuffer->pucBuffer = pucBuffer;
+    pxStreamBuffer->xLength = xBufferSizeBytes;
+    pxStreamBuffer->xTriggerLevelBytes = xTriggerLevelBytes;
+    pxStreamBuffer->ucFlags = ucFlags;
+    #if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    {
+        pxStreamBuffer->pxSendCompletedCallback = pxSendCompletedCallback;
+        pxStreamBuffer->pxReceiveCompletedCallback = pxReceiveCompletedCallback;
+    }
+    #else
+    {
+        ( void ) pxSendCompletedCallback;
+        ( void ) pxReceiveCompletedCallback;
+    }
+    #endif
 }
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer )
-	{
-		return xStreamBuffer->uxStreamBufferNumber;
-	}
+    UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer )
+    {
+        return xStreamBuffer->uxStreamBufferNumber;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber )
-	{
-		xStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
-	}
+    void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer,
+                                             UBaseType_t uxStreamBufferNumber )
+    {
+        xStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer )
-	{
-		return ( xStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER );
-	}
+    uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer )
+    {
+        return( xStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER );
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/tasks.c b/Middlewares/Third_Party/FreeRTOS/Source/tasks.c
index f6a6a9b..afb7009 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/tasks.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/tasks.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,10 +21,9 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /* Standard includes. */
@@ -30,8 +31,8 @@
 #include 
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 /* FreeRTOS includes. */
@@ -41,173 +42,175 @@ task.h is included from an application file. */
 #include "stack_macros.h"
 
 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+ * for the header files above, but not in this file, in order to generate the
+ * correct privileged Vs unprivileged linkage and placement. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
 
 /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
-functions but without including stdio.h here. */
+ * functions but without including stdio.h here. */
 #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
-	/* At the bottom of this file are two optional functions that can be used
-	to generate human readable text from the raw data generated by the
-	uxTaskGetSystemState() function.  Note the formatting functions are provided
-	for convenience only, and are NOT considered part of the kernel. */
-	#include 
+
+/* At the bottom of this file are two optional functions that can be used
+ * to generate human readable text from the raw data generated by the
+ * uxTaskGetSystemState() function.  Note the formatting functions are provided
+ * for convenience only, and are NOT considered part of the kernel. */
+    #include 
 #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
 
-#if( configUSE_PREEMPTION == 0 )
-	/* If the cooperative scheduler is being used then a yield should not be
-	performed just because a higher priority task has been woken. */
-	#define taskYIELD_IF_USING_PREEMPTION()
+#if ( configUSE_PREEMPTION == 0 )
+
+/* If the cooperative scheduler is being used then a yield should not be
+ * performed just because a higher priority task has been woken. */
+    #define taskYIELD_IF_USING_PREEMPTION()
 #else
-	#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+    #define taskYIELD_IF_USING_PREEMPTION()    portYIELD_WITHIN_API()
 #endif
 
 /* Values that can be assigned to the ucNotifyState member of the TCB. */
-#define taskNOT_WAITING_NOTIFICATION	( ( uint8_t ) 0 )
-#define taskWAITING_NOTIFICATION		( ( uint8_t ) 1 )
-#define taskNOTIFICATION_RECEIVED		( ( uint8_t ) 2 )
+#define taskNOT_WAITING_NOTIFICATION              ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
+#define taskWAITING_NOTIFICATION                  ( ( uint8_t ) 1 )
+#define taskNOTIFICATION_RECEIVED                 ( ( uint8_t ) 2 )
 
 /*
  * The value used to fill the stack of a task when the task is created.  This
  * is used purely for checking the high water mark for tasks.
  */
-#define tskSTACK_FILL_BYTE	( 0xa5U )
+#define tskSTACK_FILL_BYTE                        ( 0xa5U )
 
-/* Bits used to recored how a task's stack and TCB were allocated. */
-#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB 		( ( uint8_t ) 0 )
-#define tskSTATICALLY_ALLOCATED_STACK_ONLY 			( ( uint8_t ) 1 )
-#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB		( ( uint8_t ) 2 )
+/* Bits used to record how a task's stack and TCB were allocated. */
+#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB    ( ( uint8_t ) 0 )
+#define tskSTATICALLY_ALLOCATED_STACK_ONLY        ( ( uint8_t ) 1 )
+#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB     ( ( uint8_t ) 2 )
 
 /* If any of the following are set then task stacks are filled with a known
-value so the high water mark can be determined.  If none of the following are
-set then don't fill the stack so there is no unnecessary dependency on memset. */
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
-	#define tskSET_NEW_STACKS_TO_KNOWN_VALUE	1
+ * value so the high water mark can be determined.  If none of the following are
+ * set then don't fill the stack so there is no unnecessary dependency on memset. */
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
+    #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    1
 #else
-	#define tskSET_NEW_STACKS_TO_KNOWN_VALUE	0
+    #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    0
 #endif
 
 /*
  * Macros used by vListTask to indicate which state a task is in.
  */
-#define tskRUNNING_CHAR		( 'X' )
-#define tskBLOCKED_CHAR		( 'B' )
-#define tskREADY_CHAR		( 'R' )
-#define tskDELETED_CHAR		( 'D' )
-#define tskSUSPENDED_CHAR	( 'S' )
+#define tskRUNNING_CHAR      ( 'X' )
+#define tskBLOCKED_CHAR      ( 'B' )
+#define tskREADY_CHAR        ( 'R' )
+#define tskDELETED_CHAR      ( 'D' )
+#define tskSUSPENDED_CHAR    ( 'S' )
 
 /*
- * Some kernel aware debuggers require the data the debugger needs access to be
- * global, rather than file scope.
+ * Some kernel aware debuggers require the data the debugger needs access to to
+ * be global, rather than file scope.
  */
 #ifdef portREMOVE_STATIC_QUALIFIER
-	#define static
+    #define static
 #endif
 
 /* The name allocated to the Idle task.  This can be overridden by defining
-configIDLE_TASK_NAME in FreeRTOSConfig.h. */
+ * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
 #ifndef configIDLE_TASK_NAME
-	#define configIDLE_TASK_NAME "IDLE"
+    #define configIDLE_TASK_NAME    "IDLE"
 #endif
 
 #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
 
-	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
-	performed in a generic way that is not optimised to any particular
-	microcontroller architecture. */
+/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
+ * performed in a generic way that is not optimised to any particular
+ * microcontroller architecture. */
 
-	/* uxTopReadyPriority holds the priority of the highest priority ready
-	state task. */
-	#define taskRECORD_READY_PRIORITY( uxPriority )														\
-	{																									\
-		if( ( uxPriority ) > uxTopReadyPriority )														\
-		{																								\
-			uxTopReadyPriority = ( uxPriority );														\
-		}																								\
-	} /* taskRECORD_READY_PRIORITY */
+/* uxTopReadyPriority holds the priority of the highest priority ready
+ * state task. */
+    #define taskRECORD_READY_PRIORITY( uxPriority ) \
+    do {                                            \
+        if( ( uxPriority ) > uxTopReadyPriority )   \
+        {                                           \
+            uxTopReadyPriority = ( uxPriority );    \
+        }                                           \
+    } while( 0 ) /* taskRECORD_READY_PRIORITY */
 
-	/*-----------------------------------------------------------*/
+/*-----------------------------------------------------------*/
 
-	#define taskSELECT_HIGHEST_PRIORITY_TASK()															\
-	{																									\
-	UBaseType_t uxTopPriority = uxTopReadyPriority;														\
-																										\
-		/* Find the highest priority queue that contains ready tasks. */								\
-		while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) )							\
-		{																								\
-			configASSERT( uxTopPriority );																\
-			--uxTopPriority;																			\
-		}																								\
-																										\
-		/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of						\
-		the	same priority get an equal share of the processor time. */									\
-		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );			\
-		uxTopReadyPriority = uxTopPriority;																\
-	} /* taskSELECT_HIGHEST_PRIORITY_TASK */
+    #define taskSELECT_HIGHEST_PRIORITY_TASK()                                \
+    do {                                                                      \
+        UBaseType_t uxTopPriority = uxTopReadyPriority;                       \
+                                                                              \
+        /* Find the highest priority queue that contains ready tasks. */      \
+        while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
+        {                                                                     \
+            configASSERT( uxTopPriority );                                    \
+            --uxTopPriority;                                                  \
+        }                                                                     \
+                                                                              \
+        /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
+         * the  same priority get an equal share of the processor time. */                    \
+        listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
+        uxTopReadyPriority = uxTopPriority;                                                   \
+    } while( 0 ) /* taskSELECT_HIGHEST_PRIORITY_TASK */
 
-	/*-----------------------------------------------------------*/
+/*-----------------------------------------------------------*/
 
-	/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
-	they are only required when a port optimised method of task selection is
-	being used. */
-	#define taskRESET_READY_PRIORITY( uxPriority )
-	#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
+ * they are only required when a port optimised method of task selection is
+ * being used. */
+    #define taskRESET_READY_PRIORITY( uxPriority )
+    #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
 
 #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 
-	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
-	performed in a way that is tailored to the particular microcontroller
-	architecture being used. */
+/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
+ * performed in a way that is tailored to the particular microcontroller
+ * architecture being used. */
 
-	/* A port optimised version is provided.  Call the port defined macros. */
-	#define taskRECORD_READY_PRIORITY( uxPriority )	portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+/* A port optimised version is provided.  Call the port defined macros. */
+    #define taskRECORD_READY_PRIORITY( uxPriority )    portRECORD_READY_PRIORITY( ( uxPriority ), uxTopReadyPriority )
 
-	/*-----------------------------------------------------------*/
+/*-----------------------------------------------------------*/
 
-	#define taskSELECT_HIGHEST_PRIORITY_TASK()														\
-	{																								\
-	UBaseType_t uxTopPriority;																		\
-																									\
-		/* Find the highest priority list that contains ready tasks. */								\
-		portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );								\
-		configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );		\
-		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );		\
-	} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
+    #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                  \
+    do {                                                                                        \
+        UBaseType_t uxTopPriority;                                                              \
+                                                                                                \
+        /* Find the highest priority list that contains ready tasks. */                         \
+        portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                          \
+        configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
+        listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );   \
+    } while( 0 )
 
-	/*-----------------------------------------------------------*/
+/*-----------------------------------------------------------*/
 
-	/* A port optimised version is provided, call it only if the TCB being reset
-	is being referenced from a ready list.  If it is referenced from a delayed
-	or suspended list then it won't be in a ready list. */
-	#define taskRESET_READY_PRIORITY( uxPriority )														\
-	{																									\
-		if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 )	\
-		{																								\
-			portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );							\
-		}																								\
-	}
+/* A port optimised version is provided, call it only if the TCB being reset
+ * is being referenced from a ready list.  If it is referenced from a delayed
+ * or suspended list then it won't be in a ready list. */
+    #define taskRESET_READY_PRIORITY( uxPriority )                                                     \
+    do {                                                                                               \
+        if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
+        {                                                                                              \
+            portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                        \
+        }                                                                                              \
+    } while( 0 )
 
 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 
 /*-----------------------------------------------------------*/
 
 /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
-count overflows. */
-#define taskSWITCH_DELAYED_LISTS()																	\
-{																									\
-	List_t *pxTemp;																					\
-																									\
-	/* The delayed tasks list should be empty when the lists are switched. */						\
-	configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );										\
-																									\
-	pxTemp = pxDelayedTaskList;																		\
-	pxDelayedTaskList = pxOverflowDelayedTaskList;													\
-	pxOverflowDelayedTaskList = pxTemp;																\
-	xNumOfOverflows++;																				\
-	prvResetNextTaskUnblockTime();																	\
-}
+ * count overflows. */
+#define taskSWITCH_DELAYED_LISTS()                                                \
+    do {                                                                          \
+        List_t * pxTemp;                                                          \
+                                                                                  \
+        /* The delayed tasks list should be empty when the lists are switched. */ \
+        configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );               \
+                                                                                  \
+        pxTemp = pxDelayedTaskList;                                               \
+        pxDelayedTaskList = pxOverflowDelayedTaskList;                            \
+        pxOverflowDelayedTaskList = pxTemp;                                       \
+        xNumOfOverflows++;                                                        \
+        prvResetNextTaskUnblockTime();                                            \
+    } while( 0 )
 
 /*-----------------------------------------------------------*/
 
@@ -215,33 +218,37 @@ count overflows. */
  * Place the task represented by pxTCB into the appropriate ready list for
  * the task.  It is inserted at the end of the list.
  */
-#define prvAddTaskToReadyList( pxTCB )																\
-	traceMOVED_TASK_TO_READY_STATE( pxTCB );														\
-	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );												\
-	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
-	tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
+#define prvAddTaskToReadyList( pxTCB )                                                                     \
+    do {                                                                                                   \
+        traceMOVED_TASK_TO_READY_STATE( pxTCB );                                                           \
+        taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                \
+        listINSERT_END( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
+        tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB );                                                      \
+    } while( 0 )
 /*-----------------------------------------------------------*/
 
 /*
- * Several functions take an TaskHandle_t parameter that can optionally be NULL,
+ * Several functions take a TaskHandle_t parameter that can optionally be NULL,
  * where NULL is used to indicate that the handle of the currently executing
  * task should be used in place of the parameter.  This macro simply checks to
  * see if the parameter is NULL and returns a pointer to the appropriate TCB.
  */
-#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
+#define prvGetTCBFromHandle( pxHandle )    ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
 
 /* The item value of the event list item is normally used to hold the priority
-of the task to which it belongs (coded to allow it to be held in reverse
-priority order).  However, it is occasionally borrowed for other purposes.  It
-is important its value is not updated due to a task priority change while it is
-being used for another purpose.  The following bit definition is used to inform
-the scheduler that the value should not be changed - in which case it is the
-responsibility of whichever module is using the value to ensure it gets set back
-to its original value when it is released. */
-#if( configUSE_16_BIT_TICKS == 1 )
-	#define taskEVENT_LIST_ITEM_VALUE_IN_USE	0x8000U
-#else
-	#define taskEVENT_LIST_ITEM_VALUE_IN_USE	0x80000000UL
+ * of the task to which it belongs (coded to allow it to be held in reverse
+ * priority order).  However, it is occasionally borrowed for other purposes.  It
+ * is important its value is not updated due to a task priority change while it is
+ * being used for another purpose.  The following bit definition is used to inform
+ * the scheduler that the value should not be changed - in which case it is the
+ * responsibility of whichever module is using the value to ensure it gets set back
+ * to its original value when it is released. */
+#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
+    #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x8000U
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
+    #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x80000000UL
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
+    #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x8000000000000000ULL
 #endif
 
 /*
@@ -249,151 +256,145 @@ to its original value when it is released. */
  * and stores task state information, including a pointer to the task's context
  * (the task's run time environment, including register values)
  */
-typedef struct tskTaskControlBlock 			/* The old naming convention is used to prevent breaking kernel aware debuggers. */
+typedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
 {
-	volatile StackType_t	*pxTopOfStack;	/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
+    volatile StackType_t * pxTopOfStack; /**< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
 
-	#if ( portUSING_MPU_WRAPPERS == 1 )
-		xMPU_SETTINGS	xMPUSettings;		/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
-	#endif
+    #if ( portUSING_MPU_WRAPPERS == 1 )
+        xMPU_SETTINGS xMPUSettings; /**< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
+    #endif
 
-	ListItem_t			xStateListItem;	/*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
-	ListItem_t			xEventListItem;		/*< Used to reference a task from an event list. */
-	UBaseType_t			uxPriority;			/*< The priority of the task.  0 is the lowest priority. */
-	StackType_t			*pxStack;			/*< Points to the start of the stack. */
-	char				pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    ListItem_t xStateListItem;                  /**< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
+    ListItem_t xEventListItem;                  /**< Used to reference a task from an event list. */
+    UBaseType_t uxPriority;                     /**< The priority of the task.  0 is the lowest priority. */
+    StackType_t * pxStack;                      /**< Points to the start of the stack. */
+    char pcTaskName[ configMAX_TASK_NAME_LEN ]; /**< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
-	#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
-		StackType_t		*pxEndOfStack;		/*< Points to the highest valid address for the stack. */
-	#endif
+    #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
+        StackType_t * pxEndOfStack; /**< Points to the highest valid address for the stack. */
+    #endif
 
-	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-		UBaseType_t		uxCriticalNesting;	/*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
-	#endif
+    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
+        UBaseType_t uxCriticalNesting; /**< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
+    #endif
 
-	#if ( configUSE_TRACE_FACILITY == 1 )
-		UBaseType_t		uxTCBNumber;		/*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
-		UBaseType_t		uxTaskNumber;		/*< Stores a number specifically for use by third party trace code. */
-	#endif
+    #if ( configUSE_TRACE_FACILITY == 1 )
+        UBaseType_t uxTCBNumber;  /**< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
+        UBaseType_t uxTaskNumber; /**< Stores a number specifically for use by third party trace code. */
+    #endif
 
-	#if ( configUSE_MUTEXES == 1 )
-		UBaseType_t		uxBasePriority;		/*< The priority last assigned to the task - used by the priority inheritance mechanism. */
-		UBaseType_t		uxMutexesHeld;
-	#endif
+    #if ( configUSE_MUTEXES == 1 )
+        UBaseType_t uxBasePriority; /**< The priority last assigned to the task - used by the priority inheritance mechanism. */
+        UBaseType_t uxMutexesHeld;
+    #endif
 
-	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-		TaskHookFunction_t pxTaskTag;
-	#endif
+    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
+        TaskHookFunction_t pxTaskTag;
+    #endif
 
-	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
-		void			*pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
-	#endif
+    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+        void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
+    #endif
 
-	#if( configGENERATE_RUN_TIME_STATS == 1 )
-		uint32_t		ulRunTimeCounter;	/*< Stores the amount of time the task has spent in the Running state. */
-	#endif
+    #if ( configGENERATE_RUN_TIME_STATS == 1 )
+        configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /**< Stores the amount of time the task has spent in the Running state. */
+    #endif
 
-	#if ( configUSE_NEWLIB_REENTRANT == 1 )
-		/* Allocate a Newlib reent structure that is specific to this task.
-		Note Newlib support has been included by popular demand, but is not
-		used by the FreeRTOS maintainers themselves.  FreeRTOS is not
-		responsible for resulting newlib operation.  User must be familiar with
-		newlib and must provide system-wide implementations of the necessary
-		stubs. Be warned that (at the time of writing) the current newlib design
-		implements a system-wide malloc() that must be provided with locks.
+    #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
+        configTLS_BLOCK_TYPE xTLSBlock; /**< Memory block used as Thread Local Storage (TLS) Block for the task. */
+    #endif
 
-		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-		for additional information. */
-		struct	_reent xNewLib_reent;
-	#endif
+    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+        volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
+        volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
+    #endif
 
-	#if( configUSE_TASK_NOTIFICATIONS == 1 )
-		volatile uint32_t ulNotifiedValue;
-		volatile uint8_t ucNotifyState;
-	#endif
+    /* See the comments in FreeRTOS.h with the definition of
+     * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
+    #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+        uint8_t ucStaticallyAllocated;                     /**< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
+    #endif
 
-	/* See the comments in FreeRTOS.h with the definition of
-	tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
-	#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
-		uint8_t	ucStaticallyAllocated; 		/*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
-	#endif
-
-	#if( INCLUDE_xTaskAbortDelay == 1 )
-		uint8_t ucDelayAborted;
-	#endif
-
-	#if( configUSE_POSIX_ERRNO == 1 )
-		int iTaskErrno;
-	#endif
+    #if ( INCLUDE_xTaskAbortDelay == 1 )
+        uint8_t ucDelayAborted;
+    #endif
 
+    #if ( configUSE_POSIX_ERRNO == 1 )
+        int iTaskErrno;
+    #endif
 } tskTCB;
 
 /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
-below to enable the use of older kernel aware debuggers. */
+ * below to enable the use of older kernel aware debuggers. */
 typedef tskTCB TCB_t;
 
 /*lint -save -e956 A manual analysis and inspection has been used to determine
-which static variables must be declared volatile. */
-PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
+ * which static variables must be declared volatile. */
+portDONT_DISCARD PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
 
 /* Lists for ready and blocked tasks. --------------------
-xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
-doing so breaks some kernel aware debuggers and debuggers that rely on removing
-the static qualifier. */
-PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList1;						/*< Delayed tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList2;						/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;				/*< Points to the delayed task list currently being used. */
-PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t xPendingReadyList;						/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
+ * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
+ * doing so breaks some kernel aware debuggers and debuggers that rely on removing
+ * the static qualifier. */
+PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /**< Prioritised ready tasks. */
+PRIVILEGED_DATA static List_t xDelayedTaskList1;                         /**< Delayed tasks. */
+PRIVILEGED_DATA static List_t xDelayedTaskList2;                         /**< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;              /**< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;      /**< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+PRIVILEGED_DATA static List_t xPendingReadyList;                         /**< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
-#if( INCLUDE_vTaskDelete == 1 )
+#if ( INCLUDE_vTaskDelete == 1 )
 
-	PRIVILEGED_DATA static List_t xTasksWaitingTermination;				/*< Tasks that have been deleted - but their memory not yet freed. */
-	PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
+    PRIVILEGED_DATA static List_t xTasksWaitingTermination; /**< Tasks that have been deleted - but their memory not yet freed. */
+    PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
 
 #endif
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	PRIVILEGED_DATA static List_t xSuspendedTaskList;					/*< Tasks that are currently suspended. */
+    PRIVILEGED_DATA static List_t xSuspendedTaskList; /**< Tasks that are currently suspended. */
 
 #endif
 
 /* Global POSIX errno. Its value is changed upon context switching to match
-the errno of the currently running task. */
+ * the errno of the currently running task. */
 #if ( configUSE_POSIX_ERRNO == 1 )
-	int FreeRTOS_errno = 0;
+    int FreeRTOS_errno = 0;
 #endif
 
 /* Other file private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks 	= ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xTickCount 				= ( TickType_t ) configINITIAL_TICK_COUNT;
-PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority 		= tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning 		= pdFALSE;
-PRIVILEGED_DATA static volatile TickType_t xPendedTicks 			= ( TickType_t ) 0U;
-PRIVILEGED_DATA static volatile BaseType_t xYieldPending 			= pdFALSE;
-PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows 			= ( BaseType_t ) 0;
-PRIVILEGED_DATA static UBaseType_t uxTaskNumber 					= ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime		= ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
-PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle					= NULL;			/*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */
+PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
+PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
+PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
+PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
+PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
+PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
+PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
+PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL;                          /**< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */
+
+/* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
+ * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
+ * to determine the number of priority lists to read back from the remote target. */
+const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
 
 /* Context switches are held pending while the scheduler is suspended.  Also,
-interrupts must not manipulate the xStateListItem of a TCB, or any of the
-lists the xStateListItem can be referenced from, if the scheduler is suspended.
-If an interrupt needs to unblock a task while the scheduler is suspended then it
-moves the task's event list item into the xPendingReadyList, ready for the
-kernel to move the task from the pending ready list into the real ready list
-when the scheduler is unsuspended.  The pending ready list itself can only be
-accessed from a critical section. */
-PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended	= ( UBaseType_t ) pdFALSE;
+ * interrupts must not manipulate the xStateListItem of a TCB, or any of the
+ * lists the xStateListItem can be referenced from, if the scheduler is suspended.
+ * If an interrupt needs to unblock a task while the scheduler is suspended then it
+ * moves the task's event list item into the xPendingReadyList, ready for the
+ * kernel to move the task from the pending ready list into the real ready list
+ * when the scheduler is unsuspended.  The pending ready list itself can only be
+ * accessed from a critical section. */
+PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) 0U;
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-	/* Do not move these variables to function scope as doing so prevents the
-	code working with debuggers that need to remove the static qualifier. */
-	PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL;	/*< Holds the value of a timer/counter the last time a task was switched in. */
-	PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL;		/*< Holds the total amount of execution time as defined by the run time counter clock. */
+/* Do not move these variables to function scope as doing so prevents the
+ * code working with debuggers that need to remove the static qualifier. */
+    PRIVILEGED_DATA static configRUN_TIME_COUNTER_TYPE ulTaskSwitchedInTime = 0UL;    /**< Holds the value of a timer/counter the last time a task was switched in. */
+    PRIVILEGED_DATA static volatile configRUN_TIME_COUNTER_TYPE ulTotalRunTime = 0UL; /**< Holds the total amount of execution time as defined by the run time counter clock. */
 
 #endif
 
@@ -401,25 +402,6 @@ 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 ); /*lint !e526 Symbol not defined as it is an application callback. */
-
-#endif
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
-	extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
-
-#endif
-
 /* File private functions. --------------------------------*/
 
 /**
@@ -429,7 +411,7 @@ PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended	= ( UBaseType_t
  */
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 #endif /* INCLUDE_vTaskSuspend */
 
@@ -450,7 +432,7 @@ static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
  * void prvIdleTask( void *pvParameters );
  *
  */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
 
 /*
  * Utility to free all memory allocated by the scheduler to hold a TCB,
@@ -461,7 +443,7 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
  */
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
+    static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -476,7 +458,8 @@ static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
  * The currently executing task is entering the Blocked state.  Add the task to
  * either the current or the overflow delayed task list.
  */
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
+                                            const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
 
 /*
  * Fills an TaskStatus_t structure with information on each task that is
@@ -488,7 +471,9 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
  */
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
+    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
+                                                     List_t * pxList,
+                                                     eTaskState eState ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -498,7 +483,8 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
  */
 #if ( INCLUDE_xTaskGetHandle == 1 )
 
-	static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
+    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
+                                                     const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -509,7 +495,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
  */
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
 
-	static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
+    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -524,7 +510,7 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
  */
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-	static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
+    static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -532,15 +518,16 @@ static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseT
  * Set xNextTaskUnblockTime to the time at which the next Blocked state task
  * will exit the Blocked state.
  */
-static void prvResetNextTaskUnblockTime( void );
+static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
 
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
 
-	/*
-	 * Helper function used to pad task names with spaces when printing out
-	 * human readable tables of task information.
-	 */
-	static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
+/*
+ * Helper function used to pad task names with spaces when printing out
+ * human readable tables of task information.
+ */
+    static char * prvWriteNameToBuffer( char * pcBuffer,
+                                        const char * pcTaskName ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -548,20 +535,20 @@ static void prvResetNextTaskUnblockTime( void );
  * Called after a Task_t structure has been allocated either statically or
  * dynamically to fill in the structure's members.
  */
-static void prvInitialiseNewTask( 	TaskFunction_t pxTaskCode,
-									const char * const pcName, 		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const uint32_t ulStackDepth,
-									void * const pvParameters,
-									UBaseType_t uxPriority,
-									TaskHandle_t * const pxCreatedTask,
-									TCB_t *pxNewTCB,
-									const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+                                  const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                  const uint32_t ulStackDepth,
+                                  void * const pvParameters,
+                                  UBaseType_t uxPriority,
+                                  TaskHandle_t * const pxCreatedTask,
+                                  TCB_t * pxNewTCB,
+                                  const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
 
 /*
  * Called after a new task has been created and initialised to place the task
  * under the control of the scheduler.
  */
-static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
+static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
 
 /*
  * freertos_tasks_c_additions_init() should only be called if the user definable
@@ -570,1331 +557,1332 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
  */
 #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
 
-	static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
+    static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
 
 #endif
 
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-	TaskHandle_t xTaskCreateStatic(	TaskFunction_t pxTaskCode,
-									const char * const pcName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const uint32_t ulStackDepth,
-									void * const pvParameters,
-									UBaseType_t uxPriority,
-									StackType_t * const puxStackBuffer,
-									StaticTask_t * const pxTaskBuffer )
-	{
-	TCB_t *pxNewTCB;
-	TaskHandle_t xReturn;
+    TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                    const uint32_t ulStackDepth,
+                                    void * const pvParameters,
+                                    UBaseType_t uxPriority,
+                                    StackType_t * const puxStackBuffer,
+                                    StaticTask_t * const pxTaskBuffer )
+    {
+        TCB_t * pxNewTCB;
+        TaskHandle_t xReturn;
 
-		configASSERT( puxStackBuffer != NULL );
-		configASSERT( pxTaskBuffer != NULL );
+        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 ) );
-			( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
-		}
-		#endif /* configASSERT_DEFINED */
+        #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 ) );
+            ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
+        }
+        #endif /* configASSERT_DEFINED */
 
+        if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
+        {
+            /* The memory used for the task's TCB and stack are passed into this
+             * function - use them. */
+            pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
+            memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
+            pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
 
-		if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
-		{
-			/* The memory used for the task's TCB and stack are passed into this
-			function - use them. */
-			pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
-			pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
+            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+            {
+                /* Tasks can be created statically or dynamically, so note this
+                 * task was created statically in case the task is later deleted. */
+                pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
+            }
+            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
 
-			#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
-			{
-				/* Tasks can be created statically or dynamically, so note this
-				task was created statically in case the task is later deleted. */
-				pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
-			}
-			#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+            prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
+            prvAddNewTaskToReadyList( pxNewTCB );
+        }
+        else
+        {
+            xReturn = NULL;
+        }
 
-			prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
-			prvAddNewTaskToReadyList( pxNewTCB );
-		}
-		else
-		{
-			xReturn = NULL;
-		}
-
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* SUPPORT_STATIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
 
-	BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
-	{
-	TCB_t *pxNewTCB;
-	BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+    BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+                                            TaskHandle_t * pxCreatedTask )
+    {
+        TCB_t * pxNewTCB;
+        BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
 
-		configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
-		configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
+        configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
+        configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
 
-		if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
-		{
-			/* Allocate space for the TCB.  Where the memory comes from depends
-			on the implementation of the port malloc function and whether or
-			not static allocation is being used. */
-			pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
+        if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
+        {
+            /* Allocate space for the TCB.  Where the memory comes from depends
+             * on the implementation of the port malloc function and whether or
+             * not static allocation is being used. */
+            pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
+            memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
-			/* Store the stack location in the TCB. */
-			pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
+            /* Store the stack location in the TCB. */
+            pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
 
-			#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
-			{
-				/* Tasks can be created statically or dynamically, so note this
-				task was created statically in case the task is later deleted. */
-				pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
-			}
-			#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
+            {
+                /* Tasks can be created statically or dynamically, so note this
+                 * task was created statically in case the task is later deleted. */
+                pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
+            }
+            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
 
-			prvInitialiseNewTask(	pxTaskDefinition->pvTaskCode,
-									pxTaskDefinition->pcName,
-									( uint32_t ) pxTaskDefinition->usStackDepth,
-									pxTaskDefinition->pvParameters,
-									pxTaskDefinition->uxPriority,
-									pxCreatedTask, pxNewTCB,
-									pxTaskDefinition->xRegions );
+            prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
+                                  pxTaskDefinition->pcName,
+                                  ( uint32_t ) pxTaskDefinition->usStackDepth,
+                                  pxTaskDefinition->pvParameters,
+                                  pxTaskDefinition->uxPriority,
+                                  pxCreatedTask, pxNewTCB,
+                                  pxTaskDefinition->xRegions );
 
-			prvAddNewTaskToReadyList( pxNewTCB );
-			xReturn = pdPASS;
-		}
+            prvAddNewTaskToReadyList( pxNewTCB );
+            xReturn = pdPASS;
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 /*-----------------------------------------------------------*/
 
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
 
-	BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
-	{
-	TCB_t *pxNewTCB;
-	BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+    BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+                                      TaskHandle_t * pxCreatedTask )
+    {
+        TCB_t * pxNewTCB;
+        BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
 
-		configASSERT( pxTaskDefinition->puxStackBuffer );
+        configASSERT( pxTaskDefinition->puxStackBuffer );
 
-		if( pxTaskDefinition->puxStackBuffer != NULL )
-		{
-			/* Allocate space for the TCB.  Where the memory comes from depends
-			on the implementation of the port malloc function and whether or
-			not static allocation is being used. */
-			pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
+        if( pxTaskDefinition->puxStackBuffer != NULL )
+        {
+            /* Allocate space for the TCB.  Where the memory comes from depends
+             * on the implementation of the port malloc function and whether or
+             * not static allocation is being used. */
+            pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
 
-			if( pxNewTCB != NULL )
-			{
-				/* Store the stack location in the TCB. */
-				pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
+            if( pxNewTCB != NULL )
+            {
+                memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
-				#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
-				{
-					/* Tasks can be created statically or dynamically, so note
-					this task had a statically allocated stack in case it is
-					later deleted.  The TCB was allocated dynamically. */
-					pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
-				}
-				#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+                /* Store the stack location in the TCB. */
+                pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
 
-				prvInitialiseNewTask(	pxTaskDefinition->pvTaskCode,
-										pxTaskDefinition->pcName,
-										( uint32_t ) pxTaskDefinition->usStackDepth,
-										pxTaskDefinition->pvParameters,
-										pxTaskDefinition->uxPriority,
-										pxCreatedTask, pxNewTCB,
-										pxTaskDefinition->xRegions );
+                #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
+                {
+                    /* Tasks can be created statically or dynamically, so note
+                     * this task had a statically allocated stack in case it is
+                     * later deleted.  The TCB was allocated dynamically. */
+                    pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
+                }
+                #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
 
-				prvAddNewTaskToReadyList( pxNewTCB );
-				xReturn = pdPASS;
-			}
-		}
+                prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
+                                      pxTaskDefinition->pcName,
+                                      ( uint32_t ) pxTaskDefinition->usStackDepth,
+                                      pxTaskDefinition->pvParameters,
+                                      pxTaskDefinition->uxPriority,
+                                      pxCreatedTask, pxNewTCB,
+                                      pxTaskDefinition->xRegions );
 
-		return xReturn;
-	}
+                prvAddNewTaskToReadyList( pxNewTCB );
+                xReturn = pdPASS;
+            }
+        }
+
+        return xReturn;
+    }
 
 #endif /* portUSING_MPU_WRAPPERS */
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
-	BaseType_t xTaskCreate(	TaskFunction_t pxTaskCode,
-							const char * const pcName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-							const configSTACK_DEPTH_TYPE usStackDepth,
-							void * const pvParameters,
-							UBaseType_t uxPriority,
-							TaskHandle_t * const pxCreatedTask )
-	{
-	TCB_t *pxNewTCB;
-	BaseType_t xReturn;
+    BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
+                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                            const configSTACK_DEPTH_TYPE usStackDepth,
+                            void * const pvParameters,
+                            UBaseType_t uxPriority,
+                            TaskHandle_t * const pxCreatedTask )
+    {
+        TCB_t * pxNewTCB;
+        BaseType_t xReturn;
 
-		/* If the stack grows down then allocate the stack then the TCB so the stack
-		does not grow into the TCB.  Likewise if the stack grows up then allocate
-		the TCB then the stack. */
-		#if( portSTACK_GROWTH > 0 )
-		{
-			/* Allocate space for the TCB.  Where the memory comes from depends on
-			the implementation of the port malloc function and whether or not static
-			allocation is being used. */
-			pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
+        /* If the stack grows down then allocate the stack then the TCB so the stack
+         * does not grow into the TCB.  Likewise if the stack grows up then allocate
+         * the TCB then the stack. */
+        #if ( portSTACK_GROWTH > 0 )
+        {
+            /* Allocate space for the TCB.  Where the memory comes from depends on
+             * the implementation of the port malloc function and whether or not static
+             * allocation is being used. */
+            pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
 
-			if( pxNewTCB != NULL )
-			{
-				/* Allocate space for the stack used by the task being created.
-				The base of the stack memory stored in the TCB so the task can
-				be deleted later if required. */
-				pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+            if( pxNewTCB != NULL )
+            {
+                memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
-				if( pxNewTCB->pxStack == NULL )
-				{
-					/* Could not allocate the stack.  Delete the allocated TCB. */
-					vPortFree( pxNewTCB );
-					pxNewTCB = NULL;
-				}
-			}
-		}
-		#else /* portSTACK_GROWTH */
-		{
-		StackType_t *pxStack;
+                /* Allocate space for the stack used by the task being created.
+                 * The base of the stack memory stored in the TCB so the task can
+                 * be deleted later if required. */
+                pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-			/* Allocate space for the stack used by the task being created. */
-			pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
+                if( pxNewTCB->pxStack == NULL )
+                {
+                    /* Could not allocate the stack.  Delete the allocated TCB. */
+                    vPortFree( pxNewTCB );
+                    pxNewTCB = NULL;
+                }
+            }
+        }
+        #else /* portSTACK_GROWTH */
+        {
+            StackType_t * pxStack;
 
-			if( pxStack != NULL )
-			{
-				/* Allocate space for the TCB. */
-				pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
+            /* Allocate space for the stack used by the task being created. */
+            pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
 
-				if( pxNewTCB != NULL )
-				{
-					/* Store the stack location in the TCB. */
-					pxNewTCB->pxStack = pxStack;
-				}
-				else
-				{
-					/* The stack cannot be used as the TCB was not created.  Free
-					it again. */
-					vPortFree( pxStack );
-				}
-			}
-			else
-			{
-				pxNewTCB = NULL;
-			}
-		}
-		#endif /* portSTACK_GROWTH */
+            if( pxStack != NULL )
+            {
+                /* Allocate space for the TCB. */
+                pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
 
-		if( pxNewTCB != NULL )
-		{
-			#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
-			{
-				/* Tasks can be created statically or dynamically, so note this
-				task was created dynamically in case it is later deleted. */
-				pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
-			}
-			#endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+                if( pxNewTCB != NULL )
+                {
+                    memset( ( void * ) pxNewTCB, 0x00, sizeof( TCB_t ) );
 
-			prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
-			prvAddNewTaskToReadyList( pxNewTCB );
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-		}
+                    /* Store the stack location in the TCB. */
+                    pxNewTCB->pxStack = pxStack;
+                }
+                else
+                {
+                    /* The stack cannot be used as the TCB was not created.  Free
+                     * it again. */
+                    vPortFreeStack( pxStack );
+                }
+            }
+            else
+            {
+                pxNewTCB = NULL;
+            }
+        }
+        #endif /* portSTACK_GROWTH */
 
-		return xReturn;
-	}
+        if( pxNewTCB != NULL )
+        {
+            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
+            {
+                /* Tasks can be created statically or dynamically, so note this
+                 * task was created dynamically in case it is later deleted. */
+                pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
+            }
+            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
+
+            prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
+            prvAddNewTaskToReadyList( pxNewTCB );
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+        }
+
+        return xReturn;
+    }
 
 #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseNewTask( 	TaskFunction_t pxTaskCode,
-									const char * const pcName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const uint32_t ulStackDepth,
-									void * const pvParameters,
-									UBaseType_t uxPriority,
-									TaskHandle_t * const pxCreatedTask,
-									TCB_t *pxNewTCB,
-									const MemoryRegion_t * const xRegions )
+static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
+                                  const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                  const uint32_t ulStackDepth,
+                                  void * const pvParameters,
+                                  UBaseType_t uxPriority,
+                                  TaskHandle_t * const pxCreatedTask,
+                                  TCB_t * pxNewTCB,
+                                  const MemoryRegion_t * const xRegions )
 {
-StackType_t *pxTopOfStack;
-UBaseType_t x;
+    StackType_t * pxTopOfStack;
+    UBaseType_t x;
 
-	#if( portUSING_MPU_WRAPPERS == 1 )
-		/* Should the task be created in privileged mode? */
-		BaseType_t xRunPrivileged;
-		if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
-		{
-			xRunPrivileged = pdTRUE;
-		}
-		else
-		{
-			xRunPrivileged = pdFALSE;
-		}
-		uxPriority &= ~portPRIVILEGE_BIT;
-	#endif /* portUSING_MPU_WRAPPERS == 1 */
+    #if ( portUSING_MPU_WRAPPERS == 1 )
+        /* Should the task be created in privileged mode? */
+        BaseType_t xRunPrivileged;
 
-	/* Avoid dependency on memset() if it is not required. */
-	#if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
-	{
-		/* Fill the stack with a known value to assist debugging. */
-		( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
-	}
-	#endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
+        if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
+        {
+            xRunPrivileged = pdTRUE;
+        }
+        else
+        {
+            xRunPrivileged = pdFALSE;
+        }
+        uxPriority &= ~portPRIVILEGE_BIT;
+    #endif /* portUSING_MPU_WRAPPERS == 1 */
 
-	/* Calculate the top of stack address.  This depends on whether the stack
-	grows from high memory to low (as per the 80x86) or vice versa.
-	portSTACK_GROWTH is used to make the result positive or negative as required
-	by the port. */
-	#if( portSTACK_GROWTH < 0 )
-	{
-		pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
-		pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type.  Checked by assert(). */
+    /* Avoid dependency on memset() if it is not required. */
+    #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
+    {
+        /* Fill the stack with a known value to assist debugging. */
+        ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
+    }
+    #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
 
-		/* Check the alignment of the calculated top of stack is correct. */
-		configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+    /* Calculate the top of stack address.  This depends on whether the stack
+     * grows from high memory to low (as per the 80x86) or vice versa.
+     * portSTACK_GROWTH is used to make the result positive or negative as required
+     * by the port. */
+    #if ( portSTACK_GROWTH < 0 )
+    {
+        pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
+        pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type.  Checked by assert(). */
 
-		#if( configRECORD_STACK_HIGH_ADDRESS == 1 )
-		{
-			/* Also record the stack's high address, which may assist
-			debugging. */
-			pxNewTCB->pxEndOfStack = pxTopOfStack;
-		}
-		#endif /* configRECORD_STACK_HIGH_ADDRESS */
-	}
-	#else /* portSTACK_GROWTH */
-	{
-		pxTopOfStack = pxNewTCB->pxStack;
+        /* Check the alignment of the calculated top of stack is correct. */
+        configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 
-		/* Check the alignment of the stack buffer is correct. */
-		configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+        #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
+        {
+            /* Also record the stack's high address, which may assist
+             * debugging. */
+            pxNewTCB->pxEndOfStack = pxTopOfStack;
+        }
+        #endif /* configRECORD_STACK_HIGH_ADDRESS */
+    }
+    #else /* portSTACK_GROWTH */
+    {
+        pxTopOfStack = pxNewTCB->pxStack;
 
-		/* The other extreme of the stack space is required if stack checking is
-		performed. */
-		pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
-	}
-	#endif /* portSTACK_GROWTH */
+        /* Check the alignment of the stack buffer is correct. */
+        configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 
-	/* Store the task name in the TCB. */
-	if( pcName != NULL )
-	{
-		for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
-		{
-			pxNewTCB->pcTaskName[ x ] = pcName[ x ];
+        /* The other extreme of the stack space is required if stack checking is
+         * performed. */
+        pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
+    }
+    #endif /* portSTACK_GROWTH */
 
-			/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
-			configMAX_TASK_NAME_LEN characters just in case the memory after the
-			string is not accessible (extremely unlikely). */
-			if( pcName[ x ] == ( char ) 0x00 )
-			{
-				break;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+    /* Store the task name in the TCB. */
+    if( pcName != NULL )
+    {
+        for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
+        {
+            pxNewTCB->pcTaskName[ x ] = pcName[ x ];
 
-		/* Ensure the name string is terminated in the case that the string length
-		was greater or equal to configMAX_TASK_NAME_LEN. */
-		pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
-	}
-	else
-	{
-		/* The task has not been given a name, so just ensure there is a NULL
-		terminator when it is read out. */
-		pxNewTCB->pcTaskName[ 0 ] = 0x00;
-	}
+            /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
+             * configMAX_TASK_NAME_LEN characters just in case the memory after the
+             * string is not accessible (extremely unlikely). */
+            if( pcName[ x ] == ( char ) 0x00 )
+            {
+                break;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
 
-	/* This is used as an array index so must ensure it's not too large.  First
-	remove the privilege bit if one is present. */
-	if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
-	{
-		uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+        /* Ensure the name string is terminated in the case that the string length
+         * was greater or equal to configMAX_TASK_NAME_LEN. */
+        pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	pxNewTCB->uxPriority = uxPriority;
-	#if ( configUSE_MUTEXES == 1 )
-	{
-		pxNewTCB->uxBasePriority = uxPriority;
-		pxNewTCB->uxMutexesHeld = 0;
-	}
-	#endif /* configUSE_MUTEXES */
+    /* This is used as an array index so must ensure it's not too large. */
+    configASSERT( uxPriority < configMAX_PRIORITIES );
 
-	vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
-	vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
+    if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
+    {
+        uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	/* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get
-	back to	the containing TCB from a generic item in a list. */
-	listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
+    pxNewTCB->uxPriority = uxPriority;
+    #if ( configUSE_MUTEXES == 1 )
+    {
+        pxNewTCB->uxBasePriority = uxPriority;
+    }
+    #endif /* configUSE_MUTEXES */
 
-	/* Event lists are always in priority order. */
-	listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-	listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
+    vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
+    vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
 
-	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-	{
-		pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
-	}
-	#endif /* portCRITICAL_NESTING_IN_TCB */
+    /* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get
+     * back to  the containing TCB from a generic item in a list. */
+    listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
 
-	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-	{
-		pxNewTCB->pxTaskTag = NULL;
-	}
-	#endif /* configUSE_APPLICATION_TASK_TAG */
+    /* Event lists are always in priority order. */
+    listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+    listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
 
-	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-	{
-		pxNewTCB->ulRunTimeCounter = 0UL;
-	}
-	#endif /* configGENERATE_RUN_TIME_STATS */
+    #if ( portUSING_MPU_WRAPPERS == 1 )
+    {
+        vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
+    }
+    #else
+    {
+        /* Avoid compiler warning about unreferenced parameter. */
+        ( void ) xRegions;
+    }
+    #endif
 
-	#if ( portUSING_MPU_WRAPPERS == 1 )
-	{
-		vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
-	}
-	#else
-	{
-		/* Avoid compiler warning about unreferenced parameter. */
-		( void ) xRegions;
-	}
-	#endif
+    #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
+    {
+        /* Allocate and initialize memory for the task's TLS Block. */
+        configINIT_TLS_BLOCK( pxNewTCB->xTLSBlock, pxTopOfStack );
+    }
+    #endif
 
-	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
-	{
-		for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
-		{
-			pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
-		}
-	}
-	#endif
+    /* Initialize the TCB stack to look as if the task was already running,
+     * but had been interrupted by the scheduler.  The return address is set
+     * to the start of the task function. Once the stack has been initialised
+     * the top of stack variable is updated. */
+    #if ( portUSING_MPU_WRAPPERS == 1 )
+    {
+        /* If the port has capability to detect stack overflow,
+         * pass the stack end address to the stack initialization
+         * function as well. */
+        #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        {
+            #if ( portSTACK_GROWTH < 0 )
+            {
+                pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
+            }
+            #else /* portSTACK_GROWTH */
+            {
+                pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
+            }
+            #endif /* portSTACK_GROWTH */
+        }
+        #else /* portHAS_STACK_OVERFLOW_CHECKING */
+        {
+            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged, &( pxNewTCB->xMPUSettings ) );
+        }
+        #endif /* portHAS_STACK_OVERFLOW_CHECKING */
+    }
+    #else /* portUSING_MPU_WRAPPERS */
+    {
+        /* If the port has capability to detect stack overflow,
+         * pass the stack end address to the stack initialization
+         * function as well. */
+        #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        {
+            #if ( portSTACK_GROWTH < 0 )
+            {
+                pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
+            }
+            #else /* portSTACK_GROWTH */
+            {
+                pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
+            }
+            #endif /* portSTACK_GROWTH */
+        }
+        #else /* portHAS_STACK_OVERFLOW_CHECKING */
+        {
+            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
+        }
+        #endif /* portHAS_STACK_OVERFLOW_CHECKING */
+    }
+    #endif /* portUSING_MPU_WRAPPERS */
 
-	#if ( configUSE_TASK_NOTIFICATIONS == 1 )
-	{
-		pxNewTCB->ulNotifiedValue = 0;
-		pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
-	}
-	#endif
-
-	#if ( configUSE_NEWLIB_REENTRANT == 1 )
-	{
-		/* Initialise this task's Newlib reent structure.
-		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-		for additional information. */
-		_REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
-	}
-	#endif
-
-	#if( INCLUDE_xTaskAbortDelay == 1 )
-	{
-		pxNewTCB->ucDelayAborted = pdFALSE;
-	}
-	#endif
-
-	/* Initialize the TCB stack to look as if the task was already running,
-	but had been interrupted by the scheduler.  The return address is set
-	to the start of the task function. Once the stack has been initialised
-	the top of stack variable is updated. */
-	#if( portUSING_MPU_WRAPPERS == 1 )
-	{
-		/* If the port has capability to detect stack overflow,
-		pass the stack end address to the stack initialization
-		function as well. */
-		#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
-		{
-			#if( portSTACK_GROWTH < 0 )
-			{
-				pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
-			}
-			#else /* portSTACK_GROWTH */
-			{
-				pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
-			}
-			#endif /* portSTACK_GROWTH */
-		}
-		#else /* portHAS_STACK_OVERFLOW_CHECKING */
-		{
-			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
-		}
-		#endif /* portHAS_STACK_OVERFLOW_CHECKING */
-	}
-	#else /* portUSING_MPU_WRAPPERS */
-	{
-		/* If the port has capability to detect stack overflow,
-		pass the stack end address to the stack initialization
-		function as well. */
-		#if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
-		{
-			#if( portSTACK_GROWTH < 0 )
-			{
-				pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
-			}
-			#else /* portSTACK_GROWTH */
-			{
-				pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
-			}
-			#endif /* portSTACK_GROWTH */
-		}
-		#else /* portHAS_STACK_OVERFLOW_CHECKING */
-		{
-			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
-		}
-		#endif /* portHAS_STACK_OVERFLOW_CHECKING */
-	}
-	#endif /* portUSING_MPU_WRAPPERS */
-
-	if( pxCreatedTask != NULL )
-	{
-		/* Pass the handle out in an anonymous way.  The handle can be used to
-		change the created task's priority, delete the created task, etc.*/
-		*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    if( pxCreatedTask != NULL )
+    {
+        /* Pass the handle out in an anonymous way.  The handle can be used to
+         * change the created task's priority, delete the created task, etc.*/
+        *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 }
 /*-----------------------------------------------------------*/
 
-static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
+static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
 {
-	/* Ensure interrupts don't access the task lists while the lists are being
-	updated. */
-	taskENTER_CRITICAL();
-	{
-		uxCurrentNumberOfTasks++;
-		if( pxCurrentTCB == NULL )
-		{
-			/* There are no other tasks, or all the other tasks are in
-			the suspended state - make this the current task. */
-			pxCurrentTCB = pxNewTCB;
+    /* Ensure interrupts don't access the task lists while the lists are being
+     * updated. */
+    taskENTER_CRITICAL();
+    {
+        uxCurrentNumberOfTasks++;
 
-			if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
-			{
-				/* This is the first task to be created so do the preliminary
-				initialisation required.  We will not recover if this call
-				fails, but we will report the failure. */
-				prvInitialiseTaskLists();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			/* If the scheduler is not already running, make this task the
-			current task if it is the highest priority task to be created
-			so far. */
-			if( xSchedulerRunning == pdFALSE )
-			{
-				if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
-				{
-					pxCurrentTCB = pxNewTCB;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+        if( pxCurrentTCB == NULL )
+        {
+            /* There are no other tasks, or all the other tasks are in
+             * the suspended state - make this the current task. */
+            pxCurrentTCB = pxNewTCB;
 
-		uxTaskNumber++;
+            if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
+            {
+                /* This is the first task to be created so do the preliminary
+                 * initialisation required.  We will not recover if this call
+                 * fails, but we will report the failure. */
+                prvInitialiseTaskLists();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            /* If the scheduler is not already running, make this task the
+             * current task if it is the highest priority task to be created
+             * so far. */
+            if( xSchedulerRunning == pdFALSE )
+            {
+                if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
+                {
+                    pxCurrentTCB = pxNewTCB;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
 
-		#if ( configUSE_TRACE_FACILITY == 1 )
-		{
-			/* Add a counter into the TCB for tracing only. */
-			pxNewTCB->uxTCBNumber = uxTaskNumber;
-		}
-		#endif /* configUSE_TRACE_FACILITY */
-		traceTASK_CREATE( pxNewTCB );
+        uxTaskNumber++;
 
-		prvAddTaskToReadyList( pxNewTCB );
+        #if ( configUSE_TRACE_FACILITY == 1 )
+        {
+            /* Add a counter into the TCB for tracing only. */
+            pxNewTCB->uxTCBNumber = uxTaskNumber;
+        }
+        #endif /* configUSE_TRACE_FACILITY */
+        traceTASK_CREATE( pxNewTCB );
 
-		portSETUP_TCB( pxNewTCB );
-	}
-	taskEXIT_CRITICAL();
+        prvAddTaskToReadyList( pxNewTCB );
 
-	if( xSchedulerRunning != pdFALSE )
-	{
-		/* If the created task is of a higher priority than the current task
-		then it should run now. */
-		if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
-		{
-			taskYIELD_IF_USING_PREEMPTION();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+        portSETUP_TCB( pxNewTCB );
+    }
+    taskEXIT_CRITICAL();
+
+    if( xSchedulerRunning != pdFALSE )
+    {
+        /* If the created task is of a higher priority than the current task
+         * then it should run now. */
+        if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
+        {
+            taskYIELD_IF_USING_PREEMPTION();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 }
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	void vTaskDelete( TaskHandle_t xTaskToDelete )
-	{
-	TCB_t *pxTCB;
+    void vTaskDelete( TaskHandle_t xTaskToDelete )
+    {
+        TCB_t * pxTCB;
 
-		taskENTER_CRITICAL();
-		{
-			/* If null is passed in here then it is the calling task that is
-			being deleted. */
-			pxTCB = prvGetTCBFromHandle( xTaskToDelete );
+        taskENTER_CRITICAL();
+        {
+            /* If null is passed in here then it is the calling task that is
+             * being deleted. */
+            pxTCB = prvGetTCBFromHandle( xTaskToDelete );
 
-			/* Remove task from the ready/delayed list. */
-			if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-			{
-				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Remove task from the ready/delayed list. */
+            if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+            {
+                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			/* Is the task waiting on an event also? */
-			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
-			{
-				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Is the task waiting on an event also? */
+            if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+            {
+                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			/* Increment the uxTaskNumber also so kernel aware debuggers can
-			detect that the task lists need re-generating.  This is done before
-			portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
-			not return. */
-			uxTaskNumber++;
+            /* Increment the uxTaskNumber also so kernel aware debuggers can
+             * detect that the task lists need re-generating.  This is done before
+             * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
+             * not return. */
+            uxTaskNumber++;
 
-			if( pxTCB == pxCurrentTCB )
-			{
-				/* A task is deleting itself.  This cannot complete within the
-				task itself, as a context switch to another task is required.
-				Place the task in the termination list.  The idle task will
-				check the termination list and free up any memory allocated by
-				the scheduler for the TCB and stack of the deleted task. */
-				vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
+            if( pxTCB == pxCurrentTCB )
+            {
+                /* A task is deleting itself.  This cannot complete within the
+                 * task itself, as a context switch to another task is required.
+                 * Place the task in the termination list.  The idle task will
+                 * check the termination list and free up any memory allocated by
+                 * the scheduler for the TCB and stack of the deleted task. */
+                vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
 
-				/* Increment the ucTasksDeleted variable so the idle task knows
-				there is a task that has been deleted and that it should therefore
-				check the xTasksWaitingTermination list. */
-				++uxDeletedTasksWaitingCleanUp;
+                /* Increment the ucTasksDeleted variable so the idle task knows
+                 * there is a task that has been deleted and that it should therefore
+                 * check the xTasksWaitingTermination list. */
+                ++uxDeletedTasksWaitingCleanUp;
 
-				/* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
-				portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
-				traceTASK_DELETE( pxTCB );
+                /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
+                 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
+                traceTASK_DELETE( pxTCB );
 
-				/* The pre-delete hook is primarily for the Windows simulator,
-				in which Windows specific clean up operations are performed,
-				after which it is not possible to yield away from this task -
-				hence xYieldPending is used to latch that a context switch is
-				required. */
-				portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
-			}
-			else
-			{
-				--uxCurrentNumberOfTasks;
-				traceTASK_DELETE( pxTCB );
-				prvDeleteTCB( pxTCB );
+                /* The pre-delete hook is primarily for the Windows simulator,
+                 * in which Windows specific clean up operations are performed,
+                 * after which it is not possible to yield away from this task -
+                 * hence xYieldPending is used to latch that a context switch is
+                 * required. */
+                portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
+            }
+            else
+            {
+                --uxCurrentNumberOfTasks;
+                traceTASK_DELETE( pxTCB );
 
-				/* Reset the next expected unblock time in case it referred to
-				the task that has just been deleted. */
-				prvResetNextTaskUnblockTime();
-			}
-		}
-		taskEXIT_CRITICAL();
+                /* Reset the next expected unblock time in case it referred to
+                 * the task that has just been deleted. */
+                prvResetNextTaskUnblockTime();
+            }
+        }
+        taskEXIT_CRITICAL();
 
-		/* Force a reschedule if it is the currently running task that has just
-		been deleted. */
-		if( xSchedulerRunning != pdFALSE )
-		{
-			if( pxTCB == pxCurrentTCB )
-			{
-				configASSERT( uxSchedulerSuspended == 0 );
-				portYIELD_WITHIN_API();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-	}
+        /* If the task is not deleting itself, call prvDeleteTCB from outside of
+         * critical section. If a task deletes itself, prvDeleteTCB is called
+         * from prvCheckTasksWaitingTermination which is called from Idle task. */
+        if( pxTCB != pxCurrentTCB )
+        {
+            prvDeleteTCB( pxTCB );
+        }
+
+        /* Force a reschedule if it is the currently running task that has just
+         * been deleted. */
+        if( xSchedulerRunning != pdFALSE )
+        {
+            if( pxTCB == pxCurrentTCB )
+            {
+                configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
+                portYIELD_WITHIN_API();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+    }
 
 #endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_vTaskDelayUntil == 1 )
+#if ( INCLUDE_xTaskDelayUntil == 1 )
 
-	void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
-	{
-	TickType_t xTimeToWake;
-	BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
+    BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                                const TickType_t xTimeIncrement )
+    {
+        TickType_t xTimeToWake;
+        BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
 
-		configASSERT( pxPreviousWakeTime );
-		configASSERT( ( xTimeIncrement > 0U ) );
-		configASSERT( uxSchedulerSuspended == 0 );
+        configASSERT( pxPreviousWakeTime );
+        configASSERT( ( xTimeIncrement > 0U ) );
+        configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
 
-		vTaskSuspendAll();
-		{
-			/* Minor optimisation.  The tick count cannot change in this
-			block. */
-			const TickType_t xConstTickCount = xTickCount;
+        vTaskSuspendAll();
+        {
+            /* Minor optimisation.  The tick count cannot change in this
+             * block. */
+            const TickType_t xConstTickCount = xTickCount;
 
-			/* Generate the tick time at which the task wants to wake. */
-			xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+            /* Generate the tick time at which the task wants to wake. */
+            xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
 
-			if( xConstTickCount < *pxPreviousWakeTime )
-			{
-				/* The tick count has overflowed since this function was
-				lasted called.  In this case the only time we should ever
-				actually delay is if the wake time has also	overflowed,
-				and the wake time is greater than the tick time.  When this
-				is the case it is as if neither time had overflowed. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
-				{
-					xShouldDelay = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				/* The tick time has not overflowed.  In this case we will
-				delay if either the wake time has overflowed, and/or the
-				tick time is less than the wake time. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
-				{
-					xShouldDelay = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
+            if( xConstTickCount < *pxPreviousWakeTime )
+            {
+                /* The tick count has overflowed since this function was
+                 * lasted called.  In this case the only time we should ever
+                 * actually delay is if the wake time has also  overflowed,
+                 * and the wake time is greater than the tick time.  When this
+                 * is the case it is as if neither time had overflowed. */
+                if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
+                {
+                    xShouldDelay = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                /* The tick time has not overflowed.  In this case we will
+                 * delay if either the wake time has overflowed, and/or the
+                 * tick time is less than the wake time. */
+                if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
+                {
+                    xShouldDelay = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
 
-			/* Update the wake time ready for the next call. */
-			*pxPreviousWakeTime = xTimeToWake;
+            /* Update the wake time ready for the next call. */
+            *pxPreviousWakeTime = xTimeToWake;
 
-			if( xShouldDelay != pdFALSE )
-			{
-				traceTASK_DELAY_UNTIL( xTimeToWake );
+            if( xShouldDelay != pdFALSE )
+            {
+                traceTASK_DELAY_UNTIL( xTimeToWake );
 
-				/* prvAddCurrentTaskToDelayedList() needs the block time, not
-				the time to wake, so subtract the current tick count. */
-				prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		xAlreadyYielded = xTaskResumeAll();
+                /* prvAddCurrentTaskToDelayedList() needs the block time, not
+                 * the time to wake, so subtract the current tick count. */
+                prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        xAlreadyYielded = xTaskResumeAll();
 
-		/* Force a reschedule if xTaskResumeAll has not already done so, we may
-		have put ourselves to sleep. */
-		if( xAlreadyYielded == pdFALSE )
-		{
-			portYIELD_WITHIN_API();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+        /* Force a reschedule if xTaskResumeAll has not already done so, we may
+         * have put ourselves to sleep. */
+        if( xAlreadyYielded == pdFALSE )
+        {
+            portYIELD_WITHIN_API();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-#endif /* INCLUDE_vTaskDelayUntil */
+        return xShouldDelay;
+    }
+
+#endif /* INCLUDE_xTaskDelayUntil */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelay == 1 )
 
-	void vTaskDelay( const TickType_t xTicksToDelay )
-	{
-	BaseType_t xAlreadyYielded = pdFALSE;
+    void vTaskDelay( const TickType_t xTicksToDelay )
+    {
+        BaseType_t xAlreadyYielded = pdFALSE;
 
-		/* A delay time of zero just forces a reschedule. */
-		if( xTicksToDelay > ( TickType_t ) 0U )
-		{
-			configASSERT( uxSchedulerSuspended == 0 );
-			vTaskSuspendAll();
-			{
-				traceTASK_DELAY();
+        /* A delay time of zero just forces a reschedule. */
+        if( xTicksToDelay > ( TickType_t ) 0U )
+        {
+            configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
+            vTaskSuspendAll();
+            {
+                traceTASK_DELAY();
 
-				/* A task that is removed from the event list while the
-				scheduler is suspended will not get placed in the ready
-				list or removed from the blocked list until the scheduler
-				is resumed.
+                /* A task that is removed from the event list while the
+                 * scheduler is suspended will not get placed in the ready
+                 * list or removed from the blocked list until the scheduler
+                 * is resumed.
+                 *
+                 * This task cannot be in an event list as it is the currently
+                 * executing task. */
+                prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
+            }
+            xAlreadyYielded = xTaskResumeAll();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-				This task cannot be in an event list as it is the currently
-				executing task. */
-				prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
-			}
-			xAlreadyYielded = xTaskResumeAll();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-
-		/* Force a reschedule if xTaskResumeAll has not already done so, we may
-		have put ourselves to sleep. */
-		if( xAlreadyYielded == pdFALSE )
-		{
-			portYIELD_WITHIN_API();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+        /* Force a reschedule if xTaskResumeAll has not already done so, we may
+         * have put ourselves to sleep. */
+        if( xAlreadyYielded == pdFALSE )
+        {
+            portYIELD_WITHIN_API();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* INCLUDE_vTaskDelay */
 /*-----------------------------------------------------------*/
 
-#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
+#if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
 
-	eTaskState eTaskGetState( TaskHandle_t xTask )
-	{
-	eTaskState eReturn;
-	List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
-	const TCB_t * const pxTCB = xTask;
+    eTaskState eTaskGetState( TaskHandle_t xTask )
+    {
+        eTaskState eReturn;
+        List_t const * pxStateList;
+        List_t const * pxEventList;
+        List_t const * pxDelayedList;
+        List_t const * pxOverflowedDelayedList;
+        const TCB_t * const pxTCB = xTask;
 
-		configASSERT( pxTCB );
+        configASSERT( pxTCB );
 
-		if( pxTCB == pxCurrentTCB )
-		{
-			/* The task calling this function is querying its own state. */
-			eReturn = eRunning;
-		}
-		else
-		{
-			taskENTER_CRITICAL();
-			{
-				pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
-				pxDelayedList = pxDelayedTaskList;
-				pxOverflowedDelayedList = pxOverflowDelayedTaskList;
-			}
-			taskEXIT_CRITICAL();
+        if( pxTCB == pxCurrentTCB )
+        {
+            /* The task calling this function is querying its own state. */
+            eReturn = eRunning;
+        }
+        else
+        {
+            taskENTER_CRITICAL();
+            {
+                pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
+                pxEventList = listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) );
+                pxDelayedList = pxDelayedTaskList;
+                pxOverflowedDelayedList = pxOverflowDelayedTaskList;
+            }
+            taskEXIT_CRITICAL();
 
-			if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
-			{
-				/* The task being queried is referenced from one of the Blocked
-				lists. */
-				eReturn = eBlocked;
-			}
+            if( pxEventList == &xPendingReadyList )
+            {
+                /* The task has been placed on the pending ready list, so its
+                 * state is eReady regardless of what list the task's state list
+                 * item is currently placed on. */
+                eReturn = eReady;
+            }
+            else if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
+            {
+                /* The task being queried is referenced from one of the Blocked
+                 * lists. */
+                eReturn = eBlocked;
+            }
 
-			#if ( INCLUDE_vTaskSuspend == 1 )
-				else if( pxStateList == &xSuspendedTaskList )
-				{
-					/* The task being queried is referenced from the suspended
-					list.  Is it genuinely suspended or is it blocked
-					indefinitely? */
-					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
-					{
-						#if( configUSE_TASK_NOTIFICATIONS == 1 )
-						{
-							/* The task does not appear on the event list item of
-							and of the RTOS objects, but could still be in the
-							blocked state if it is waiting on its notification
-							rather than waiting on an object. */
-							if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
-							{
-								eReturn = eBlocked;
-							}
-							else
-							{
-								eReturn = eSuspended;
-							}
-						}
-						#else
-						{
-							eReturn = eSuspended;
-						}
-						#endif
-					}
-					else
-					{
-						eReturn = eBlocked;
-					}
-				}
-			#endif
+            #if ( INCLUDE_vTaskSuspend == 1 )
+                else if( pxStateList == &xSuspendedTaskList )
+                {
+                    /* The task being queried is referenced from the suspended
+                     * list.  Is it genuinely suspended or is it blocked
+                     * indefinitely? */
+                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
+                    {
+                        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+                        {
+                            BaseType_t x;
 
-			#if ( INCLUDE_vTaskDelete == 1 )
-				else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
-				{
-					/* The task being queried is referenced from the deleted
-					tasks list, or it is not referenced from any lists at
-					all. */
-					eReturn = eDeleted;
-				}
-			#endif
+                            /* The task does not appear on the event list item of
+                             * and of the RTOS objects, but could still be in the
+                             * blocked state if it is waiting on its notification
+                             * rather than waiting on an object.  If not, is
+                             * suspended. */
+                            eReturn = eSuspended;
 
-			else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
-			{
-				/* If the task is not in any other state, it must be in the
-				Ready (including pending ready) state. */
-				eReturn = eReady;
-			}
-		}
+                            for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
+                            {
+                                if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
+                                {
+                                    eReturn = eBlocked;
+                                    break;
+                                }
+                            }
+                        }
+                        #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+                        {
+                            eReturn = eSuspended;
+                        }
+                        #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+                    }
+                    else
+                    {
+                        eReturn = eBlocked;
+                    }
+                }
+            #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
 
-		return eReturn;
-	} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
+            #if ( INCLUDE_vTaskDelete == 1 )
+                else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
+                {
+                    /* The task being queried is referenced from the deleted
+                     * tasks list, or it is not referenced from any lists at
+                     * all. */
+                    eReturn = eDeleted;
+                }
+            #endif
+
+            else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
+            {
+                /* If the task is not in any other state, it must be in the
+                 * Ready (including pending ready) state. */
+                eReturn = eReady;
+            }
+        }
+
+        return eReturn;
+    } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
 
 #endif /* INCLUDE_eTaskGetState */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskPriorityGet == 1 )
 
-	UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
-	{
-	TCB_t const *pxTCB;
-	UBaseType_t uxReturn;
+    UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
+    {
+        TCB_t const * pxTCB;
+        UBaseType_t uxReturn;
 
-		taskENTER_CRITICAL();
-		{
-			/* If null is passed in here then it is the priority of the task
-			that called uxTaskPriorityGet() that is being queried. */
-			pxTCB = prvGetTCBFromHandle( xTask );
-			uxReturn = pxTCB->uxPriority;
-		}
-		taskEXIT_CRITICAL();
+        taskENTER_CRITICAL();
+        {
+            /* If null is passed in here then it is the priority of the task
+             * that called uxTaskPriorityGet() that is being queried. */
+            pxTCB = prvGetTCBFromHandle( xTask );
+            uxReturn = pxTCB->uxPriority;
+        }
+        taskEXIT_CRITICAL();
 
-		return uxReturn;
-	}
+        return uxReturn;
+    }
 
 #endif /* INCLUDE_uxTaskPriorityGet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskPriorityGet == 1 )
 
-	UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
-	{
-	TCB_t const *pxTCB;
-	UBaseType_t uxReturn, uxSavedInterruptState;
+    UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
+    {
+        TCB_t const * pxTCB;
+        UBaseType_t uxReturn;
+        UBaseType_t uxSavedInterruptState;
 
-		/* RTOS ports that support interrupt nesting have the concept of a
-		maximum	system call (or maximum API call) interrupt priority.
-		Interrupts that are	above the maximum system call priority are keep
-		permanently enabled, even when the RTOS kernel is in a critical section,
-		but cannot make any calls to FreeRTOS API functions.  If configASSERT()
-		is defined in FreeRTOSConfig.h then
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-		failure if a FreeRTOS API function is called from an interrupt that has
-		been assigned a priority above the configured maximum system call
-		priority.  Only FreeRTOS functions that end in FromISR can be called
-		from interrupts	that have been assigned a priority at or (logically)
-		below the maximum system call interrupt priority.  FreeRTOS maintains a
-		separate interrupt safe API to ensure interrupt entry is as fast and as
-		simple as possible.  More information (albeit Cortex-M specific) is
-		provided on the following link:
-		https://www.freertos.org/RTOS-Cortex-M3-M4.html */
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+        /* RTOS ports that support interrupt nesting have the concept of a
+         * maximum  system call (or maximum API call) interrupt priority.
+         * Interrupts that are  above the maximum system call priority are keep
+         * permanently enabled, even when the RTOS kernel is in a critical section,
+         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
+         * is defined in FreeRTOSConfig.h then
+         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+         * failure if a FreeRTOS API function is called from an interrupt that has
+         * been assigned a priority above the configured maximum system call
+         * priority.  Only FreeRTOS functions that end in FromISR can be called
+         * from interrupts  that have been assigned a priority at or (logically)
+         * below the maximum system call interrupt priority.  FreeRTOS maintains a
+         * separate interrupt safe API to ensure interrupt entry is as fast and as
+         * simple as possible.  More information (albeit Cortex-M specific) is
+         * provided on the following link:
+         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-		uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
-		{
-			/* If null is passed in here then it is the priority of the calling
-			task that is being queried. */
-			pxTCB = prvGetTCBFromHandle( xTask );
-			uxReturn = pxTCB->uxPriority;
-		}
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
+        uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
+        {
+            /* If null is passed in here then it is the priority of the calling
+             * task that is being queried. */
+            pxTCB = prvGetTCBFromHandle( xTask );
+            uxReturn = pxTCB->uxPriority;
+        }
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
 
-		return uxReturn;
-	}
+        return uxReturn;
+    }
 
 #endif /* INCLUDE_uxTaskPriorityGet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskPrioritySet == 1 )
 
-	void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
-	{
-	TCB_t *pxTCB;
-	UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
-	BaseType_t xYieldRequired = pdFALSE;
+    void vTaskPrioritySet( TaskHandle_t xTask,
+                           UBaseType_t uxNewPriority )
+    {
+        TCB_t * pxTCB;
+        UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
+        BaseType_t xYieldRequired = pdFALSE;
 
-		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
+        configASSERT( uxNewPriority < configMAX_PRIORITIES );
 
-		/* Ensure the new priority is valid. */
-		if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
-		{
-			uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+        /* Ensure the new priority is valid. */
+        if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
+        {
+            uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		taskENTER_CRITICAL();
-		{
-			/* If null is passed in here then it is the priority of the calling
-			task that is being changed. */
-			pxTCB = prvGetTCBFromHandle( xTask );
+        taskENTER_CRITICAL();
+        {
+            /* If null is passed in here then it is the priority of the calling
+             * task that is being changed. */
+            pxTCB = prvGetTCBFromHandle( xTask );
 
-			traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
+            traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
 
-			#if ( configUSE_MUTEXES == 1 )
-			{
-				uxCurrentBasePriority = pxTCB->uxBasePriority;
-			}
-			#else
-			{
-				uxCurrentBasePriority = pxTCB->uxPriority;
-			}
-			#endif
+            #if ( configUSE_MUTEXES == 1 )
+            {
+                uxCurrentBasePriority = pxTCB->uxBasePriority;
+            }
+            #else
+            {
+                uxCurrentBasePriority = pxTCB->uxPriority;
+            }
+            #endif
 
-			if( uxCurrentBasePriority != uxNewPriority )
-			{
-				/* The priority change may have readied a task of higher
-				priority than the calling task. */
-				if( uxNewPriority > uxCurrentBasePriority )
-				{
-					if( pxTCB != pxCurrentTCB )
-					{
-						/* The priority of a task other than the currently
-						running task is being raised.  Is the priority being
-						raised above that of the running task? */
-						if( uxNewPriority >= pxCurrentTCB->uxPriority )
-						{
-							xYieldRequired = pdTRUE;
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						/* The priority of the running task is being raised,
-						but the running task must already be the highest
-						priority task able to run so no yield is required. */
-					}
-				}
-				else if( pxTCB == pxCurrentTCB )
-				{
-					/* Setting the priority of the running task down means
-					there may now be another task of higher priority that
-					is ready to execute. */
-					xYieldRequired = pdTRUE;
-				}
-				else
-				{
-					/* Setting the priority of any other task down does not
-					require a yield as the running task must be above the
-					new priority of the task being modified. */
-				}
+            if( uxCurrentBasePriority != uxNewPriority )
+            {
+                /* The priority change may have readied a task of higher
+                 * priority than the calling task. */
+                if( uxNewPriority > uxCurrentBasePriority )
+                {
+                    if( pxTCB != pxCurrentTCB )
+                    {
+                        /* The priority of a task other than the currently
+                         * running task is being raised.  Is the priority being
+                         * raised above that of the running task? */
+                        if( uxNewPriority > pxCurrentTCB->uxPriority )
+                        {
+                            xYieldRequired = pdTRUE;
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    else
+                    {
+                        /* The priority of the running task is being raised,
+                         * but the running task must already be the highest
+                         * priority task able to run so no yield is required. */
+                    }
+                }
+                else if( pxTCB == pxCurrentTCB )
+                {
+                    /* Setting the priority of the running task down means
+                     * there may now be another task of higher priority that
+                     * is ready to execute. */
+                    xYieldRequired = pdTRUE;
+                }
+                else
+                {
+                    /* Setting the priority of any other task down does not
+                     * require a yield as the running task must be above the
+                     * new priority of the task being modified. */
+                }
 
-				/* Remember the ready list the task might be referenced from
-				before its uxPriority member is changed so the
-				taskRESET_READY_PRIORITY() macro can function correctly. */
-				uxPriorityUsedOnEntry = pxTCB->uxPriority;
+                /* Remember the ready list the task might be referenced from
+                 * before its uxPriority member is changed so the
+                 * taskRESET_READY_PRIORITY() macro can function correctly. */
+                uxPriorityUsedOnEntry = pxTCB->uxPriority;
 
-				#if ( configUSE_MUTEXES == 1 )
-				{
-					/* Only change the priority being used if the task is not
-					currently using an inherited priority. */
-					if( pxTCB->uxBasePriority == pxTCB->uxPriority )
-					{
-						pxTCB->uxPriority = uxNewPriority;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                #if ( configUSE_MUTEXES == 1 )
+                {
+                    /* Only change the priority being used if the task is not
+                     * currently using an inherited priority. */
+                    if( pxTCB->uxBasePriority == pxTCB->uxPriority )
+                    {
+                        pxTCB->uxPriority = uxNewPriority;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* The base priority gets set whatever. */
-					pxTCB->uxBasePriority = uxNewPriority;
-				}
-				#else
-				{
-					pxTCB->uxPriority = uxNewPriority;
-				}
-				#endif
+                    /* The base priority gets set whatever. */
+                    pxTCB->uxBasePriority = uxNewPriority;
+                }
+                #else /* if ( configUSE_MUTEXES == 1 ) */
+                {
+                    pxTCB->uxPriority = uxNewPriority;
+                }
+                #endif /* if ( configUSE_MUTEXES == 1 ) */
 
-				/* Only reset the event list item value if the value is not
-				being used for anything else. */
-				if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
-				{
-					listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                /* Only reset the event list item value if the value is not
+                 * being used for anything else. */
+                if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+                {
+                    listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* If the task is in the blocked or suspended list we need do
-				nothing more than change its priority variable. However, if
-				the task is in a ready list it needs to be removed and placed
-				in the list appropriate to its new priority. */
-				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
-				{
-					/* The task is currently in its ready list - remove before
-					adding it to it's new ready list.  As we are in a critical
-					section we can do this even if the scheduler is suspended. */
-					if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-					{
-						/* It is known that the task is in its ready list so
-						there is no need to check again and the port level
-						reset macro can be called directly. */
-						portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-					prvAddTaskToReadyList( pxTCB );
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                /* If the task is in the blocked or suspended list we need do
+                 * nothing more than change its priority variable. However, if
+                 * the task is in a ready list it needs to be removed and placed
+                 * in the list appropriate to its new priority. */
+                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
+                {
+                    /* The task is currently in its ready list - remove before
+                     * adding it to its new ready list.  As we are in a critical
+                     * section we can do this even if the scheduler is suspended. */
+                    if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+                    {
+                        /* It is known that the task is in its ready list so
+                         * there is no need to check again and the port level
+                         * reset macro can be called directly. */
+                        portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-				if( xYieldRequired != pdFALSE )
-				{
-					taskYIELD_IF_USING_PREEMPTION();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+                    prvAddTaskToReadyList( pxTCB );
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* Remove compiler warning about unused variables when the port
-				optimised task selection is not being used. */
-				( void ) uxPriorityUsedOnEntry;
-			}
-		}
-		taskEXIT_CRITICAL();
-	}
+                if( xYieldRequired != pdFALSE )
+                {
+                    taskYIELD_IF_USING_PREEMPTION();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+
+                /* Remove compiler warning about unused variables when the port
+                 * optimised task selection is not being used. */
+                ( void ) uxPriorityUsedOnEntry;
+            }
+        }
+        taskEXIT_CRITICAL();
+    }
 
 #endif /* INCLUDE_vTaskPrioritySet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskSuspend( TaskHandle_t xTaskToSuspend )
-	{
-	TCB_t *pxTCB;
+    void vTaskSuspend( TaskHandle_t xTaskToSuspend )
+    {
+        TCB_t * pxTCB;
 
-		taskENTER_CRITICAL();
-		{
-			/* If null is passed in here then it is the running task that is
-			being suspended. */
-			pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
+        taskENTER_CRITICAL();
+        {
+            /* If null is passed in here then it is the running task that is
+             * being suspended. */
+            pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
 
-			traceTASK_SUSPEND( pxTCB );
+            traceTASK_SUSPEND( pxTCB );
 
-			/* Remove task from the ready/delayed list and place in the
-			suspended list. */
-			if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-			{
-				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Remove task from the ready/delayed list and place in the
+             * suspended list. */
+            if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+            {
+                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			/* Is the task waiting on an event also? */
-			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
-			{
-				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Is the task waiting on an event also? */
+            if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+            {
+                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-			vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
+            vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
 
-			#if( configUSE_TASK_NOTIFICATIONS == 1 )
-			{
-				if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
-				{
-					/* The task was blocked to wait for a notification, but is
-					now suspended, so no notification was received. */
-					pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
-				}
-			}
-			#endif
-		}
-		taskEXIT_CRITICAL();
+            #if ( configUSE_TASK_NOTIFICATIONS == 1 )
+            {
+                BaseType_t x;
 
-		if( xSchedulerRunning != pdFALSE )
-		{
-			/* Reset the next expected unblock time in case it referred to the
-			task that is now in the Suspended state. */
-			taskENTER_CRITICAL();
-			{
-				prvResetNextTaskUnblockTime();
-			}
-			taskEXIT_CRITICAL();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+                for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
+                {
+                    if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
+                    {
+                        /* The task was blocked to wait for a notification, but is
+                         * now suspended, so no notification was received. */
+                        pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
+                    }
+                }
+            }
+            #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
+        }
+        taskEXIT_CRITICAL();
 
-		if( pxTCB == pxCurrentTCB )
-		{
-			if( xSchedulerRunning != pdFALSE )
-			{
-				/* The current task has just been suspended. */
-				configASSERT( uxSchedulerSuspended == 0 );
-				portYIELD_WITHIN_API();
-			}
-			else
-			{
-				/* The scheduler is not running, but the task that was pointed
-				to by pxCurrentTCB has just been suspended and pxCurrentTCB
-				must be adjusted to point to a different task. */
-				if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
-				{
-					/* No other tasks are ready, so set pxCurrentTCB back to
-					NULL so when the next task is created pxCurrentTCB will
-					be set to point to it no matter what its relative priority
-					is. */
-					pxCurrentTCB = NULL;
-				}
-				else
-				{
-					vTaskSwitchContext();
-				}
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+        if( xSchedulerRunning != pdFALSE )
+        {
+            /* Reset the next expected unblock time in case it referred to the
+             * task that is now in the Suspended state. */
+            taskENTER_CRITICAL();
+            {
+                prvResetNextTaskUnblockTime();
+            }
+            taskEXIT_CRITICAL();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        if( pxTCB == pxCurrentTCB )
+        {
+            if( xSchedulerRunning != pdFALSE )
+            {
+                /* The current task has just been suspended. */
+                configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
+                portYIELD_WITHIN_API();
+            }
+            else
+            {
+                /* The scheduler is not running, but the task that was pointed
+                 * to by pxCurrentTCB has just been suspended and pxCurrentTCB
+                 * must be adjusted to point to a different task. */
+                if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
+                {
+                    /* No other tasks are ready, so set pxCurrentTCB back to
+                     * NULL so when the next task is created pxCurrentTCB will
+                     * be set to point to it no matter what its relative priority
+                     * is. */
+                    pxCurrentTCB = NULL;
+                }
+                else
+                {
+                    vTaskSwitchContext();
+                }
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
-	{
-	BaseType_t xReturn = pdFALSE;
-	const TCB_t * const pxTCB = xTask;
+    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
+    {
+        BaseType_t xReturn = pdFALSE;
+        const TCB_t * const pxTCB = xTask;
 
-		/* Accesses xPendingReadyList so must be called from a critical
-		section. */
+        /* Accesses xPendingReadyList so must be called from a critical
+         * section. */
 
-		/* It does not make sense to check if the calling task is suspended. */
-		configASSERT( xTask );
+        /* It does not make sense to check if the calling task is suspended. */
+        configASSERT( xTask );
 
-		/* Is the task being resumed actually in the suspended list? */
-		if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
-		{
-			/* Has the task already been resumed from within an ISR? */
-			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
-			{
-				/* Is it in the suspended list because it is in the	Suspended
-				state, or because is is blocked with no timeout? */
-				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961.  The cast is only redundant when NULL is used. */
-				{
-					xReturn = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+        /* Is the task being resumed actually in the suspended list? */
+        if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
+        {
+            /* Has the task already been resumed from within an ISR? */
+            if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
+            {
+                /* Is it in the suspended list because it is in the Suspended
+                 * state, or because is is blocked with no timeout? */
+                if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961.  The cast is only redundant when NULL is used. */
+                {
+                    xReturn = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return xReturn;
-	} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
+        return xReturn;
+    } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
 
 #endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskResume( TaskHandle_t xTaskToResume )
-	{
-	TCB_t * const pxTCB = xTaskToResume;
+    void vTaskResume( TaskHandle_t xTaskToResume )
+    {
+        TCB_t * const pxTCB = xTaskToResume;
 
-		/* It does not make sense to resume the calling task. */
-		configASSERT( xTaskToResume );
+        /* It does not make sense to resume the calling task. */
+        configASSERT( xTaskToResume );
 
-		/* The parameter cannot be NULL as it is impossible to resume the
-		currently executing task. */
-		if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
-		{
-			taskENTER_CRITICAL();
-			{
-				if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
-				{
-					traceTASK_RESUME( pxTCB );
+        /* The parameter cannot be NULL as it is impossible to resume the
+         * currently executing task. */
+        if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
+        {
+            taskENTER_CRITICAL();
+            {
+                if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
+                {
+                    traceTASK_RESUME( pxTCB );
 
-					/* The ready list can be accessed even if the scheduler is
-					suspended because this is inside a critical section. */
-					( void ) uxListRemove(  &( pxTCB->xStateListItem ) );
-					prvAddTaskToReadyList( pxTCB );
+                    /* The ready list can be accessed even if the scheduler is
+                     * suspended because this is inside a critical section. */
+                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+                    prvAddTaskToReadyList( pxTCB );
 
-					/* A higher priority task may have just been resumed. */
-					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-					{
-						/* This yield may not cause the task just resumed to run,
-						but will leave the lists in the correct state for the
-						next yield. */
-						taskYIELD_IF_USING_PREEMPTION();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			taskEXIT_CRITICAL();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+                    /* A higher priority task may have just been resumed. */
+                    if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                    {
+                        /* This yield may not cause the task just resumed to run,
+                         * but will leave the lists in the correct state for the
+                         * next yield. */
+                        taskYIELD_IF_USING_PREEMPTION();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            taskEXIT_CRITICAL();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* INCLUDE_vTaskSuspend */
 
@@ -1902,1479 +1890,1587 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-	BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
-	{
-	BaseType_t xYieldRequired = pdFALSE;
-	TCB_t * const pxTCB = xTaskToResume;
-	UBaseType_t uxSavedInterruptStatus;
+    BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
+    {
+        BaseType_t xYieldRequired = pdFALSE;
+        TCB_t * const pxTCB = xTaskToResume;
+        UBaseType_t uxSavedInterruptStatus;
 
-		configASSERT( xTaskToResume );
+        configASSERT( xTaskToResume );
 
-		/* RTOS ports that support interrupt nesting have the concept of a
-		maximum	system call (or maximum API call) interrupt priority.
-		Interrupts that are	above the maximum system call priority are keep
-		permanently enabled, even when the RTOS kernel is in a critical section,
-		but cannot make any calls to FreeRTOS API functions.  If configASSERT()
-		is defined in FreeRTOSConfig.h then
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-		failure if a FreeRTOS API function is called from an interrupt that has
-		been assigned a priority above the configured maximum system call
-		priority.  Only FreeRTOS functions that end in FromISR can be called
-		from interrupts	that have been assigned a priority at or (logically)
-		below the maximum system call interrupt priority.  FreeRTOS maintains a
-		separate interrupt safe API to ensure interrupt entry is as fast and as
-		simple as possible.  More information (albeit Cortex-M specific) is
-		provided on the following link:
-		https://www.freertos.org/RTOS-Cortex-M3-M4.html */
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+        /* RTOS ports that support interrupt nesting have the concept of a
+         * maximum  system call (or maximum API call) interrupt priority.
+         * Interrupts that are  above the maximum system call priority are keep
+         * permanently enabled, even when the RTOS kernel is in a critical section,
+         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
+         * is defined in FreeRTOSConfig.h then
+         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+         * failure if a FreeRTOS API function is called from an interrupt that has
+         * been assigned a priority above the configured maximum system call
+         * priority.  Only FreeRTOS functions that end in FromISR can be called
+         * from interrupts  that have been assigned a priority at or (logically)
+         * below the maximum system call interrupt priority.  FreeRTOS maintains a
+         * separate interrupt safe API to ensure interrupt entry is as fast and as
+         * simple as possible.  More information (albeit Cortex-M specific) is
+         * provided on the following link:
+         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-		{
-			if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
-			{
-				traceTASK_RESUME_FROM_ISR( pxTCB );
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+        {
+            if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
+            {
+                traceTASK_RESUME_FROM_ISR( pxTCB );
 
-				/* Check the ready lists can be accessed. */
-				if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-				{
-					/* Ready lists can be accessed so move the task from the
-					suspended list to the ready list directly. */
-					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-					{
-						xYieldRequired = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                /* Check the ready lists can be accessed. */
+                if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+                {
+                    /* Ready lists can be accessed so move the task from the
+                     * suspended list to the ready list directly. */
+                    if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                    {
+                        xYieldRequired = pdTRUE;
 
-					( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-					prvAddTaskToReadyList( pxTCB );
-				}
-				else
-				{
-					/* The delayed or ready lists cannot be accessed so the task
-					is held in the pending ready list until the scheduler is
-					unsuspended. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+                        /* Mark that a yield is pending in case the user is not
+                         * using the return value to initiate a context switch
+                         * from the ISR using portYIELD_FROM_ISR. */
+                        xYieldPending = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-		return xYieldRequired;
-	}
+                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+                    prvAddTaskToReadyList( pxTCB );
+                }
+                else
+                {
+                    /* The delayed or ready lists cannot be accessed so the task
+                     * is held in the pending ready list until the scheduler is
+                     * unsuspended. */
+                    vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+        return xYieldRequired;
+    }
 
 #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 void vTaskStartScheduler( void )
 {
-BaseType_t xReturn;
+    BaseType_t xReturn;
 
-	/* Add the idle task at the lowest priority. */
-	#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	{
-		StaticTask_t *pxIdleTaskTCBBuffer = NULL;
-		StackType_t *pxIdleTaskStackBuffer = NULL;
-		uint32_t ulIdleTaskStackSize;
+    /* Add the idle task at the lowest priority. */
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    {
+        StaticTask_t * pxIdleTaskTCBBuffer = NULL;
+        StackType_t * pxIdleTaskStackBuffer = NULL;
+        uint32_t ulIdleTaskStackSize;
 
-		/* The Idle task is created using user provided RAM - obtain the
-		address of the RAM then create the idle task. */
-		vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
-		xIdleTaskHandle = xTaskCreateStatic(	prvIdleTask,
-												configIDLE_TASK_NAME,
-												ulIdleTaskStackSize,
-												( void * ) NULL, /*lint !e961.  The cast is not redundant for all compilers. */
-												portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
-												pxIdleTaskStackBuffer,
-												pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+        /* The Idle task is created using user provided RAM - obtain the
+         * address of the RAM then create the idle task. */
+        vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
+        xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
+                                             configIDLE_TASK_NAME,
+                                             ulIdleTaskStackSize,
+                                             ( void * ) NULL,       /*lint !e961.  The cast is not redundant for all compilers. */
+                                             portPRIVILEGE_BIT,     /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
+                                             pxIdleTaskStackBuffer,
+                                             pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
 
-		if( xIdleTaskHandle != NULL )
-		{
-			xReturn = pdPASS;
-		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
-	}
-	#else
-	{
-		/* The Idle task is being created using dynamically allocated RAM. */
-		xReturn = xTaskCreate(	prvIdleTask,
-								configIDLE_TASK_NAME,
-								configMINIMAL_STACK_SIZE,
-								( void * ) NULL,
-								portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
-								&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
-	}
-	#endif /* configSUPPORT_STATIC_ALLOCATION */
+        if( xIdleTaskHandle != NULL )
+        {
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = pdFAIL;
+        }
+    }
+    #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+    {
+        /* The Idle task is being created using dynamically allocated RAM. */
+        xReturn = xTaskCreate( prvIdleTask,
+                               configIDLE_TASK_NAME,
+                               configMINIMAL_STACK_SIZE,
+                               ( void * ) NULL,
+                               portPRIVILEGE_BIT,  /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
+                               &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+    }
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
 
-	#if ( configUSE_TIMERS == 1 )
-	{
-		if( xReturn == pdPASS )
-		{
-			xReturn = xTimerCreateTimerTask();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	#endif /* configUSE_TIMERS */
+    #if ( configUSE_TIMERS == 1 )
+    {
+        if( xReturn == pdPASS )
+        {
+            xReturn = xTimerCreateTimerTask();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    #endif /* configUSE_TIMERS */
 
-	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
+    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
-		so interrupts will automatically get re-enabled when the first task
-		starts to run. */
-		portDISABLE_INTERRUPTS();
+        /* 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
+         * so interrupts will automatically get re-enabled when the first task
+         * starts to run. */
+        portDISABLE_INTERRUPTS();
 
-		#if ( configUSE_NEWLIB_REENTRANT == 1 )
-		{
-			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to the task that will run first.
-			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-			for additional information. */
-			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
-		}
-		#endif /* configUSE_NEWLIB_REENTRANT */
+        #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
+        {
+            /* Switch C-Runtime's TLS Block to point to the TLS
+             * block specific to the task that will run first. */
+            configSET_TLS_BLOCK( pxCurrentTCB->xTLSBlock );
+        }
+        #endif
 
-		xNextTaskUnblockTime = portMAX_DELAY;
-		xSchedulerRunning = pdTRUE;
-		xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
+        xNextTaskUnblockTime = portMAX_DELAY;
+        xSchedulerRunning = pdTRUE;
+        xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
 
-		/* If configGENERATE_RUN_TIME_STATS is defined then the following
-		macro must be defined to configure the timer/counter used to generate
-		the run time counter time base.   NOTE:  If configGENERATE_RUN_TIME_STATS
-		is set to 0 and the following line fails to build then ensure you do not
-		have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
-		FreeRTOSConfig.h file. */
-		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+        /* If configGENERATE_RUN_TIME_STATS is defined then the following
+         * macro must be defined to configure the timer/counter used to generate
+         * the run time counter time base.   NOTE:  If configGENERATE_RUN_TIME_STATS
+         * is set to 0 and the following line fails to build then ensure you do not
+         * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
+         * FreeRTOSConfig.h file. */
+        portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
 
-		traceTASK_SWITCHED_IN();
+        traceTASK_SWITCHED_IN();
 
-		/* Setting up the timer tick is hardware specific and thus in the
-		portable interface. */
-		if( xPortStartScheduler() != pdFALSE )
-		{
-			/* Should not reach here as if the scheduler is running the
-			function will not return. */
-		}
-		else
-		{
-			/* Should only reach here if a task calls xTaskEndScheduler(). */
-		}
-	}
-	else
-	{
-		/* This line will only be reached if the kernel could not be started,
-		because there was not enough FreeRTOS heap to create the idle task
-		or the timer task. */
-		configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
-	}
+        /* Setting up the timer tick is hardware specific and thus in the
+         * portable interface. */
+        xPortStartScheduler();
 
-	/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
-	meaning xIdleTaskHandle is not used anywhere else. */
-	( void ) xIdleTaskHandle;
+        /* In most cases, xPortStartScheduler() will not return. If it
+         * returns pdTRUE then there was not enough heap memory available
+         * to create either the Idle or the Timer task. If it returned
+         * pdFALSE, then the application called xTaskEndScheduler().
+         * Most ports don't implement xTaskEndScheduler() as there is
+         * nothing to return to. */
+    }
+    else
+    {
+        /* This line will only be reached if the kernel could not be started,
+         * because there was not enough FreeRTOS heap to create the idle task
+         * or the timer task. */
+        configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
+    }
+
+    /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
+     * meaning xIdleTaskHandle is not used anywhere else. */
+    ( void ) xIdleTaskHandle;
+
+    /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
+     * from getting optimized out as it is no longer used by the kernel. */
+    ( void ) uxTopUsedPriority;
 }
 /*-----------------------------------------------------------*/
 
 void vTaskEndScheduler( void )
 {
-	/* Stop the scheduler interrupts and call the portable scheduler end
-	routine so the original ISRs can be restored if necessary.  The port
-	layer must ensure interrupts enable	bit is left in the correct state. */
-	portDISABLE_INTERRUPTS();
-	xSchedulerRunning = pdFALSE;
-	vPortEndScheduler();
+    /* Stop the scheduler interrupts and call the portable scheduler end
+     * routine so the original ISRs can be restored if necessary.  The port
+     * layer must ensure interrupts enable  bit is left in the correct state. */
+    portDISABLE_INTERRUPTS();
+    xSchedulerRunning = pdFALSE;
+    vPortEndScheduler();
 }
 /*----------------------------------------------------------*/
 
 void vTaskSuspendAll( void )
 {
-	/* A critical section is not required as the variable is of type
-	BaseType_t.  Please read Richard Barry's reply in the following link to a
-	post in the FreeRTOS support forum before reporting this as a bug! -
-	http://goo.gl/wu4acr */
+    /* A critical section is not required as the variable is of type
+     * BaseType_t.  Please read Richard Barry's reply in the following link to a
+     * post in the FreeRTOS support forum before reporting this as a bug! -
+     * https://goo.gl/wu4acr */
 
-	/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
-	do not otherwise exhibit real time behaviour. */
-	portSOFTWARE_BARRIER();
+    /* portSOFTWARE_BARRIER() is only implemented for emulated/simulated ports that
+     * do not otherwise exhibit real time behaviour. */
+    portSOFTWARE_BARRIER();
 
-	/* The scheduler is suspended if uxSchedulerSuspended is non-zero.  An increment
-	is used to allow calls to vTaskSuspendAll() to nest. */
-	++uxSchedulerSuspended;
+    /* The scheduler is suspended if uxSchedulerSuspended is non-zero.  An increment
+     * is used to allow calls to vTaskSuspendAll() to nest. */
+    ++uxSchedulerSuspended;
 
-	/* Enforces ordering for ports and optimised compilers that may otherwise place
-	the above increment elsewhere. */
-	portMEMORY_BARRIER();
+    /* Enforces ordering for ports and optimised compilers that may otherwise place
+     * the above increment elsewhere. */
+    portMEMORY_BARRIER();
 }
 /*----------------------------------------------------------*/
 
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-	static TickType_t prvGetExpectedIdleTime( void )
-	{
-	TickType_t xReturn;
-	UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
+    static TickType_t prvGetExpectedIdleTime( void )
+    {
+        TickType_t xReturn;
+        UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
 
-		/* uxHigherPriorityReadyTasks takes care of the case where
-		configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
-		task that are in the Ready state, even though the idle task is
-		running. */
-		#if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
-		{
-			if( uxTopReadyPriority > tskIDLE_PRIORITY )
-			{
-				uxHigherPriorityReadyTasks = pdTRUE;
-			}
-		}
-		#else
-		{
-			const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
+        /* uxHigherPriorityReadyTasks takes care of the case where
+         * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
+         * task that are in the Ready state, even though the idle task is
+         * running. */
+        #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
+        {
+            if( uxTopReadyPriority > tskIDLE_PRIORITY )
+            {
+                uxHigherPriorityReadyTasks = pdTRUE;
+            }
+        }
+        #else
+        {
+            const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
 
-			/* When port optimised task selection is used the uxTopReadyPriority
-			variable is used as a bit map.  If bits other than the least
-			significant bit are set then there are tasks that have a priority
-			above the idle priority that are in the Ready state.  This takes
-			care of the case where the co-operative scheduler is in use. */
-			if( uxTopReadyPriority > uxLeastSignificantBit )
-			{
-				uxHigherPriorityReadyTasks = pdTRUE;
-			}
-		}
-		#endif
+            /* When port optimised task selection is used the uxTopReadyPriority
+             * variable is used as a bit map.  If bits other than the least
+             * significant bit are set then there are tasks that have a priority
+             * above the idle priority that are in the Ready state.  This takes
+             * care of the case where the co-operative scheduler is in use. */
+            if( uxTopReadyPriority > uxLeastSignificantBit )
+            {
+                uxHigherPriorityReadyTasks = pdTRUE;
+            }
+        }
+        #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
 
-		if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
-		{
-			xReturn = 0;
-		}
-		else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
-		{
-			/* There are other idle priority tasks in the ready state.  If
-			time slicing is used then the very next tick interrupt must be
-			processed. */
-			xReturn = 0;
-		}
-		else if( uxHigherPriorityReadyTasks != pdFALSE )
-		{
-			/* There are tasks in the Ready state that have a priority above the
-			idle priority.  This path can only be reached if
-			configUSE_PREEMPTION is 0. */
-			xReturn = 0;
-		}
-		else
-		{
-			xReturn = xNextTaskUnblockTime - xTickCount;
-		}
+        if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
+        {
+            xReturn = 0;
+        }
+        else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
+        {
+            /* There are other idle priority tasks in the ready state.  If
+             * time slicing is used then the very next tick interrupt must be
+             * processed. */
+            xReturn = 0;
+        }
+        else if( uxHigherPriorityReadyTasks != pdFALSE )
+        {
+            /* There are tasks in the Ready state that have a priority above the
+             * idle priority.  This path can only be reached if
+             * configUSE_PREEMPTION is 0. */
+            xReturn = 0;
+        }
+        else
+        {
+            xReturn = xNextTaskUnblockTime - xTickCount;
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_TICKLESS_IDLE */
 /*----------------------------------------------------------*/
 
 BaseType_t xTaskResumeAll( void )
 {
-TCB_t *pxTCB = NULL;
-BaseType_t xAlreadyYielded = pdFALSE;
+    TCB_t * pxTCB = NULL;
+    BaseType_t xAlreadyYielded = pdFALSE;
 
-	/* If uxSchedulerSuspended is zero then this function does not match a
-	previous call to vTaskSuspendAll(). */
-	configASSERT( uxSchedulerSuspended );
+    /* If uxSchedulerSuspended is zero then this function does not match a
+     * previous call to vTaskSuspendAll(). */
+    configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
 
-	/* It is possible that an ISR caused a task to be removed from an event
-	list while the scheduler was suspended.  If this was the case then the
-	removed task will have been added to the xPendingReadyList.  Once the
-	scheduler has been resumed it is safe to move all the pending ready
-	tasks from this list into their appropriate ready list. */
-	taskENTER_CRITICAL();
-	{
-		--uxSchedulerSuspended;
+    /* It is possible that an ISR caused a task to be removed from an event
+     * list while the scheduler was suspended.  If this was the case then the
+     * removed task will have been added to the xPendingReadyList.  Once the
+     * scheduler has been resumed it is safe to move all the pending ready
+     * tasks from this list into their appropriate ready list. */
+    taskENTER_CRITICAL();
+    {
+        --uxSchedulerSuspended;
 
-		if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-		{
-			if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
-			{
-				/* Move any readied tasks from the pending list into the
-				appropriate ready list. */
-				while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
-				{
-					pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-					( void ) uxListRemove( &( pxTCB->xEventListItem ) );
-					( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-					prvAddTaskToReadyList( pxTCB );
+        if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+        {
+            if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
+            {
+                /* Move any readied tasks from the pending list into the
+                 * appropriate ready list. */
+                while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
+                {
+                    pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+                    listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
+                    portMEMORY_BARRIER();
+                    listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
+                    prvAddTaskToReadyList( pxTCB );
 
-					/* If the moved task has a priority higher than the current
-					task then a yield must be performed. */
-					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-					{
-						xYieldPending = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
+                    /* If the moved task has a priority higher than the current
+                     * task then a yield must be performed. */
+                    if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                    {
+                        xYieldPending = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
 
-				if( pxTCB != NULL )
-				{
-					/* A task was unblocked while the scheduler was suspended,
-					which may have prevented the next unblock time from being
-					re-calculated, in which case re-calculate it now.  Mainly
-					important for low power tickless implementations, where
-					this can prevent an unnecessary exit from low power
-					state. */
-					prvResetNextTaskUnblockTime();
-				}
+                if( pxTCB != NULL )
+                {
+                    /* A task was unblocked while the scheduler was suspended,
+                     * which may have prevented the next unblock time from being
+                     * re-calculated, in which case re-calculate it now.  Mainly
+                     * important for low power tickless implementations, where
+                     * this can prevent an unnecessary exit from low power
+                     * state. */
+                    prvResetNextTaskUnblockTime();
+                }
 
-				/* If any ticks occurred while the scheduler was suspended then
-				they should be processed now.  This ensures the tick count does
-				not	slip, and that any delayed tasks are resumed at the correct
-				time. */
-				{
-					TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
+                /* If any ticks occurred while the scheduler was suspended then
+                 * they should be processed now.  This ensures the tick count does
+                 * not  slip, and that any delayed tasks are resumed at the correct
+                 * time. */
+                {
+                    TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
 
-					if( xPendedCounts > ( TickType_t ) 0U )
-					{
-						do
-						{
-							if( xTaskIncrementTick() != pdFALSE )
-							{
-								xYieldPending = pdTRUE;
-							}
-							else
-							{
-								mtCOVERAGE_TEST_MARKER();
-							}
-							--xPendedCounts;
-						} while( xPendedCounts > ( TickType_t ) 0U );
+                    if( xPendedCounts > ( TickType_t ) 0U )
+                    {
+                        do
+                        {
+                            if( xTaskIncrementTick() != pdFALSE )
+                            {
+                                xYieldPending = pdTRUE;
+                            }
+                            else
+                            {
+                                mtCOVERAGE_TEST_MARKER();
+                            }
 
-						xPendedTicks = 0;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
+                            --xPendedCounts;
+                        } while( xPendedCounts > ( TickType_t ) 0U );
 
-				if( xYieldPending != pdFALSE )
-				{
-					#if( configUSE_PREEMPTION != 0 )
-					{
-						xAlreadyYielded = pdTRUE;
-					}
-					#endif
-					taskYIELD_IF_USING_PREEMPTION();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	taskEXIT_CRITICAL();
+                        xPendedTicks = 0;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
 
-	return xAlreadyYielded;
+                if( xYieldPending != pdFALSE )
+                {
+                    #if ( configUSE_PREEMPTION != 0 )
+                    {
+                        xAlreadyYielded = pdTRUE;
+                    }
+                    #endif
+                    taskYIELD_IF_USING_PREEMPTION();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
+    taskEXIT_CRITICAL();
+
+    return xAlreadyYielded;
 }
 /*-----------------------------------------------------------*/
 
 TickType_t xTaskGetTickCount( void )
 {
-TickType_t xTicks;
+    TickType_t xTicks;
 
-	/* Critical section required if running on a 16 bit processor. */
-	portTICK_TYPE_ENTER_CRITICAL();
-	{
-		xTicks = xTickCount;
-	}
-	portTICK_TYPE_EXIT_CRITICAL();
+    /* Critical section required if running on a 16 bit processor. */
+    portTICK_TYPE_ENTER_CRITICAL();
+    {
+        xTicks = xTickCount;
+    }
+    portTICK_TYPE_EXIT_CRITICAL();
 
-	return xTicks;
+    return xTicks;
 }
 /*-----------------------------------------------------------*/
 
 TickType_t xTaskGetTickCountFromISR( void )
 {
-TickType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
+    TickType_t xReturn;
+    UBaseType_t uxSavedInterruptStatus;
 
-	/* RTOS ports that support interrupt nesting have the concept of a maximum
-	system call (or maximum API call) interrupt priority.  Interrupts that are
-	above the maximum system call priority are kept permanently enabled, even
-	when the RTOS kernel is in a critical section, but cannot make any calls to
-	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
-	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-	failure if a FreeRTOS API function is called from an interrupt that has been
-	assigned a priority above the configured maximum system call priority.
-	Only FreeRTOS functions that end in FromISR can be called from interrupts
-	that have been assigned a priority at or (logically) below the maximum
-	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
-	safe API to ensure interrupt entry is as fast and as simple as possible.
-	More information (albeit Cortex-M specific) is provided on the following
-	link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
-	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+    /* RTOS ports that support interrupt nesting have the concept of a maximum
+     * system call (or maximum API call) interrupt priority.  Interrupts that are
+     * above the maximum system call priority are kept permanently enabled, even
+     * when the RTOS kernel is in a critical section, but cannot make any calls to
+     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+     * failure if a FreeRTOS API function is called from an interrupt that has been
+     * assigned a priority above the configured maximum system call priority.
+     * Only FreeRTOS functions that end in FromISR can be called from interrupts
+     * that have been assigned a priority at or (logically) below the maximum
+     * system call  interrupt priority.  FreeRTOS maintains a separate interrupt
+     * safe API to ensure interrupt entry is as fast and as simple as possible.
+     * More information (albeit Cortex-M specific) is provided on the following
+     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-	uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
-	{
-		xReturn = xTickCount;
-	}
-	portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
+    {
+        xReturn = xTickCount;
+    }
+    portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 UBaseType_t uxTaskGetNumberOfTasks( void )
 {
-	/* A critical section is not required because the variables are of type
-	BaseType_t. */
-	return uxCurrentNumberOfTasks;
+    /* A critical section is not required because the variables are of type
+     * BaseType_t. */
+    return uxCurrentNumberOfTasks;
 }
 /*-----------------------------------------------------------*/
 
-char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 {
-TCB_t *pxTCB;
+    TCB_t * pxTCB;
 
-	/* If null is passed in here then the name of the calling task is being
-	queried. */
-	pxTCB = prvGetTCBFromHandle( xTaskToQuery );
-	configASSERT( pxTCB );
-	return &( pxTCB->pcTaskName[ 0 ] );
+    /* If null is passed in here then the name of the calling task is being
+     * queried. */
+    pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+    configASSERT( pxTCB );
+    return &( pxTCB->pcTaskName[ 0 ] );
 }
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskGetHandle == 1 )
 
-	static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
-	{
-	TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
-	UBaseType_t x;
-	char cNextChar;
-	BaseType_t xBreakLoop;
+    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
+                                                     const char pcNameToQuery[] )
+    {
+        TCB_t * pxNextTCB;
+        TCB_t * pxFirstTCB;
+        TCB_t * pxReturn = NULL;
+        UBaseType_t x;
+        char cNextChar;
+        BaseType_t xBreakLoop;
 
-		/* This function is called with the scheduler suspended. */
+        /* This function is called with the scheduler suspended. */
 
-		if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );  /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+        if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
+        {
+            listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
 
-			do
-			{
-				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+            do
+            {
+                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
 
-				/* Check each character in the name looking for a match or
-				mismatch. */
-				xBreakLoop = pdFALSE;
-				for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
-				{
-					cNextChar = pxNextTCB->pcTaskName[ x ];
+                /* Check each character in the name looking for a match or
+                 * mismatch. */
+                xBreakLoop = pdFALSE;
 
-					if( cNextChar != pcNameToQuery[ x ] )
-					{
-						/* Characters didn't match. */
-						xBreakLoop = pdTRUE;
-					}
-					else if( cNextChar == ( char ) 0x00 )
-					{
-						/* Both strings terminated, a match must have been
-						found. */
-						pxReturn = pxNextTCB;
-						xBreakLoop = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
+                {
+                    cNextChar = pxNextTCB->pcTaskName[ x ];
 
-					if( xBreakLoop != pdFALSE )
-					{
-						break;
-					}
-				}
+                    if( cNextChar != pcNameToQuery[ x ] )
+                    {
+                        /* Characters didn't match. */
+                        xBreakLoop = pdTRUE;
+                    }
+                    else if( cNextChar == ( char ) 0x00 )
+                    {
+                        /* Both strings terminated, a match must have been
+                         * found. */
+                        pxReturn = pxNextTCB;
+                        xBreakLoop = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-				if( pxReturn != NULL )
-				{
-					/* The handle has been found. */
-					break;
-				}
+                    if( xBreakLoop != pdFALSE )
+                    {
+                        break;
+                    }
+                }
 
-			} while( pxNextTCB != pxFirstTCB );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+                if( pxReturn != NULL )
+                {
+                    /* The handle has been found. */
+                    break;
+                }
+            } while( pxNextTCB != pxFirstTCB );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return pxReturn;
-	}
+        return pxReturn;
+    }
 
 #endif /* INCLUDE_xTaskGetHandle */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskGetHandle == 1 )
 
-	TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	{
-	UBaseType_t uxQueue = configMAX_PRIORITIES;
-	TCB_t* pxTCB;
+    TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    {
+        UBaseType_t uxQueue = configMAX_PRIORITIES;
+        TCB_t * pxTCB;
 
-		/* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
-		configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
+        /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
+        configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
 
-		vTaskSuspendAll();
-		{
-			/* Search the ready lists. */
-			do
-			{
-				uxQueue--;
-				pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
+        vTaskSuspendAll();
+        {
+            /* Search the ready lists. */
+            do
+            {
+                uxQueue--;
+                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
 
-				if( pxTCB != NULL )
-				{
-					/* Found the handle. */
-					break;
-				}
+                if( pxTCB != NULL )
+                {
+                    /* Found the handle. */
+                    break;
+                }
+            } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-			} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+            /* Search the delayed lists. */
+            if( pxTCB == NULL )
+            {
+                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
+            }
 
-			/* Search the delayed lists. */
-			if( pxTCB == NULL )
-			{
-				pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
-			}
+            if( pxTCB == NULL )
+            {
+                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
+            }
 
-			if( pxTCB == NULL )
-			{
-				pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
-			}
+            #if ( INCLUDE_vTaskSuspend == 1 )
+            {
+                if( pxTCB == NULL )
+                {
+                    /* Search the suspended list. */
+                    pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
+                }
+            }
+            #endif
 
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( pxTCB == NULL )
-				{
-					/* Search the suspended list. */
-					pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
-				}
-			}
-			#endif
+            #if ( INCLUDE_vTaskDelete == 1 )
+            {
+                if( pxTCB == NULL )
+                {
+                    /* Search the deleted list. */
+                    pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
+                }
+            }
+            #endif
+        }
+        ( void ) xTaskResumeAll();
 
-			#if( INCLUDE_vTaskDelete == 1 )
-			{
-				if( pxTCB == NULL )
-				{
-					/* Search the deleted list. */
-					pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
-				}
-			}
-			#endif
-		}
-		( void ) xTaskResumeAll();
-
-		return pxTCB;
-	}
+        return pxTCB;
+    }
 
 #endif /* INCLUDE_xTaskGetHandle */
 /*-----------------------------------------------------------*/
 
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+    BaseType_t xTaskGetStaticBuffers( TaskHandle_t xTask,
+                                      StackType_t ** ppuxStackBuffer,
+                                      StaticTask_t ** ppxTaskBuffer )
+    {
+        BaseType_t xReturn;
+        TCB_t * pxTCB;
+
+        configASSERT( ppuxStackBuffer != NULL );
+        configASSERT( ppxTaskBuffer != NULL );
+
+        pxTCB = prvGetTCBFromHandle( xTask );
+
+        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
+        {
+            if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
+            {
+                *ppuxStackBuffer = pxTCB->pxStack;
+                *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
+                xReturn = pdTRUE;
+            }
+            else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
+            {
+                *ppuxStackBuffer = pxTCB->pxStack;
+                *ppxTaskBuffer = NULL;
+                xReturn = pdTRUE;
+            }
+            else
+            {
+                xReturn = pdFALSE;
+            }
+        }
+        #else /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */
+        {
+            *ppuxStackBuffer = pxTCB->pxStack;
+            *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
+            xReturn = pdTRUE;
+        }
+        #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */
+
+        return xReturn;
+    }
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+/*-----------------------------------------------------------*/
+
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
-	{
-	UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
+    UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                      const UBaseType_t uxArraySize,
+                                      configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime )
+    {
+        UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
 
-		vTaskSuspendAll();
-		{
-			/* Is there a space in the array for each task in the system? */
-			if( uxArraySize >= uxCurrentNumberOfTasks )
-			{
-				/* Fill in an TaskStatus_t structure with information on each
-				task in the Ready state. */
-				do
-				{
-					uxQueue--;
-					uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
+        vTaskSuspendAll();
+        {
+            /* Is there a space in the array for each task in the system? */
+            if( uxArraySize >= uxCurrentNumberOfTasks )
+            {
+                /* Fill in an TaskStatus_t structure with information on each
+                 * task in the Ready state. */
+                do
+                {
+                    uxQueue--;
+                    uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
+                } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-				} while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                /* Fill in an TaskStatus_t structure with information on each
+                 * task in the Blocked state. */
+                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
+                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
 
-				/* Fill in an TaskStatus_t structure with information on each
-				task in the Blocked state. */
-				uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
-				uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
+                #if ( INCLUDE_vTaskDelete == 1 )
+                {
+                    /* Fill in an TaskStatus_t structure with information on
+                     * each task that has been deleted but not yet cleaned up. */
+                    uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
+                }
+                #endif
 
-				#if( INCLUDE_vTaskDelete == 1 )
-				{
-					/* Fill in an TaskStatus_t structure with information on
-					each task that has been deleted but not yet cleaned up. */
-					uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
-				}
-				#endif
+                #if ( INCLUDE_vTaskSuspend == 1 )
+                {
+                    /* Fill in an TaskStatus_t structure with information on
+                     * each task in the Suspended state. */
+                    uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
+                }
+                #endif
 
-				#if ( INCLUDE_vTaskSuspend == 1 )
-				{
-					/* Fill in an TaskStatus_t structure with information on
-					each task in the Suspended state. */
-					uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
-				}
-				#endif
+                #if ( configGENERATE_RUN_TIME_STATS == 1 )
+                {
+                    if( pulTotalRunTime != NULL )
+                    {
+                        #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+                            portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
+                        #else
+                            *pulTotalRunTime = ( configRUN_TIME_COUNTER_TYPE ) portGET_RUN_TIME_COUNTER_VALUE();
+                        #endif
+                    }
+                }
+                #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
+                {
+                    if( pulTotalRunTime != NULL )
+                    {
+                        *pulTotalRunTime = 0;
+                    }
+                }
+                #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        ( void ) xTaskResumeAll();
 
-				#if ( configGENERATE_RUN_TIME_STATS == 1)
-				{
-					if( pulTotalRunTime != NULL )
-					{
-						#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
-							portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
-						#else
-							*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-						#endif
-					}
-				}
-				#else
-				{
-					if( pulTotalRunTime != NULL )
-					{
-						*pulTotalRunTime = 0;
-					}
-				}
-				#endif
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		( void ) xTaskResumeAll();
-
-		return uxTask;
-	}
+        return uxTask;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
 
-	TaskHandle_t xTaskGetIdleTaskHandle( void )
-	{
-		/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
-		started, then xIdleTaskHandle will be NULL. */
-		configASSERT( ( xIdleTaskHandle != NULL ) );
-		return xIdleTaskHandle;
-	}
+    TaskHandle_t xTaskGetIdleTaskHandle( void )
+    {
+        /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
+         * started, then xIdleTaskHandle will be NULL. */
+        configASSERT( ( xIdleTaskHandle != NULL ) );
+        return xIdleTaskHandle;
+    }
 
 #endif /* INCLUDE_xTaskGetIdleTaskHandle */
 /*----------------------------------------------------------*/
 
 /* This conditional compilation should use inequality to 0, not equality to 1.
-This is to ensure vTaskStepTick() is available when user defined low power mode
-implementations require configUSE_TICKLESS_IDLE to be set to a value other than
-1. */
+ * This is to ensure vTaskStepTick() is available when user defined low power mode
+ * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
+ * 1. */
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-	void vTaskStepTick( const TickType_t xTicksToJump )
-	{
-		/* Correct the tick count value after a period during which the tick
-		was suppressed.  Note this does *not* call the tick hook function for
-		each stepped tick. */
-		configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
-		xTickCount += xTicksToJump;
-		traceINCREASE_TICK_COUNT( xTicksToJump );
-	}
+    void vTaskStepTick( TickType_t xTicksToJump )
+    {
+        /* Correct the tick count value after a period during which the tick
+         * was suppressed.  Note this does *not* call the tick hook function for
+         * each stepped tick. */
+        configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
+
+        if( ( xTickCount + xTicksToJump ) == xNextTaskUnblockTime )
+        {
+            /* Arrange for xTickCount to reach xNextTaskUnblockTime in
+             * xTaskIncrementTick() when the scheduler resumes.  This ensures
+             * that any delayed tasks are resumed at the correct time. */
+            configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
+            configASSERT( xTicksToJump != ( TickType_t ) 0 );
+
+            /* Prevent the tick interrupt modifying xPendedTicks simultaneously. */
+            taskENTER_CRITICAL();
+            {
+                xPendedTicks++;
+            }
+            taskEXIT_CRITICAL();
+            xTicksToJump--;
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        xTickCount += xTicksToJump;
+        traceINCREASE_TICK_COUNT( xTicksToJump );
+    }
 
 #endif /* configUSE_TICKLESS_IDLE */
 /*----------------------------------------------------------*/
 
 BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
 {
-BaseType_t xYieldRequired = pdFALSE;
+    BaseType_t xYieldOccurred;
 
-	/* Must not be called with the scheduler suspended as the implementation
-	relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
-	configASSERT( uxSchedulerSuspended == 0 );
+    /* Must not be called with the scheduler suspended as the implementation
+     * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
+    configASSERT( uxSchedulerSuspended == ( UBaseType_t ) 0U );
 
-	/* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
-	the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
-	vTaskSuspendAll();
-	xPendedTicks += xTicksToCatchUp;
-	xYieldRequired = xTaskResumeAll();
+    /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
+     * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
+    vTaskSuspendAll();
 
-	return xYieldRequired;
+    /* Prevent the tick interrupt modifying xPendedTicks simultaneously. */
+    taskENTER_CRITICAL();
+    {
+        xPendedTicks += xTicksToCatchUp;
+    }
+    taskEXIT_CRITICAL();
+    xYieldOccurred = xTaskResumeAll();
+
+    return xYieldOccurred;
 }
 /*----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskAbortDelay == 1 )
 
-	BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB = xTask;
-	BaseType_t xReturn;
+    BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB = xTask;
+        BaseType_t xReturn;
 
-		configASSERT( pxTCB );
+        configASSERT( pxTCB );
 
-		vTaskSuspendAll();
-		{
-			/* A task can only be prematurely removed from the Blocked state if
-			it is actually in the Blocked state. */
-			if( eTaskGetState( xTask ) == eBlocked )
-			{
-				xReturn = pdPASS;
+        vTaskSuspendAll();
+        {
+            /* A task can only be prematurely removed from the Blocked state if
+             * it is actually in the Blocked state. */
+            if( eTaskGetState( xTask ) == eBlocked )
+            {
+                xReturn = pdPASS;
 
-				/* Remove the reference to the task from the blocked list.  An
-				interrupt won't touch the xStateListItem because the
-				scheduler is suspended. */
-				( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+                /* Remove the reference to the task from the blocked list.  An
+                 * interrupt won't touch the xStateListItem because the
+                 * scheduler is suspended. */
+                ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
 
-				/* Is the task waiting on an event also?  If so remove it from
-				the event list too.  Interrupts can touch the event list item,
-				even though the scheduler is suspended, so a critical section
-				is used. */
-				taskENTER_CRITICAL();
-				{
-					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
-					{
-						( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+                /* Is the task waiting on an event also?  If so remove it from
+                 * the event list too.  Interrupts can touch the event list item,
+                 * even though the scheduler is suspended, so a critical section
+                 * is used. */
+                taskENTER_CRITICAL();
+                {
+                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+                    {
+                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 
-						/* This lets the task know it was forcibly removed from the
-						blocked state so it should not re-evaluate its block time and
-						then block again. */
-						pxTCB->ucDelayAborted = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				taskEXIT_CRITICAL();
+                        /* This lets the task know it was forcibly removed from the
+                         * blocked state so it should not re-evaluate its block time and
+                         * then block again. */
+                        pxTCB->ucDelayAborted = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                taskEXIT_CRITICAL();
 
-				/* Place the unblocked task into the appropriate ready list. */
-				prvAddTaskToReadyList( pxTCB );
+                /* Place the unblocked task into the appropriate ready list. */
+                prvAddTaskToReadyList( pxTCB );
 
-				/* A task being unblocked cannot cause an immediate context
-				switch if preemption is turned off. */
-				#if (  configUSE_PREEMPTION == 1 )
-				{
-					/* Preemption is on, but a context switch should only be
-					performed if the unblocked task has a priority that is
-					equal to or higher than the currently executing task. */
-					if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
-					{
-						/* Pend the yield to be performed when the scheduler
-						is unsuspended. */
-						xYieldPending = pdTRUE;
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				#endif /* configUSE_PREEMPTION */
-			}
-			else
-			{
-				xReturn = pdFAIL;
-			}
-		}
-		( void ) xTaskResumeAll();
+                /* A task being unblocked cannot cause an immediate context
+                 * switch if preemption is turned off. */
+                #if ( configUSE_PREEMPTION == 1 )
+                {
+                    /* Preemption is on, but a context switch should only be
+                     * performed if the unblocked task has a priority that is
+                     * higher than the currently executing task. */
+                    if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                    {
+                        /* Pend the yield to be performed when the scheduler
+                         * is unsuspended. */
+                        xYieldPending = pdTRUE;
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* configUSE_PREEMPTION */
+            }
+            else
+            {
+                xReturn = pdFAIL;
+            }
+        }
+        ( void ) xTaskResumeAll();
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* INCLUDE_xTaskAbortDelay */
 /*----------------------------------------------------------*/
 
 BaseType_t xTaskIncrementTick( void )
 {
-TCB_t * pxTCB;
-TickType_t xItemValue;
-BaseType_t xSwitchRequired = pdFALSE;
+    TCB_t * pxTCB;
+    TickType_t xItemValue;
+    BaseType_t xSwitchRequired = pdFALSE;
 
-	/* Called by the portable layer each time a tick interrupt occurs.
-	Increments the tick then checks to see if the new tick value will cause any
-	tasks to be unblocked. */
-	traceTASK_INCREMENT_TICK( xTickCount );
-	if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-	{
-		/* Minor optimisation.  The tick count cannot change in this
-		block. */
-		const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
+    /* Called by the portable layer each time a tick interrupt occurs.
+     * Increments the tick then checks to see if the new tick value will cause any
+     * tasks to be unblocked. */
+    traceTASK_INCREMENT_TICK( xTickCount );
 
-		/* Increment the RTOS tick, switching the delayed and overflowed
-		delayed lists if it wraps to 0. */
-		xTickCount = xConstTickCount;
+    if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+    {
+        /* Minor optimisation.  The tick count cannot change in this
+         * block. */
+        const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
 
-		if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
-		{
-			taskSWITCH_DELAYED_LISTS();
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+        /* Increment the RTOS tick, switching the delayed and overflowed
+         * delayed lists if it wraps to 0. */
+        xTickCount = xConstTickCount;
 
-		/* See if this tick has made a timeout expire.  Tasks are stored in
-		the	queue in the order of their wake time - meaning once one task
-		has been found whose block time has not expired there is no need to
-		look any further down the list. */
-		if( xConstTickCount >= xNextTaskUnblockTime )
-		{
-			for( ;; )
-			{
-				if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
-				{
-					/* The delayed list is empty.  Set xNextTaskUnblockTime
-					to the maximum possible value so it is extremely
-					unlikely that the
-					if( xTickCount >= xNextTaskUnblockTime ) test will pass
-					next time through. */
-					xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-					break;
-				}
-				else
-				{
-					/* The delayed list is not empty, get the value of the
-					item at the head of the delayed list.  This is the time
-					at which the task at the head of the delayed list must
-					be removed from the Blocked state. */
-					pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-					xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
+        if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
+        {
+            taskSWITCH_DELAYED_LISTS();
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-					if( xConstTickCount < xItemValue )
-					{
-						/* It is not time to unblock this item yet, but the
-						item value is the time at which the task at the head
-						of the blocked list must be removed from the Blocked
-						state -	so record the item value in
-						xNextTaskUnblockTime. */
-						xNextTaskUnblockTime = xItemValue;
-						break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+        /* See if this tick has made a timeout expire.  Tasks are stored in
+         * the  queue in the order of their wake time - meaning once one task
+         * has been found whose block time has not expired there is no need to
+         * look any further down the list. */
+        if( xConstTickCount >= xNextTaskUnblockTime )
+        {
+            for( ; ; )
+            {
+                if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+                {
+                    /* The delayed list is empty.  Set xNextTaskUnblockTime
+                     * to the maximum possible value so it is extremely
+                     * unlikely that the
+                     * if( xTickCount >= xNextTaskUnblockTime ) test will pass
+                     * next time through. */
+                    xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    break;
+                }
+                else
+                {
+                    /* The delayed list is not empty, get the value of the
+                     * item at the head of the delayed list.  This is the time
+                     * at which the task at the head of the delayed list must
+                     * be removed from the Blocked state. */
+                    pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+                    xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
 
-					/* It is time to remove the item from the Blocked state. */
-					( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+                    if( xConstTickCount < xItemValue )
+                    {
+                        /* It is not time to unblock this item yet, but the
+                         * item value is the time at which the task at the head
+                         * of the blocked list must be removed from the Blocked
+                         * state -  so record the item value in
+                         * xNextTaskUnblockTime. */
+                        xNextTaskUnblockTime = xItemValue;
+                        break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* Is the task waiting on an event also?  If so remove
-					it from the event list. */
-					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
-					{
-						( void ) uxListRemove( &( pxTCB->xEventListItem ) );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                    /* It is time to remove the item from the Blocked state. */
+                    listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
 
-					/* Place the unblocked task into the appropriate ready
-					list. */
-					prvAddTaskToReadyList( pxTCB );
+                    /* Is the task waiting on an event also?  If so remove
+                     * it from the event list. */
+                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+                    {
+                        listREMOVE_ITEM( &( pxTCB->xEventListItem ) );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* A task being unblocked cannot cause an immediate
-					context switch if preemption is turned off. */
-					#if (  configUSE_PREEMPTION == 1 )
-					{
-						/* Preemption is on, but a context switch should
-						only be performed if the unblocked task has a
-						priority that is equal to or higher than the
-						currently executing task. */
-						if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
-						{
-							xSwitchRequired = pdTRUE;
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					#endif /* configUSE_PREEMPTION */
-				}
-			}
-		}
+                    /* Place the unblocked task into the appropriate ready
+                     * list. */
+                    prvAddTaskToReadyList( pxTCB );
 
-		/* Tasks of equal priority to the currently running task will share
-		processing time (time slice) if preemption is on, and the application
-		writer has not explicitly turned time slicing off. */
-		#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
-		{
-			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
-			{
-				xSwitchRequired = pdTRUE;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
+                    /* A task being unblocked cannot cause an immediate
+                     * context switch if preemption is turned off. */
+                    #if ( configUSE_PREEMPTION == 1 )
+                    {
+                        /* Preemption is on, but a context switch should
+                         * only be performed if the unblocked task's
+                         * priority is higher than the currently executing
+                         * task.
+                         * The case of equal priority tasks sharing
+                         * processing time (which happens when both
+                         * preemption and time slicing are on) is
+                         * handled below.*/
+                        if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                        {
+                            xSwitchRequired = pdTRUE;
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+                    }
+                    #endif /* configUSE_PREEMPTION */
+                }
+            }
+        }
 
-		#if ( configUSE_TICK_HOOK == 1 )
-		{
-			/* Guard against the tick hook being called when the pended tick
-			count is being unwound (when the scheduler is being unlocked). */
-			if( xPendedTicks == ( TickType_t ) 0 )
-			{
-				vApplicationTickHook();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* configUSE_TICK_HOOK */
+        /* Tasks of equal priority to the currently running task will share
+         * processing time (time slice) if preemption is on, and the application
+         * writer has not explicitly turned time slicing off. */
+        #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
+        {
+            if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
+            {
+                xSwitchRequired = pdTRUE;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
 
-		#if ( configUSE_PREEMPTION == 1 )
-		{
-			if( xYieldPending != pdFALSE )
-			{
-				xSwitchRequired = pdTRUE;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* configUSE_PREEMPTION */
-	}
-	else
-	{
-		++xPendedTicks;
+        #if ( configUSE_TICK_HOOK == 1 )
+        {
+            /* Guard against the tick hook being called when the pended tick
+             * count is being unwound (when the scheduler is being unlocked). */
+            if( xPendedTicks == ( TickType_t ) 0 )
+            {
+                vApplicationTickHook();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* configUSE_TICK_HOOK */
 
-		/* The tick hook gets called at regular intervals, even if the
-		scheduler is locked. */
-		#if ( configUSE_TICK_HOOK == 1 )
-		{
-			vApplicationTickHook();
-		}
-		#endif
-	}
+        #if ( configUSE_PREEMPTION == 1 )
+        {
+            if( xYieldPending != pdFALSE )
+            {
+                xSwitchRequired = pdTRUE;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* configUSE_PREEMPTION */
+    }
+    else
+    {
+        ++xPendedTicks;
 
-	return xSwitchRequired;
+        /* The tick hook gets called at regular intervals, even if the
+         * scheduler is locked. */
+        #if ( configUSE_TICK_HOOK == 1 )
+        {
+            vApplicationTickHook();
+        }
+        #endif
+    }
+
+    return xSwitchRequired;
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
 
-	void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
-	{
-	TCB_t *xTCB;
+    void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
+                                     TaskHookFunction_t pxHookFunction )
+    {
+        TCB_t * xTCB;
 
-		/* If xTask is NULL then it is the task hook of the calling task that is
-		getting set. */
-		if( xTask == NULL )
-		{
-			xTCB = ( TCB_t * ) pxCurrentTCB;
-		}
-		else
-		{
-			xTCB = xTask;
-		}
+        /* If xTask is NULL then it is the task hook of the calling task that is
+         * getting set. */
+        if( xTask == NULL )
+        {
+            xTCB = ( TCB_t * ) pxCurrentTCB;
+        }
+        else
+        {
+            xTCB = xTask;
+        }
 
-		/* Save the hook function in the TCB.  A critical section is required as
-		the value can be accessed from an interrupt. */
-		taskENTER_CRITICAL();
-		{
-			xTCB->pxTaskTag = pxHookFunction;
-		}
-		taskEXIT_CRITICAL();
-	}
+        /* Save the hook function in the TCB.  A critical section is required as
+         * the value can be accessed from an interrupt. */
+        taskENTER_CRITICAL();
+        {
+            xTCB->pxTaskTag = pxHookFunction;
+        }
+        taskEXIT_CRITICAL();
+    }
 
 #endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
 
-	TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB;
-	TaskHookFunction_t xReturn;
+    TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB;
+        TaskHookFunction_t xReturn;
 
-		/* If xTask is NULL then set the calling task's hook. */
-		pxTCB = prvGetTCBFromHandle( xTask );
+        /* If xTask is NULL then set the calling task's hook. */
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		/* Save the hook function in the TCB.  A critical section is required as
-		the value can be accessed from an interrupt. */
-		taskENTER_CRITICAL();
-		{
-			xReturn = pxTCB->pxTaskTag;
-		}
-		taskEXIT_CRITICAL();
+        /* Save the hook function in the TCB.  A critical section is required as
+         * the value can be accessed from an interrupt. */
+        taskENTER_CRITICAL();
+        {
+            xReturn = pxTCB->pxTaskTag;
+        }
+        taskEXIT_CRITICAL();
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
 
-	TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB;
-	TaskHookFunction_t xReturn;
-	UBaseType_t uxSavedInterruptStatus;
+    TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB;
+        TaskHookFunction_t xReturn;
+        UBaseType_t uxSavedInterruptStatus;
 
-		/* If xTask is NULL then set the calling task's hook. */
-		pxTCB = prvGetTCBFromHandle( xTask );
+        /* If xTask is NULL then set the calling task's hook. */
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		/* Save the hook function in the TCB.  A critical section is required as
-		the value can be accessed from an interrupt. */
-		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-		{
-			xReturn = pxTCB->pxTaskTag;
-		}
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+        /* Save the hook function in the TCB.  A critical section is required as
+         * the value can be accessed from an interrupt. */
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+        {
+            xReturn = pxTCB->pxTaskTag;
+        }
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
 
-	BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
-	{
-	TCB_t *xTCB;
-	BaseType_t xReturn;
+    BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                             void * pvParameter )
+    {
+        TCB_t * xTCB;
+        BaseType_t xReturn;
 
-		/* If xTask is NULL then we are calling our own task hook. */
-		if( xTask == NULL )
-		{
-			xTCB = pxCurrentTCB;
-		}
-		else
-		{
-			xTCB = xTask;
-		}
+        /* If xTask is NULL then we are calling our own task hook. */
+        if( xTask == NULL )
+        {
+            xTCB = pxCurrentTCB;
+        }
+        else
+        {
+            xTCB = xTask;
+        }
 
-		if( xTCB->pxTaskTag != NULL )
-		{
-			xReturn = xTCB->pxTaskTag( pvParameter );
-		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
+        if( xTCB->pxTaskTag != NULL )
+        {
+            xReturn = xTCB->pxTaskTag( pvParameter );
+        }
+        else
+        {
+            xReturn = pdFAIL;
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 void vTaskSwitchContext( void )
 {
-	if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
-	{
-		/* The scheduler is currently suspended - do not allow a context
-		switch. */
-		xYieldPending = pdTRUE;
-	}
-	else
-	{
-		xYieldPending = pdFALSE;
-		traceTASK_SWITCHED_OUT();
+    if( uxSchedulerSuspended != ( UBaseType_t ) 0U )
+    {
+        /* The scheduler is currently suspended - do not allow a context
+         * switch. */
+        xYieldPending = pdTRUE;
+    }
+    else
+    {
+        xYieldPending = pdFALSE;
+        traceTASK_SWITCHED_OUT();
 
-		#if ( configGENERATE_RUN_TIME_STATS == 1 )
-		{
-			#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
-				portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
-			#else
-				ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-			#endif
+        #if ( configGENERATE_RUN_TIME_STATS == 1 )
+        {
+            #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+                portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
+            #else
+                ulTotalRunTime = ( configRUN_TIME_COUNTER_TYPE ) portGET_RUN_TIME_COUNTER_VALUE();
+            #endif
 
-			/* Add the amount of time the task has been running to the
-			accumulated time so far.  The time the task started running was
-			stored in ulTaskSwitchedInTime.  Note that there is no overflow
-			protection here so count values are only valid until the timer
-			overflows.  The guard against negative values is to protect
-			against suspect run time stat counter implementations - which
-			are provided by the application, not the kernel. */
-			if( ulTotalRunTime > ulTaskSwitchedInTime )
-			{
-				pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-			ulTaskSwitchedInTime = ulTotalRunTime;
-		}
-		#endif /* configGENERATE_RUN_TIME_STATS */
+            /* Add the amount of time the task has been running to the
+             * accumulated time so far.  The time the task started running was
+             * stored in ulTaskSwitchedInTime.  Note that there is no overflow
+             * protection here so count values are only valid until the timer
+             * overflows.  The guard against negative values is to protect
+             * against suspect run time stat counter implementations - which
+             * are provided by the application, not the kernel. */
+            if( ulTotalRunTime > ulTaskSwitchedInTime )
+            {
+                pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-		/* Check for stack overflow, if configured. */
-		taskCHECK_FOR_STACK_OVERFLOW();
+            ulTaskSwitchedInTime = ulTotalRunTime;
+        }
+        #endif /* configGENERATE_RUN_TIME_STATS */
 
-		/* Before the currently running task is switched out, save its errno. */
-		#if( configUSE_POSIX_ERRNO == 1 )
-		{
-			pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
-		}
-		#endif
+        /* Check for stack overflow, if configured. */
+        taskCHECK_FOR_STACK_OVERFLOW();
 
-		/* Select a new task to run using either the generic C or port
-		optimised asm code. */
-		taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-		traceTASK_SWITCHED_IN();
+        /* Before the currently running task is switched out, save its errno. */
+        #if ( configUSE_POSIX_ERRNO == 1 )
+        {
+            pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
+        }
+        #endif
 
-		/* After the new task is switched in, update the global errno. */
-		#if( configUSE_POSIX_ERRNO == 1 )
-		{
-			FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
-		}
-		#endif
+        /* Select a new task to run using either the generic C or port
+         * optimised asm code. */
+        taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+        traceTASK_SWITCHED_IN();
 
-		#if ( configUSE_NEWLIB_REENTRANT == 1 )
-		{
-			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to this task.
-			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-			for additional information. */
-			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
-		}
-		#endif /* configUSE_NEWLIB_REENTRANT */
-	}
+        /* After the new task is switched in, update the global errno. */
+        #if ( configUSE_POSIX_ERRNO == 1 )
+        {
+            FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
+        }
+        #endif
+
+        #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
+        {
+            /* Switch C-Runtime's TLS Block to point to the TLS
+             * Block specific to this task. */
+            configSET_TLS_BLOCK( pxCurrentTCB->xTLSBlock );
+        }
+        #endif
+    }
 }
 /*-----------------------------------------------------------*/
 
-void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
+void vTaskPlaceOnEventList( List_t * const pxEventList,
+                            const TickType_t xTicksToWait )
 {
-	configASSERT( pxEventList );
+    configASSERT( pxEventList );
 
-	/* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
-	SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
+    /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
+     * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
 
-	/* Place the event list item of the TCB in the appropriate event list.
-	This is placed in the list in priority order so the highest priority task
-	is the first to be woken by the event.  The queue that contains the event
-	list is locked, preventing simultaneous access from interrupts. */
-	vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+    /* Place the event list item of the TCB in the appropriate event list.
+     * This is placed in the list in priority order so the highest priority task
+     * is the first to be woken by the event.
+     *
+     * Note: Lists are sorted in ascending order by ListItem_t.xItemValue.
+     * Normally, the xItemValue of a TCB's ListItem_t members is:
+     *      xItemValue = ( configMAX_PRIORITIES - uxPriority )
+     * Therefore, the event list is sorted in descending priority order.
+     *
+     * The queue that contains the event list is locked, preventing
+     * simultaneous access from interrupts. */
+    vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
-	prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
 }
 /*-----------------------------------------------------------*/
 
-void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
+                                     const TickType_t xItemValue,
+                                     const TickType_t xTicksToWait )
 {
-	configASSERT( pxEventList );
+    configASSERT( pxEventList );
 
-	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
-	the event groups implementation. */
-	configASSERT( uxSchedulerSuspended != 0 );
+    /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
+     * the event groups implementation. */
+    configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
 
-	/* Store the item value in the event list item.  It is safe to access the
-	event list item here as interrupts won't access the event list item of a
-	task that is not in the Blocked state. */
-	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
+    /* Store the item value in the event list item.  It is safe to access the
+     * event list item here as interrupts won't access the event list item of a
+     * task that is not in the Blocked state. */
+    listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
 
-	/* Place the event list item of the TCB at the end of the appropriate event
-	list.  It is safe to access the event list here because it is part of an
-	event group implementation - and interrupts don't access event groups
-	directly (instead they access them indirectly by pending function calls to
-	the task level). */
-	vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+    /* Place the event list item of the TCB at the end of the appropriate event
+     * list.  It is safe to access the event list here because it is part of an
+     * event group implementation - and interrupts don't access event groups
+     * directly (instead they access them indirectly by pending function calls to
+     * the task level). */
+    listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
-	prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
 }
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TIMERS == 1 )
+#if ( configUSE_TIMERS == 1 )
 
-	void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
-	{
-		configASSERT( pxEventList );
+    void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
+                                          TickType_t xTicksToWait,
+                                          const BaseType_t xWaitIndefinitely )
+    {
+        configASSERT( pxEventList );
 
-		/* This function should not be called by application code hence the
-		'Restricted' in its name.  It is not part of the public API.  It is
-		designed for use by kernel code, and has special calling requirements -
-		it should be called with the scheduler suspended. */
+        /* This function should not be called by application code hence the
+         * 'Restricted' in its name.  It is not part of the public API.  It is
+         * designed for use by kernel code, and has special calling requirements -
+         * it should be called with the scheduler suspended. */
 
 
-		/* Place the event list item of the TCB in the appropriate event list.
-		In this case it is assume that this is the only task that is going to
-		be waiting on this event list, so the faster vListInsertEnd() function
-		can be used in place of vListInsert. */
-		vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+        /* Place the event list item of the TCB in the appropriate event list.
+         * In this case it is assume that this is the only task that is going to
+         * be waiting on this event list, so the faster vListInsertEnd() function
+         * can be used in place of vListInsert. */
+        listINSERT_END( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
-		/* If the task should block indefinitely then set the block time to a
-		value that will be recognised as an indefinite delay inside the
-		prvAddCurrentTaskToDelayedList() function. */
-		if( xWaitIndefinitely != pdFALSE )
-		{
-			xTicksToWait = portMAX_DELAY;
-		}
+        /* If the task should block indefinitely then set the block time to a
+         * value that will be recognised as an indefinite delay inside the
+         * prvAddCurrentTaskToDelayedList() function. */
+        if( xWaitIndefinitely != pdFALSE )
+        {
+            xTicksToWait = portMAX_DELAY;
+        }
 
-		traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
-		prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
-	}
+        traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
+        prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
+    }
 
 #endif /* configUSE_TIMERS */
 /*-----------------------------------------------------------*/
 
 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
 {
-TCB_t *pxUnblockedTCB;
-BaseType_t xReturn;
+    TCB_t * pxUnblockedTCB;
+    BaseType_t xReturn;
 
-	/* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.  It can also be
-	called from a critical section within an ISR. */
+    /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.  It can also be
+     * called from a critical section within an ISR. */
 
-	/* The event list is sorted in priority order, so the first in the list can
-	be removed as it is known to be the highest priority.  Remove the TCB from
-	the delayed list, and add it to the ready list.
+    /* The event list is sorted in priority order, so the first in the list can
+     * be removed as it is known to be the highest priority.  Remove the TCB from
+     * the delayed list, and add it to the ready list.
+     *
+     * If an event is for a queue that is locked then this function will never
+     * get called - the lock count on the queue will get modified instead.  This
+     * means exclusive access to the event list is guaranteed here.
+     *
+     * This function assumes that a check has already been made to ensure that
+     * pxEventList is not empty. */
+    pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+    configASSERT( pxUnblockedTCB );
+    listREMOVE_ITEM( &( pxUnblockedTCB->xEventListItem ) );
 
-	If an event is for a queue that is locked then this function will never
-	get called - the lock count on the queue will get modified instead.  This
-	means exclusive access to the event list is guaranteed here.
+    if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+    {
+        listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
+        prvAddTaskToReadyList( pxUnblockedTCB );
 
-	This function assumes that a check has already been made to ensure that
-	pxEventList is not empty. */
-	pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-	configASSERT( pxUnblockedTCB );
-	( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
+        #if ( configUSE_TICKLESS_IDLE != 0 )
+        {
+            /* If a task is blocked on a kernel object then xNextTaskUnblockTime
+             * might be set to the blocked task's time out time.  If the task is
+             * unblocked for a reason other than a timeout xNextTaskUnblockTime is
+             * normally left unchanged, because it is automatically reset to a new
+             * value when the tick count equals xNextTaskUnblockTime.  However if
+             * tickless idling is used it might be more important to enter sleep mode
+             * at the earliest possible time - so reset xNextTaskUnblockTime here to
+             * ensure it is updated at the earliest possible time. */
+            prvResetNextTaskUnblockTime();
+        }
+        #endif
+    }
+    else
+    {
+        /* The delayed and ready lists cannot be accessed, so hold this task
+         * pending until the scheduler is resumed. */
+        listINSERT_END( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+    }
 
-	if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-	{
-		( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
-		prvAddTaskToReadyList( pxUnblockedTCB );
+    if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
+    {
+        /* Return true if the task removed from the event list has a higher
+         * priority than the calling task.  This allows the calling task to know if
+         * it should force a context switch now. */
+        xReturn = pdTRUE;
 
-		#if( configUSE_TICKLESS_IDLE != 0 )
-		{
-			/* If a task is blocked on a kernel object then xNextTaskUnblockTime
-			might be set to the blocked task's time out time.  If the task is
-			unblocked for a reason other than a timeout xNextTaskUnblockTime is
-			normally left unchanged, because it is automatically reset to a new
-			value when the tick count equals xNextTaskUnblockTime.  However if
-			tickless idling is used it might be more important to enter sleep mode
-			at the earliest possible time - so reset xNextTaskUnblockTime here to
-			ensure it is updated at the earliest possible time. */
-			prvResetNextTaskUnblockTime();
-		}
-		#endif
-	}
-	else
-	{
-		/* The delayed and ready lists cannot be accessed, so hold this task
-		pending until the scheduler is resumed. */
-		vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
-	}
+        /* Mark that a yield is pending in case the user is not using the
+         * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
+        xYieldPending = pdTRUE;
+    }
+    else
+    {
+        xReturn = pdFALSE;
+    }
 
-	if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
-	{
-		/* Return true if the task removed from the event list has a higher
-		priority than the calling task.  This allows the calling task to know if
-		it should force a context switch now. */
-		xReturn = pdTRUE;
-
-		/* Mark that a yield is pending in case the user is not using the
-		"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
-		xYieldPending = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
-
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
+void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
+                                        const TickType_t xItemValue )
 {
-TCB_t *pxUnblockedTCB;
+    TCB_t * pxUnblockedTCB;
 
-	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
-	the event flags implementation. */
-	configASSERT( uxSchedulerSuspended != pdFALSE );
+    /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
+     * the event flags implementation. */
+    configASSERT( uxSchedulerSuspended != ( UBaseType_t ) 0U );
 
-	/* Store the new item value in the event list. */
-	listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
+    /* Store the new item value in the event list. */
+    listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
 
-	/* Remove the event list form the event flag.  Interrupts do not access
-	event flags. */
-	pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-	configASSERT( pxUnblockedTCB );
-	( void ) uxListRemove( pxEventListItem );
+    /* Remove the event list form the event flag.  Interrupts do not access
+     * event flags. */
+    pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+    configASSERT( pxUnblockedTCB );
+    listREMOVE_ITEM( pxEventListItem );
 
-	#if( configUSE_TICKLESS_IDLE != 0 )
-	{
-		/* If a task is blocked on a kernel object then xNextTaskUnblockTime
-		might be set to the blocked task's time out time.  If the task is
-		unblocked for a reason other than a timeout xNextTaskUnblockTime is
-		normally left unchanged, because it is automatically reset to a new
-		value when the tick count equals xNextTaskUnblockTime.  However if
-		tickless idling is used it might be more important to enter sleep mode
-		at the earliest possible time - so reset xNextTaskUnblockTime here to
-		ensure it is updated at the earliest possible time. */
-		prvResetNextTaskUnblockTime();
-	}
-	#endif
+    #if ( configUSE_TICKLESS_IDLE != 0 )
+    {
+        /* If a task is blocked on a kernel object then xNextTaskUnblockTime
+         * might be set to the blocked task's time out time.  If the task is
+         * unblocked for a reason other than a timeout xNextTaskUnblockTime is
+         * normally left unchanged, because it is automatically reset to a new
+         * value when the tick count equals xNextTaskUnblockTime.  However if
+         * tickless idling is used it might be more important to enter sleep mode
+         * at the earliest possible time - so reset xNextTaskUnblockTime here to
+         * ensure it is updated at the earliest possible time. */
+        prvResetNextTaskUnblockTime();
+    }
+    #endif
 
-	/* Remove the task from the delayed list and add it to the ready list.  The
-	scheduler is suspended so interrupts will not be accessing the ready
-	lists. */
-	( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
-	prvAddTaskToReadyList( pxUnblockedTCB );
+    /* Remove the task from the delayed list and add it to the ready list.  The
+     * scheduler is suspended so interrupts will not be accessing the ready
+     * lists. */
+    listREMOVE_ITEM( &( pxUnblockedTCB->xStateListItem ) );
+    prvAddTaskToReadyList( pxUnblockedTCB );
 
-	if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
-	{
-		/* The unblocked task has a priority above that of the calling task, so
-		a context switch is required.  This function is called with the
-		scheduler suspended so xYieldPending is set so the context switch
-		occurs immediately that the scheduler is resumed (unsuspended). */
-		xYieldPending = pdTRUE;
-	}
+    if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
+    {
+        /* The unblocked task has a priority above that of the calling task, so
+         * a context switch is required.  This function is called with the
+         * scheduler suspended so xYieldPending is set so the context switch
+         * occurs immediately that the scheduler is resumed (unsuspended). */
+        xYieldPending = pdTRUE;
+    }
 }
 /*-----------------------------------------------------------*/
 
 void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
 {
-	configASSERT( pxTimeOut );
-	taskENTER_CRITICAL();
-	{
-		pxTimeOut->xOverflowCount = xNumOfOverflows;
-		pxTimeOut->xTimeOnEntering = xTickCount;
-	}
-	taskEXIT_CRITICAL();
+    configASSERT( pxTimeOut );
+    taskENTER_CRITICAL();
+    {
+        pxTimeOut->xOverflowCount = xNumOfOverflows;
+        pxTimeOut->xTimeOnEntering = xTickCount;
+    }
+    taskEXIT_CRITICAL();
 }
 /*-----------------------------------------------------------*/
 
 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
 {
-	/* For internal use only as it does not use a critical section. */
-	pxTimeOut->xOverflowCount = xNumOfOverflows;
-	pxTimeOut->xTimeOnEntering = xTickCount;
+    /* For internal use only as it does not use a critical section. */
+    pxTimeOut->xOverflowCount = xNumOfOverflows;
+    pxTimeOut->xTimeOnEntering = xTickCount;
 }
 /*-----------------------------------------------------------*/
 
-BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
+                                 TickType_t * const pxTicksToWait )
 {
-BaseType_t xReturn;
+    BaseType_t xReturn;
 
-	configASSERT( pxTimeOut );
-	configASSERT( pxTicksToWait );
+    configASSERT( pxTimeOut );
+    configASSERT( pxTicksToWait );
 
-	taskENTER_CRITICAL();
-	{
-		/* Minor optimisation.  The tick count cannot change in this block. */
-		const TickType_t xConstTickCount = xTickCount;
-		const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
+    taskENTER_CRITICAL();
+    {
+        /* Minor optimisation.  The tick count cannot change in this block. */
+        const TickType_t xConstTickCount = xTickCount;
+        const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
 
-		#if( INCLUDE_xTaskAbortDelay == 1 )
-			if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
-			{
-				/* The delay was aborted, which is not the same as a time out,
-				but has the same result. */
-				pxCurrentTCB->ucDelayAborted = pdFALSE;
-				xReturn = pdTRUE;
-			}
-			else
-		#endif
+        #if ( INCLUDE_xTaskAbortDelay == 1 )
+            if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
+            {
+                /* The delay was aborted, which is not the same as a time out,
+                 * but has the same result. */
+                pxCurrentTCB->ucDelayAborted = pdFALSE;
+                xReturn = pdTRUE;
+            }
+            else
+        #endif
 
-		#if ( INCLUDE_vTaskSuspend == 1 )
-			if( *pxTicksToWait == portMAX_DELAY )
-			{
-				/* If INCLUDE_vTaskSuspend is set to 1 and the block time
-				specified is the maximum block time then the task should block
-				indefinitely, and therefore never time out. */
-				xReturn = pdFALSE;
-			}
-			else
-		#endif
+        #if ( INCLUDE_vTaskSuspend == 1 )
+            if( *pxTicksToWait == portMAX_DELAY )
+            {
+                /* If INCLUDE_vTaskSuspend is set to 1 and the block time
+                 * specified is the maximum block time then the task should block
+                 * indefinitely, and therefore never time out. */
+                xReturn = pdFALSE;
+            }
+            else
+        #endif
 
-		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
-		{
-			/* The tick count is greater than the time at which
-			vTaskSetTimeout() was called, but has also overflowed since
-			vTaskSetTimeOut() was called.  It must have wrapped all the way
-			around and gone past again. This passed since vTaskSetTimeout()
-			was called. */
-			xReturn = pdTRUE;
-		}
-		else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
-		{
-			/* Not a genuine timeout. Adjust parameters for time remaining. */
-			*pxTicksToWait -= xElapsedTime;
-			vTaskInternalSetTimeOutState( pxTimeOut );
-			xReturn = pdFALSE;
-		}
-		else
-		{
-			*pxTicksToWait = 0;
-			xReturn = pdTRUE;
-		}
-	}
-	taskEXIT_CRITICAL();
+        if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
+        {
+            /* The tick count is greater than the time at which
+             * vTaskSetTimeout() was called, but has also overflowed since
+             * vTaskSetTimeOut() was called.  It must have wrapped all the way
+             * around and gone past again. This passed since vTaskSetTimeout()
+             * was called. */
+            xReturn = pdTRUE;
+            *pxTicksToWait = ( TickType_t ) 0;
+        }
+        else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
+        {
+            /* Not a genuine timeout. Adjust parameters for time remaining. */
+            *pxTicksToWait -= xElapsedTime;
+            vTaskInternalSetTimeOutState( pxTimeOut );
+            xReturn = pdFALSE;
+        }
+        else
+        {
+            *pxTicksToWait = ( TickType_t ) 0;
+            xReturn = pdTRUE;
+        }
+    }
+    taskEXIT_CRITICAL();
 
-	return xReturn;
+    return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 void vTaskMissedYield( void )
 {
-	xYieldPending = pdTRUE;
+    xYieldPending = pdTRUE;
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
-	{
-	UBaseType_t uxReturn;
-	TCB_t const *pxTCB;
+    UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
+    {
+        UBaseType_t uxReturn;
+        TCB_t const * pxTCB;
 
-		if( xTask != NULL )
-		{
-			pxTCB = xTask;
-			uxReturn = pxTCB->uxTaskNumber;
-		}
-		else
-		{
-			uxReturn = 0U;
-		}
+        if( xTask != NULL )
+        {
+            pxTCB = xTask;
+            uxReturn = pxTCB->uxTaskNumber;
+        }
+        else
+        {
+            uxReturn = 0U;
+        }
 
-		return uxReturn;
-	}
+        return uxReturn;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
-	{
-	TCB_t * pxTCB;
+    void vTaskSetTaskNumber( TaskHandle_t xTask,
+                             const UBaseType_t uxHandle )
+    {
+        TCB_t * pxTCB;
 
-		if( xTask != NULL )
-		{
-			pxTCB = xTask;
-			pxTCB->uxTaskNumber = uxHandle;
-		}
-	}
+        if( xTask != NULL )
+        {
+            pxTCB = xTask;
+            pxTCB->uxTaskNumber = uxHandle;
+        }
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 
@@ -3389,1922 +3485,2050 @@ void vTaskMissedYield( void )
  * void prvIdleTask( void *pvParameters );
  *
  */
+
 static portTASK_FUNCTION( prvIdleTask, pvParameters )
 {
-	/* Stop warnings. */
-	( void ) pvParameters;
+    /* Stop warnings. */
+    ( void ) pvParameters;
 
-	/** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
-	SCHEDULER IS STARTED. **/
+    /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
+     * SCHEDULER IS STARTED. **/
 
-	/* In case a task that has a secure context deletes itself, in which case
-	the idle task is responsible for deleting the task's secure context, if
-	any. */
-	portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
+    /* In case a task that has a secure context deletes itself, in which case
+     * the idle task is responsible for deleting the task's secure context, if
+     * any. */
+    portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
 
-	for( ;; )
-	{
-		/* See if any tasks have deleted themselves - if so then the idle task
-		is responsible for freeing the deleted task's TCB and stack. */
-		prvCheckTasksWaitingTermination();
+    for( ; ; )
+    {
+        /* See if any tasks have deleted themselves - if so then the idle task
+         * is responsible for freeing the deleted task's TCB and stack. */
+        prvCheckTasksWaitingTermination();
 
-		#if ( configUSE_PREEMPTION == 0 )
-		{
-			/* If we are not using preemption we keep forcing a task switch to
-			see if any other task has become available.  If we are using
-			preemption we don't need to do this as any task becoming available
-			will automatically get the processor anyway. */
-			taskYIELD();
-		}
-		#endif /* configUSE_PREEMPTION */
+        #if ( configUSE_PREEMPTION == 0 )
+        {
+            /* If we are not using preemption we keep forcing a task switch to
+             * see if any other task has become available.  If we are using
+             * preemption we don't need to do this as any task becoming available
+             * will automatically get the processor anyway. */
+            taskYIELD();
+        }
+        #endif /* configUSE_PREEMPTION */
 
-		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
-		{
-			/* When using preemption tasks of equal priority will be
-			timesliced.  If a task that is sharing the idle priority is ready
-			to run then the idle task should yield before the end of the
-			timeslice.
+        #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+        {
+            /* When using preemption tasks of equal priority will be
+             * timesliced.  If a task that is sharing the idle priority is ready
+             * to run then the idle task should yield before the end of the
+             * timeslice.
+             *
+             * A critical region is not required here as we are just reading from
+             * the list, and an occasional incorrect value will not matter.  If
+             * the ready list at the idle priority contains more than one task
+             * then a task other than the idle task is ready to execute. */
+            if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
+            {
+                taskYIELD();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
 
-			A critical region is not required here as we are just reading from
-			the list, and an occasional incorrect value will not matter.  If
-			the ready list at the idle priority contains more than one task
-			then a task other than the idle task is ready to execute. */
-			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
-			{
-				taskYIELD();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
+        #if ( configUSE_IDLE_HOOK == 1 )
+        {
+            /* Call the user defined function from within the idle task. */
+            vApplicationIdleHook();
+        }
+        #endif /* configUSE_IDLE_HOOK */
 
-		#if ( configUSE_IDLE_HOOK == 1 )
-		{
-			extern void vApplicationIdleHook( void );
+        /* This conditional compilation should use inequality to 0, not equality
+         * to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
+         * user defined low power mode  implementations require
+         * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
+        #if ( configUSE_TICKLESS_IDLE != 0 )
+        {
+            TickType_t xExpectedIdleTime;
 
-			/* Call the user defined function from within the idle task.  This
-			allows the application designer to add background functionality
-			without the overhead of a separate task.
-			NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
-			CALL A FUNCTION THAT MIGHT BLOCK. */
-			vApplicationIdleHook();
-		}
-		#endif /* configUSE_IDLE_HOOK */
+            /* It is not desirable to suspend then resume the scheduler on
+             * each iteration of the idle task.  Therefore, a preliminary
+             * test of the expected idle time is performed without the
+             * scheduler suspended.  The result here is not necessarily
+             * valid. */
+            xExpectedIdleTime = prvGetExpectedIdleTime();
 
-		/* This conditional compilation should use inequality to 0, not equality
-		to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
-		user defined low power mode	implementations require
-		configUSE_TICKLESS_IDLE to be set to a value other than 1. */
-		#if ( configUSE_TICKLESS_IDLE != 0 )
-		{
-		TickType_t xExpectedIdleTime;
+            if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+            {
+                vTaskSuspendAll();
+                {
+                    /* Now the scheduler is suspended, the expected idle
+                     * time can be sampled again, and this time its value can
+                     * be used. */
+                    configASSERT( xNextTaskUnblockTime >= xTickCount );
+                    xExpectedIdleTime = prvGetExpectedIdleTime();
 
-			/* It is not desirable to suspend then resume the scheduler on
-			each iteration of the idle task.  Therefore, a preliminary
-			test of the expected idle time is performed without the
-			scheduler suspended.  The result here is not necessarily
-			valid. */
-			xExpectedIdleTime = prvGetExpectedIdleTime();
+                    /* Define the following macro to set xExpectedIdleTime to 0
+                     * if the application does not want
+                     * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
+                    configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
 
-			if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
-			{
-				vTaskSuspendAll();
-				{
-					/* Now the scheduler is suspended, the expected idle
-					time can be sampled again, and this time its value can
-					be used. */
-					configASSERT( xNextTaskUnblockTime >= xTickCount );
-					xExpectedIdleTime = prvGetExpectedIdleTime();
-
-					/* Define the following macro to set xExpectedIdleTime to 0
-					if the application does not want
-					portSUPPRESS_TICKS_AND_SLEEP() to be called. */
-					configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
-
-					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
-					{
-						traceLOW_POWER_IDLE_BEGIN();
-						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
-						traceLOW_POWER_IDLE_END();
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				( void ) xTaskResumeAll();
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* configUSE_TICKLESS_IDLE */
-	}
+                    if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+                    {
+                        traceLOW_POWER_IDLE_BEGIN();
+                        portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+                        traceLOW_POWER_IDLE_END();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                ( void ) xTaskResumeAll();
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* configUSE_TICKLESS_IDLE */
+    }
 }
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TICKLESS_IDLE != 0 )
+#if ( configUSE_TICKLESS_IDLE != 0 )
 
-	eSleepModeStatus eTaskConfirmSleepModeStatus( void )
-	{
-	/* The idle task exists in addition to the application tasks. */
-	const UBaseType_t uxNonApplicationTasks = 1;
-	eSleepModeStatus eReturn = eStandardSleep;
+    eSleepModeStatus eTaskConfirmSleepModeStatus( void )
+    {
+        #if ( INCLUDE_vTaskSuspend == 1 )
+            /* The idle task exists in addition to the application tasks. */
+            const UBaseType_t uxNonApplicationTasks = 1;
+        #endif /* INCLUDE_vTaskSuspend */
 
-		/* This function must be called from a critical section. */
+        eSleepModeStatus eReturn = eStandardSleep;
 
-		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
-		{
-			/* A task was made ready while the scheduler was suspended. */
-			eReturn = eAbortSleep;
-		}
-		else if( xYieldPending != pdFALSE )
-		{
-			/* A yield was pended while the scheduler was suspended. */
-			eReturn = eAbortSleep;
-		}
-		else
-		{
-			/* If all the tasks are in the suspended list (which might mean they
-			have an infinite block time rather than actually being suspended)
-			then it is safe to turn all clocks off and just wait for external
-			interrupts. */
-			if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
-			{
-				eReturn = eNoTasksWaitingTimeout;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+        /* This function must be called from a critical section. */
 
-		return eReturn;
-	}
+        if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+        {
+            /* A task was made ready while the scheduler was suspended. */
+            eReturn = eAbortSleep;
+        }
+        else if( xYieldPending != pdFALSE )
+        {
+            /* A yield was pended while the scheduler was suspended. */
+            eReturn = eAbortSleep;
+        }
+        else if( xPendedTicks != 0 )
+        {
+            /* A tick interrupt has already occurred but was held pending
+             * because the scheduler is suspended. */
+            eReturn = eAbortSleep;
+        }
+
+        #if ( INCLUDE_vTaskSuspend == 1 )
+            else if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
+            {
+                /* If all the tasks are in the suspended list (which might mean they
+                 * have an infinite block time rather than actually being suspended)
+                 * then it is safe to turn all clocks off and just wait for external
+                 * interrupts. */
+                eReturn = eNoTasksWaitingTimeout;
+            }
+        #endif /* INCLUDE_vTaskSuspend */
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+
+        return eReturn;
+    }
 
 #endif /* configUSE_TICKLESS_IDLE */
 /*-----------------------------------------------------------*/
 
 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
 
-	void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
-	{
-	TCB_t *pxTCB;
+    void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
+                                            BaseType_t xIndex,
+                                            void * pvValue )
+    {
+        TCB_t * pxTCB;
 
-		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
-		{
-			pxTCB = prvGetTCBFromHandle( xTaskToSet );
-			configASSERT( pxTCB != NULL );
-			pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
-		}
-	}
+        if( ( xIndex >= 0 ) &&
+            ( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) )
+        {
+            pxTCB = prvGetTCBFromHandle( xTaskToSet );
+            configASSERT( pxTCB != NULL );
+            pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
+        }
+    }
 
 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
 /*-----------------------------------------------------------*/
 
 #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
 
-	void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
-	{
-	void *pvReturn = NULL;
-	TCB_t *pxTCB;
+    void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
+                                               BaseType_t xIndex )
+    {
+        void * pvReturn = NULL;
+        TCB_t * pxTCB;
 
-		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
-		{
-			pxTCB = prvGetTCBFromHandle( xTaskToQuery );
-			pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
-		}
-		else
-		{
-			pvReturn = NULL;
-		}
+        if( ( xIndex >= 0 ) &&
+            ( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS ) )
+        {
+            pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+            pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
+        }
+        else
+        {
+            pvReturn = NULL;
+        }
 
-		return pvReturn;
-	}
+        return pvReturn;
+    }
 
 #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
 /*-----------------------------------------------------------*/
 
 #if ( portUSING_MPU_WRAPPERS == 1 )
 
-	void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
-	{
-	TCB_t *pxTCB;
+    void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
+                                  const MemoryRegion_t * const xRegions )
+    {
+        TCB_t * pxTCB;
 
-		/* If null is passed in here then we are modifying the MPU settings of
-		the calling task. */
-		pxTCB = prvGetTCBFromHandle( xTaskToModify );
+        /* If null is passed in here then we are modifying the MPU settings of
+         * the calling task. */
+        pxTCB = prvGetTCBFromHandle( xTaskToModify );
 
-		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
-	}
+        vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
+    }
 
 #endif /* portUSING_MPU_WRAPPERS */
 /*-----------------------------------------------------------*/
 
 static void prvInitialiseTaskLists( void )
 {
-UBaseType_t uxPriority;
+    UBaseType_t uxPriority;
 
-	for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
-	{
-		vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
-	}
+    for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
+    {
+        vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
+    }
 
-	vListInitialise( &xDelayedTaskList1 );
-	vListInitialise( &xDelayedTaskList2 );
-	vListInitialise( &xPendingReadyList );
+    vListInitialise( &xDelayedTaskList1 );
+    vListInitialise( &xDelayedTaskList2 );
+    vListInitialise( &xPendingReadyList );
 
-	#if ( INCLUDE_vTaskDelete == 1 )
-	{
-		vListInitialise( &xTasksWaitingTermination );
-	}
-	#endif /* INCLUDE_vTaskDelete */
+    #if ( INCLUDE_vTaskDelete == 1 )
+    {
+        vListInitialise( &xTasksWaitingTermination );
+    }
+    #endif /* INCLUDE_vTaskDelete */
 
-	#if ( INCLUDE_vTaskSuspend == 1 )
-	{
-		vListInitialise( &xSuspendedTaskList );
-	}
-	#endif /* INCLUDE_vTaskSuspend */
+    #if ( INCLUDE_vTaskSuspend == 1 )
+    {
+        vListInitialise( &xSuspendedTaskList );
+    }
+    #endif /* INCLUDE_vTaskSuspend */
 
-	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
-	using list2. */
-	pxDelayedTaskList = &xDelayedTaskList1;
-	pxOverflowDelayedTaskList = &xDelayedTaskList2;
+    /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+     * using list2. */
+    pxDelayedTaskList = &xDelayedTaskList1;
+    pxOverflowDelayedTaskList = &xDelayedTaskList2;
 }
 /*-----------------------------------------------------------*/
 
 static void prvCheckTasksWaitingTermination( void )
 {
+    /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
 
-	/** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
+    #if ( INCLUDE_vTaskDelete == 1 )
+    {
+        TCB_t * pxTCB;
 
-	#if ( INCLUDE_vTaskDelete == 1 )
-	{
-		TCB_t *pxTCB;
+        /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
+         * being called too often in the idle task. */
+        while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
+        {
+            taskENTER_CRITICAL();
+            {
+                pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+                ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
+                --uxCurrentNumberOfTasks;
+                --uxDeletedTasksWaitingCleanUp;
+            }
+            taskEXIT_CRITICAL();
 
-		/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
-		being called too often in the idle task. */
-		while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
-		{
-			taskENTER_CRITICAL();
-			{
-				pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-				( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-				--uxCurrentNumberOfTasks;
-				--uxDeletedTasksWaitingCleanUp;
-			}
-			taskEXIT_CRITICAL();
-
-			prvDeleteTCB( pxTCB );
-		}
-	}
-	#endif /* INCLUDE_vTaskDelete */
+            prvDeleteTCB( pxTCB );
+        }
+    }
+    #endif /* INCLUDE_vTaskDelete */
 }
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TRACE_FACILITY == 1 )
+#if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
-	{
-	TCB_t *pxTCB;
+    void vTaskGetInfo( TaskHandle_t xTask,
+                       TaskStatus_t * pxTaskStatus,
+                       BaseType_t xGetFreeStackSpace,
+                       eTaskState eState )
+    {
+        TCB_t * pxTCB;
 
-		/* xTask is NULL then get the state of the calling task. */
-		pxTCB = prvGetTCBFromHandle( xTask );
+        /* xTask is NULL then get the state of the calling task. */
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
-		pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
-		pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
-		pxTaskStatus->pxStackBase = pxTCB->pxStack;
-		pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
+        pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
+        pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
+        pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
+        pxTaskStatus->pxStackBase = pxTCB->pxStack;
+        #if ( ( portSTACK_GROWTH > 0 ) && ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
+            pxTaskStatus->pxTopOfStack = pxTCB->pxTopOfStack;
+            pxTaskStatus->pxEndOfStack = pxTCB->pxEndOfStack;
+        #endif
+        pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
 
-		#if ( configUSE_MUTEXES == 1 )
-		{
-			pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
-		}
-		#else
-		{
-			pxTaskStatus->uxBasePriority = 0;
-		}
-		#endif
+        #if ( configUSE_MUTEXES == 1 )
+        {
+            pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
+        }
+        #else
+        {
+            pxTaskStatus->uxBasePriority = 0;
+        }
+        #endif
 
-		#if ( configGENERATE_RUN_TIME_STATS == 1 )
-		{
-			pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
-		}
-		#else
-		{
-			pxTaskStatus->ulRunTimeCounter = 0;
-		}
-		#endif
+        #if ( configGENERATE_RUN_TIME_STATS == 1 )
+        {
+            pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
+        }
+        #else
+        {
+            pxTaskStatus->ulRunTimeCounter = ( configRUN_TIME_COUNTER_TYPE ) 0;
+        }
+        #endif
 
-		/* Obtaining the task state is a little fiddly, so is only done if the
-		value of eState passed into this function is eInvalid - otherwise the
-		state is just set to whatever is passed in. */
-		if( eState != eInvalid )
-		{
-			if( pxTCB == pxCurrentTCB )
-			{
-				pxTaskStatus->eCurrentState = eRunning;
-			}
-			else
-			{
-				pxTaskStatus->eCurrentState = eState;
+        /* Obtaining the task state is a little fiddly, so is only done if the
+         * value of eState passed into this function is eInvalid - otherwise the
+         * state is just set to whatever is passed in. */
+        if( eState != eInvalid )
+        {
+            if( pxTCB == pxCurrentTCB )
+            {
+                pxTaskStatus->eCurrentState = eRunning;
+            }
+            else
+            {
+                pxTaskStatus->eCurrentState = eState;
 
-				#if ( INCLUDE_vTaskSuspend == 1 )
-				{
-					/* If the task is in the suspended list then there is a
-					chance it is actually just blocked indefinitely - so really
-					it should be reported as being in the Blocked state. */
-					if( eState == eSuspended )
-					{
-						vTaskSuspendAll();
-						{
-							if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
-							{
-								pxTaskStatus->eCurrentState = eBlocked;
-							}
-						}
-						( void ) xTaskResumeAll();
-					}
-				}
-				#endif /* INCLUDE_vTaskSuspend */
-			}
-		}
-		else
-		{
-			pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
-		}
+                #if ( INCLUDE_vTaskSuspend == 1 )
+                {
+                    /* If the task is in the suspended list then there is a
+                     *  chance it is actually just blocked indefinitely - so really
+                     *  it should be reported as being in the Blocked state. */
+                    if( eState == eSuspended )
+                    {
+                        vTaskSuspendAll();
+                        {
+                            if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+                            {
+                                pxTaskStatus->eCurrentState = eBlocked;
+                            }
+                        }
+                        ( void ) xTaskResumeAll();
+                    }
+                }
+                #endif /* INCLUDE_vTaskSuspend */
 
-		/* Obtaining the stack space takes some time, so the xGetFreeStackSpace
-		parameter is provided to allow it to be skipped. */
-		if( xGetFreeStackSpace != pdFALSE )
-		{
-			#if ( portSTACK_GROWTH > 0 )
-			{
-				pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
-			}
-			#else
-			{
-				pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
-			}
-			#endif
-		}
-		else
-		{
-			pxTaskStatus->usStackHighWaterMark = 0;
-		}
-	}
+                /* Tasks can be in pending ready list and other state list at the
+                 * same time. These tasks are in ready state no matter what state
+                 * list the task is in. */
+                taskENTER_CRITICAL();
+                {
+                    if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdFALSE )
+                    {
+                        pxTaskStatus->eCurrentState = eReady;
+                    }
+                }
+                taskEXIT_CRITICAL();
+            }
+        }
+        else
+        {
+            pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
+        }
+
+        /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
+         * parameter is provided to allow it to be skipped. */
+        if( xGetFreeStackSpace != pdFALSE )
+        {
+            #if ( portSTACK_GROWTH > 0 )
+            {
+                pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
+            }
+            #else
+            {
+                pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
+            }
+            #endif
+        }
+        else
+        {
+            pxTaskStatus->usStackHighWaterMark = 0;
+        }
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
-	{
-	configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
-	UBaseType_t uxTask = 0;
+    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
+                                                     List_t * pxList,
+                                                     eTaskState eState )
+    {
+        configLIST_VOLATILE TCB_t * pxNextTCB;
+        configLIST_VOLATILE TCB_t * pxFirstTCB;
+        UBaseType_t uxTask = 0;
 
-		if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+        if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
+        {
+            listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
 
-			/* Populate an TaskStatus_t structure within the
-			pxTaskStatusArray array for each task that is referenced from
-			pxList.  See the definition of TaskStatus_t in task.h for the
-			meaning of each TaskStatus_t structure member. */
-			do
-			{
-				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-				vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
-				uxTask++;
-			} while( pxNextTCB != pxFirstTCB );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+            /* Populate an TaskStatus_t structure within the
+             * pxTaskStatusArray array for each task that is referenced from
+             * pxList.  See the definition of TaskStatus_t in task.h for the
+             * meaning of each TaskStatus_t structure member. */
+            do
+            {
+                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+                vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
+                uxTask++;
+            } while( pxNextTCB != pxFirstTCB );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return uxTask;
-	}
+        return uxTask;
+    }
 
 #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
 
-	static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
-	{
-	uint32_t ulCount = 0U;
+    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
+    {
+        uint32_t ulCount = 0U;
 
-		while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
-		{
-			pucStackByte -= portSTACK_GROWTH;
-			ulCount++;
-		}
+        while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
+        {
+            pucStackByte -= portSTACK_GROWTH;
+            ulCount++;
+        }
 
-		ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
+        ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
 
-		return ( configSTACK_DEPTH_TYPE ) ulCount;
-	}
+        return ( configSTACK_DEPTH_TYPE ) ulCount;
+    }
 
 #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
 
-	/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
-	same except for their return type.  Using configSTACK_DEPTH_TYPE allows the
-	user to determine the return type.  It gets around the problem of the value
-	overflowing on 8-bit types without breaking backward compatibility for
-	applications that expect an 8-bit return type. */
-	configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB;
-	uint8_t *pucEndOfStack;
-	configSTACK_DEPTH_TYPE uxReturn;
+/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
+ * same except for their return type.  Using configSTACK_DEPTH_TYPE allows the
+ * user to determine the return type.  It gets around the problem of the value
+ * overflowing on 8-bit types without breaking backward compatibility for
+ * applications that expect an 8-bit return type. */
+    configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB;
+        uint8_t * pucEndOfStack;
+        configSTACK_DEPTH_TYPE uxReturn;
 
-		/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
-		the same except for their return type.  Using configSTACK_DEPTH_TYPE
-		allows the user to determine the return type.  It gets around the
-		problem of the value overflowing on 8-bit types without breaking
-		backward compatibility for applications that expect an 8-bit return
-		type. */
+        /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
+         * the same except for their return type.  Using configSTACK_DEPTH_TYPE
+         * allows the user to determine the return type.  It gets around the
+         * problem of the value overflowing on 8-bit types without breaking
+         * backward compatibility for applications that expect an 8-bit return
+         * type. */
 
-		pxTCB = prvGetTCBFromHandle( xTask );
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		#if portSTACK_GROWTH < 0
-		{
-			pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
-		}
-		#else
-		{
-			pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
-		}
-		#endif
+        #if portSTACK_GROWTH < 0
+        {
+            pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
+        }
+        #else
+        {
+            pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
+        }
+        #endif
 
-		uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
+        uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
 
-		return uxReturn;
-	}
+        return uxReturn;
+    }
 
 #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
 
-	UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB;
-	uint8_t *pucEndOfStack;
-	UBaseType_t uxReturn;
+    UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB;
+        uint8_t * pucEndOfStack;
+        UBaseType_t uxReturn;
 
-		pxTCB = prvGetTCBFromHandle( xTask );
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		#if portSTACK_GROWTH < 0
-		{
-			pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
-		}
-		#else
-		{
-			pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
-		}
-		#endif
+        #if portSTACK_GROWTH < 0
+        {
+            pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
+        }
+        #else
+        {
+            pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
+        }
+        #endif
 
-		uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
+        uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
 
-		return uxReturn;
-	}
+        return uxReturn;
+    }
 
 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	static void prvDeleteTCB( TCB_t *pxTCB )
-	{
-		/* This call is required specifically for the TriCore port.  It must be
-		above the vPortFree() calls.  The call is also used by ports/demos that
-		want to allocate and clean RAM statically. */
-		portCLEAN_UP_TCB( pxTCB );
+    static void prvDeleteTCB( TCB_t * pxTCB )
+    {
+        /* This call is required specifically for the TriCore port.  It must be
+         * above the vPortFree() calls.  The call is also used by ports/demos that
+         * want to allocate and clean RAM statically. */
+        portCLEAN_UP_TCB( pxTCB );
 
-		/* Free up the memory allocated by the scheduler for the task.  It is up
-		to the task to free any memory allocated at the application level.
-		See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
-		for additional information. */
-		#if ( configUSE_NEWLIB_REENTRANT == 1 )
-		{
-			_reclaim_reent( &( pxTCB->xNewLib_reent ) );
-		}
-		#endif /* configUSE_NEWLIB_REENTRANT */
+        #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
+        {
+            /* Free up the memory allocated for the task's TLS Block. */
+            configDEINIT_TLS_BLOCK( pxCurrentTCB->xTLSBlock );
+        }
+        #endif
 
-		#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
-		{
-			/* The task can only have been allocated dynamically - free both
-			the stack and TCB. */
-			vPortFree( pxTCB->pxStack );
-			vPortFree( pxTCB );
-		}
-		#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
-		{
-			/* The task could have been allocated statically or dynamically, so
-			check what was statically allocated before trying to free the
-			memory. */
-			if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
-			{
-				/* Both the stack and TCB were allocated dynamically, so both
-				must be freed. */
-				vPortFree( pxTCB->pxStack );
-				vPortFree( pxTCB );
-			}
-			else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
-			{
-				/* Only the stack was statically allocated, so the TCB is the
-				only memory that must be freed. */
-				vPortFree( pxTCB );
-			}
-			else
-			{
-				/* Neither the stack nor the TCB were allocated dynamically, so
-				nothing needs to be freed. */
-				configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB	);
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-	}
+        #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
+        {
+            /* The task can only have been allocated dynamically - free both
+             * the stack and TCB. */
+            vPortFreeStack( pxTCB->pxStack );
+            vPortFree( pxTCB );
+        }
+        #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
+        {
+            /* The task could have been allocated statically or dynamically, so
+             * check what was statically allocated before trying to free the
+             * memory. */
+            if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
+            {
+                /* Both the stack and TCB were allocated dynamically, so both
+                 * must be freed. */
+                vPortFreeStack( pxTCB->pxStack );
+                vPortFree( pxTCB );
+            }
+            else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
+            {
+                /* Only the stack was statically allocated, so the TCB is the
+                 * only memory that must be freed. */
+                vPortFree( pxTCB );
+            }
+            else
+            {
+                /* Neither the stack nor the TCB were allocated dynamically, so
+                 * nothing needs to be freed. */
+                configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+    }
 
 #endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
 static void prvResetNextTaskUnblockTime( void )
 {
-TCB_t *pxTCB;
-
-	if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
-	{
-		/* The new current delayed list is empty.  Set xNextTaskUnblockTime to
-		the maximum possible value so it is	extremely unlikely that the
-		if( xTickCount >= xNextTaskUnblockTime ) test will pass until
-		there is an item in the delayed list. */
-		xNextTaskUnblockTime = portMAX_DELAY;
-	}
-	else
-	{
-		/* The new current delayed list is not empty, get the value of
-		the item at the head of the delayed list.  This is the time at
-		which the task at the head of the delayed list should be removed
-		from the Blocked state. */
-		( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-		xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
-	}
+    if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+    {
+        /* The new current delayed list is empty.  Set xNextTaskUnblockTime to
+         * the maximum possible value so it is  extremely unlikely that the
+         * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
+         * there is an item in the delayed list. */
+        xNextTaskUnblockTime = portMAX_DELAY;
+    }
+    else
+    {
+        /* The new current delayed list is not empty, get the value of
+         * the item at the head of the delayed list.  This is the time at
+         * which the task at the head of the delayed list should be removed
+         * from the Blocked state. */
+        xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
+    }
 }
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
 
-	TaskHandle_t xTaskGetCurrentTaskHandle( void )
-	{
-	TaskHandle_t xReturn;
+    TaskHandle_t xTaskGetCurrentTaskHandle( void )
+    {
+        TaskHandle_t xReturn;
 
-		/* A critical section is not required as this is not called from
-		an interrupt and the current TCB will always be the same for any
-		individual execution thread. */
-		xReturn = pxCurrentTCB;
+        /* A critical section is not required as this is not called from
+         * an interrupt and the current TCB will always be the same for any
+         * individual execution thread. */
+        xReturn = pxCurrentTCB;
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
 
-	BaseType_t xTaskGetSchedulerState( void )
-	{
-	BaseType_t xReturn;
+    BaseType_t xTaskGetSchedulerState( void )
+    {
+        BaseType_t xReturn;
 
-		if( xSchedulerRunning == pdFALSE )
-		{
-			xReturn = taskSCHEDULER_NOT_STARTED;
-		}
-		else
-		{
-			if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-			{
-				xReturn = taskSCHEDULER_RUNNING;
-			}
-			else
-			{
-				xReturn = taskSCHEDULER_SUSPENDED;
-			}
-		}
+        if( xSchedulerRunning == pdFALSE )
+        {
+            xReturn = taskSCHEDULER_NOT_STARTED;
+        }
+        else
+        {
+            if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+            {
+                xReturn = taskSCHEDULER_RUNNING;
+            }
+            else
+            {
+                xReturn = taskSCHEDULER_SUSPENDED;
+            }
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
-	{
-	TCB_t * const pxMutexHolderTCB = pxMutexHolder;
-	BaseType_t xReturn = pdFALSE;
+    BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
+    {
+        TCB_t * const pxMutexHolderTCB = pxMutexHolder;
+        BaseType_t xReturn = pdFALSE;
 
-		/* If the mutex was given back by an interrupt while the queue was
-		locked then the mutex holder might now be NULL.  _RB_ Is this still
-		needed as interrupts can no longer use mutexes? */
-		if( pxMutexHolder != NULL )
-		{
-			/* If the holder of the mutex has a priority below the priority of
-			the task attempting to obtain the mutex then it will temporarily
-			inherit the priority of the task attempting to obtain the mutex. */
-			if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
-			{
-				/* Adjust the mutex holder state to account for its new
-				priority.  Only reset the event list item value if the value is
-				not being used for anything else. */
-				if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
-				{
-					listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
+        /* If the mutex was given back by an interrupt while the queue was
+         * locked then the mutex holder might now be NULL.  _RB_ Is this still
+         * needed as interrupts can no longer use mutexes? */
+        if( pxMutexHolder != NULL )
+        {
+            /* If the holder of the mutex has a priority below the priority of
+             * the task attempting to obtain the mutex then it will temporarily
+             * inherit the priority of the task attempting to obtain the mutex. */
+            if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
+            {
+                /* Adjust the mutex holder state to account for its new
+                 * priority.  Only reset the event list item value if the value is
+                 * not being used for anything else. */
+                if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+                {
+                    listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
 
-				/* If the task being modified is in the ready state it will need
-				to be moved into a new list. */
-				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
-				{
-					if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-					{
-						/* It is known that the task is in its ready list so
-						there is no need to check again and the port level
-						reset macro can be called directly. */
-						portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                /* If the task being modified is in the ready state it will need
+                 * to be moved into a new list. */
+                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
+                {
+                    if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+                    {
+                        /* It is known that the task is in its ready list so
+                         * there is no need to check again and the port level
+                         * reset macro can be called directly. */
+                        portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* Inherit the priority before being moved into the new list. */
-					pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
-					prvAddTaskToReadyList( pxMutexHolderTCB );
-				}
-				else
-				{
-					/* Just inherit the priority. */
-					pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
-				}
+                    /* Inherit the priority before being moved into the new list. */
+                    pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
+                    prvAddTaskToReadyList( pxMutexHolderTCB );
+                }
+                else
+                {
+                    /* Just inherit the priority. */
+                    pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
+                }
 
-				traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
+                traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
 
-				/* Inheritance occurred. */
-				xReturn = pdTRUE;
-			}
-			else
-			{
-				if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
-				{
-					/* The base priority of the mutex holder is lower than the
-					priority of the task attempting to take the mutex, but the
-					current priority of the mutex holder is not lower than the
-					priority of the task attempting to take the mutex.
-					Therefore the mutex holder must have already inherited a
-					priority, but inheritance would have occurred if that had
-					not been the case. */
-					xReturn = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+                /* Inheritance occurred. */
+                xReturn = pdTRUE;
+            }
+            else
+            {
+                if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
+                {
+                    /* The base priority of the mutex holder is lower than the
+                     * priority of the task attempting to take the mutex, but the
+                     * current priority of the mutex holder is not lower than the
+                     * priority of the task attempting to take the mutex.
+                     * Therefore the mutex holder must have already inherited a
+                     * priority, but inheritance would have occurred if that had
+                     * not been the case. */
+                    xReturn = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
-	{
-	TCB_t * const pxTCB = pxMutexHolder;
-	BaseType_t xReturn = pdFALSE;
+    BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
+    {
+        TCB_t * const pxTCB = pxMutexHolder;
+        BaseType_t xReturn = pdFALSE;
 
-		if( pxMutexHolder != NULL )
-		{
-			/* A task can only have an inherited priority if it holds the mutex.
-			If the mutex is held by a task then it cannot be given from an
-			interrupt, and if a mutex is given by the holding task then it must
-			be the running state task. */
-			configASSERT( pxTCB == pxCurrentTCB );
-			configASSERT( pxTCB->uxMutexesHeld );
-			( pxTCB->uxMutexesHeld )--;
+        if( pxMutexHolder != NULL )
+        {
+            /* A task can only have an inherited priority if it holds the mutex.
+             * If the mutex is held by a task then it cannot be given from an
+             * interrupt, and if a mutex is given by the holding task then it must
+             * be the running state task. */
+            configASSERT( pxTCB == pxCurrentTCB );
+            configASSERT( pxTCB->uxMutexesHeld );
+            ( pxTCB->uxMutexesHeld )--;
 
-			/* Has the holder of the mutex inherited the priority of another
-			task? */
-			if( pxTCB->uxPriority != pxTCB->uxBasePriority )
-			{
-				/* Only disinherit if no other mutexes are held. */
-				if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
-				{
-					/* A task can only have an inherited priority if it holds
-					the mutex.  If the mutex is held by a task then it cannot be
-					given from an interrupt, and if a mutex is given by the
-					holding task then it must be the running state task.  Remove
-					the holding task from the ready/delayed list. */
-					if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-					{
-						taskRESET_READY_PRIORITY( pxTCB->uxPriority );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+            /* Has the holder of the mutex inherited the priority of another
+             * task? */
+            if( pxTCB->uxPriority != pxTCB->uxBasePriority )
+            {
+                /* Only disinherit if no other mutexes are held. */
+                if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
+                {
+                    /* A task can only have an inherited priority if it holds
+                     * the mutex.  If the mutex is held by a task then it cannot be
+                     * given from an interrupt, and if a mutex is given by the
+                     * holding task then it must be the running state task.  Remove
+                     * the holding task from the ready list. */
+                    if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+                    {
+                        portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* Disinherit the priority before adding the task into the
-					new	ready list. */
-					traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
-					pxTCB->uxPriority = pxTCB->uxBasePriority;
+                    /* Disinherit the priority before adding the task into the
+                     * new  ready list. */
+                    traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
+                    pxTCB->uxPriority = pxTCB->uxBasePriority;
 
-					/* Reset the event list item value.  It cannot be in use for
-					any other purpose if this task is running, and it must be
-					running to give back the mutex. */
-					listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-					prvAddTaskToReadyList( pxTCB );
+                    /* Reset the event list item value.  It cannot be in use for
+                     * any other purpose if this task is running, and it must be
+                     * running to give back the mutex. */
+                    listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    prvAddTaskToReadyList( pxTCB );
 
-					/* Return true to indicate that a context switch is required.
-					This is only actually required in the corner case whereby
-					multiple mutexes were held and the mutexes were given back
-					in an order different to that in which they were taken.
-					If a context switch did not occur when the first mutex was
-					returned, even if a task was waiting on it, then a context
-					switch should occur when the last mutex is returned whether
-					a task is waiting on it or not. */
-					xReturn = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
+                    /* Return true to indicate that a context switch is required.
+                     * This is only actually required in the corner case whereby
+                     * multiple mutexes were held and the mutexes were given back
+                     * in an order different to that in which they were taken.
+                     * If a context switch did not occur when the first mutex was
+                     * returned, even if a task was waiting on it, then a context
+                     * switch should occur when the last mutex is returned whether
+                     * a task is waiting on it or not. */
+                    xReturn = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-		return xReturn;
-	}
+        return xReturn;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
-	{
-	TCB_t * const pxTCB = pxMutexHolder;
-	UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
-	const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
+    void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
+                                              UBaseType_t uxHighestPriorityWaitingTask )
+    {
+        TCB_t * const pxTCB = pxMutexHolder;
+        UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
+        const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
 
-		if( pxMutexHolder != NULL )
-		{
-			/* If pxMutexHolder is not NULL then the holder must hold at least
-			one mutex. */
-			configASSERT( pxTCB->uxMutexesHeld );
+        if( pxMutexHolder != NULL )
+        {
+            /* If pxMutexHolder is not NULL then the holder must hold at least
+             * one mutex. */
+            configASSERT( pxTCB->uxMutexesHeld );
 
-			/* Determine the priority to which the priority of the task that
-			holds the mutex should be set.  This will be the greater of the
-			holding task's base priority and the priority of the highest
-			priority task that is waiting to obtain the mutex. */
-			if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
-			{
-				uxPriorityToUse = uxHighestPriorityWaitingTask;
-			}
-			else
-			{
-				uxPriorityToUse = pxTCB->uxBasePriority;
-			}
+            /* Determine the priority to which the priority of the task that
+             * holds the mutex should be set.  This will be the greater of the
+             * holding task's base priority and the priority of the highest
+             * priority task that is waiting to obtain the mutex. */
+            if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
+            {
+                uxPriorityToUse = uxHighestPriorityWaitingTask;
+            }
+            else
+            {
+                uxPriorityToUse = pxTCB->uxBasePriority;
+            }
 
-			/* Does the priority need to change? */
-			if( pxTCB->uxPriority != uxPriorityToUse )
-			{
-				/* Only disinherit if no other mutexes are held.  This is a
-				simplification in the priority inheritance implementation.  If
-				the task that holds the mutex is also holding other mutexes then
-				the other mutexes may have caused the priority inheritance. */
-				if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
-				{
-					/* If a task has timed out because it already holds the
-					mutex it was trying to obtain then it cannot of inherited
-					its own priority. */
-					configASSERT( pxTCB != pxCurrentTCB );
+            /* Does the priority need to change? */
+            if( pxTCB->uxPriority != uxPriorityToUse )
+            {
+                /* Only disinherit if no other mutexes are held.  This is a
+                 * simplification in the priority inheritance implementation.  If
+                 * the task that holds the mutex is also holding other mutexes then
+                 * the other mutexes may have caused the priority inheritance. */
+                if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
+                {
+                    /* If a task has timed out because it already holds the
+                     * mutex it was trying to obtain then it cannot of inherited
+                     * its own priority. */
+                    configASSERT( pxTCB != pxCurrentTCB );
 
-					/* Disinherit the priority, remembering the previous
-					priority to facilitate determining the subject task's
-					state. */
-					traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
-					uxPriorityUsedOnEntry = pxTCB->uxPriority;
-					pxTCB->uxPriority = uxPriorityToUse;
+                    /* Disinherit the priority, remembering the previous
+                     * priority to facilitate determining the subject task's
+                     * state. */
+                    traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
+                    uxPriorityUsedOnEntry = pxTCB->uxPriority;
+                    pxTCB->uxPriority = uxPriorityToUse;
 
-					/* Only reset the event list item value if the value is not
-					being used for anything else. */
-					if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
-					{
-						listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
+                    /* Only reset the event list item value if the value is not
+                     * being used for anything else. */
+                    if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
+                    {
+                        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
 
-					/* If the running task is not the task that holds the mutex
-					then the task that holds the mutex could be in either the
-					Ready, Blocked or Suspended states.  Only remove the task
-					from its current state list if it is in the Ready state as
-					the task's priority is going to change and there is one
-					Ready list per priority. */
-					if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
-					{
-						if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-						{
-							/* It is known that the task is in its ready list so
-							there is no need to check again and the port level
-							reset macro can be called directly. */
-							portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
+                    /* If the running task is not the task that holds the mutex
+                     * then the task that holds the mutex could be in either the
+                     * Ready, Blocked or Suspended states.  Only remove the task
+                     * from its current state list if it is in the Ready state as
+                     * the task's priority is going to change and there is one
+                     * Ready list per priority. */
+                    if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
+                    {
+                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+                        {
+                            /* It is known that the task is in its ready list so
+                             * there is no need to check again and the port level
+                             * reset macro can be called directly. */
+                            portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
 
-						prvAddTaskToReadyList( pxTCB );
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+                        prvAddTaskToReadyList( pxTCB );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
 
-	void vTaskEnterCritical( void )
-	{
-		portDISABLE_INTERRUPTS();
+    void vTaskEnterCritical( void )
+    {
+        portDISABLE_INTERRUPTS();
 
-		if( xSchedulerRunning != pdFALSE )
-		{
-			( pxCurrentTCB->uxCriticalNesting )++;
+        if( xSchedulerRunning != pdFALSE )
+        {
+            ( pxCurrentTCB->uxCriticalNesting )++;
 
-			/* This is not the interrupt safe version of the enter critical
-			function so	assert() if it is being called from an interrupt
-			context.  Only API functions that end in "FromISR" can be used in an
-			interrupt.  Only assert if the critical nesting count is 1 to
-			protect against recursive calls if the assert function also uses a
-			critical section. */
-			if( pxCurrentTCB->uxCriticalNesting == 1 )
-			{
-				portASSERT_IF_IN_ISR();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+            /* This is not the interrupt safe version of the enter critical
+             * function so  assert() if it is being called from an interrupt
+             * context.  Only API functions that end in "FromISR" can be used in an
+             * interrupt.  Only assert if the critical nesting count is 1 to
+             * protect against recursive calls if the assert function also uses a
+             * critical section. */
+            if( pxCurrentTCB->uxCriticalNesting == 1 )
+            {
+                portASSERT_IF_IN_ISR();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
 
-	void vTaskExitCritical( void )
-	{
-		if( xSchedulerRunning != pdFALSE )
-		{
-			if( pxCurrentTCB->uxCriticalNesting > 0U )
-			{
-				( pxCurrentTCB->uxCriticalNesting )--;
+    void vTaskExitCritical( void )
+    {
+        if( xSchedulerRunning != pdFALSE )
+        {
+            if( pxCurrentTCB->uxCriticalNesting > 0U )
+            {
+                ( pxCurrentTCB->uxCriticalNesting )--;
 
-				if( pxCurrentTCB->uxCriticalNesting == 0U )
-				{
-					portENABLE_INTERRUPTS();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+                if( pxCurrentTCB->uxCriticalNesting == 0U )
+                {
+                    portENABLE_INTERRUPTS();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
 #endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
+
+    static char * prvWriteNameToBuffer( char * pcBuffer,
+                                        const char * pcTaskName )
+    {
+        size_t x;
+
+        /* Start by copying the entire string. */
+        strcpy( pcBuffer, pcTaskName );
+
+        /* Pad the end of the string with spaces to ensure columns line up when
+         * printed out. */
+        for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
+        {
+            pcBuffer[ x ] = ' ';
+        }
+
+        /* Terminate. */
+        pcBuffer[ x ] = ( char ) 0x00;
+
+        /* Return the new end of string. */
+        return &( pcBuffer[ x ] );
+    }
+
+#endif /* ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
+/*-----------------------------------------------------------*/
+
 #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
 
-	static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
-	{
-	size_t x;
+    void vTaskList( char * pcWriteBuffer )
+    {
+        TaskStatus_t * pxTaskStatusArray;
+        UBaseType_t uxArraySize, x;
+        char cStatus;
 
-		/* Start by copying the entire string. */
-		strcpy( pcBuffer, pcTaskName );
-
-		/* Pad the end of the string with spaces to ensure columns line up when
-		printed out. */
-		for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
-		{
-			pcBuffer[ x ] = ' ';
-		}
-
-		/* Terminate. */
-		pcBuffer[ x ] = ( char ) 0x00;
-
-		/* Return the new end of string. */
-		return &( pcBuffer[ x ] );
-	}
-
-#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
-	void vTaskList( char * pcWriteBuffer )
-	{
-	TaskStatus_t *pxTaskStatusArray;
-	UBaseType_t uxArraySize, x;
-	char cStatus;
-
-		/*
-		 * PLEASE NOTE:
-		 *
-		 * This function is provided for convenience only, and is used by many
-		 * of the demo applications.  Do not consider it to be part of the
-		 * scheduler.
-		 *
-		 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
-		 * uxTaskGetSystemState() output into a human readable table that
-		 * displays task names, states and stack usage.
-		 *
-		 * vTaskList() has a dependency on the sprintf() C library function that
-		 * might bloat the code size, use a lot of stack, and provide different
-		 * results on different platforms.  An alternative, tiny, third party,
-		 * and limited functionality implementation of sprintf() is provided in
-		 * many of the FreeRTOS/Demo sub-directories in a file called
-		 * printf-stdarg.c (note printf-stdarg.c does not provide a full
-		 * snprintf() implementation!).
-		 *
-		 * It is recommended that production systems call uxTaskGetSystemState()
-		 * directly to get access to raw stats data, rather than indirectly
-		 * through a call to vTaskList().
-		 */
+        /*
+         * PLEASE NOTE:
+         *
+         * This function is provided for convenience only, and is used by many
+         * of the demo applications.  Do not consider it to be part of the
+         * scheduler.
+         *
+         * vTaskList() calls uxTaskGetSystemState(), then formats part of the
+         * uxTaskGetSystemState() output into a human readable table that
+         * displays task: names, states, priority, stack usage and task number.
+         * Stack usage specified as the number of unused StackType_t words stack can hold
+         * on top of stack - not the number of bytes.
+         *
+         * vTaskList() has a dependency on the sprintf() C library function that
+         * might bloat the code size, use a lot of stack, and provide different
+         * results on different platforms.  An alternative, tiny, third party,
+         * and limited functionality implementation of sprintf() is provided in
+         * many of the FreeRTOS/Demo sub-directories in a file called
+         * printf-stdarg.c (note printf-stdarg.c does not provide a full
+         * snprintf() implementation!).
+         *
+         * It is recommended that production systems call uxTaskGetSystemState()
+         * directly to get access to raw stats data, rather than indirectly
+         * through a call to vTaskList().
+         */
 
 
-		/* Make sure the write buffer does not contain a string. */
-		*pcWriteBuffer = ( char ) 0x00;
+        /* Make sure the write buffer does not contain a string. */
+        *pcWriteBuffer = ( char ) 0x00;
 
-		/* Take a snapshot of the number of tasks in case it changes while this
-		function is executing. */
-		uxArraySize = uxCurrentNumberOfTasks;
+        /* Take a snapshot of the number of tasks in case it changes while this
+         * function is executing. */
+        uxArraySize = uxCurrentNumberOfTasks;
 
-		/* Allocate an array index for each task.  NOTE!  if
-		configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
-		equate to NULL. */
-		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
+        /* Allocate an array index for each task.  NOTE!  if
+         * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
+         * equate to NULL. */
+        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
 
-		if( pxTaskStatusArray != NULL )
-		{
-			/* Generate the (binary) data. */
-			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
+        if( pxTaskStatusArray != NULL )
+        {
+            /* Generate the (binary) data. */
+            uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
 
-			/* Create a human readable table from the binary data. */
-			for( x = 0; x < uxArraySize; x++ )
-			{
-				switch( pxTaskStatusArray[ x ].eCurrentState )
-				{
-					case eRunning:		cStatus = tskRUNNING_CHAR;
-										break;
+            /* Create a human readable table from the binary data. */
+            for( x = 0; x < uxArraySize; x++ )
+            {
+                switch( pxTaskStatusArray[ x ].eCurrentState )
+                {
+                    case eRunning:
+                        cStatus = tskRUNNING_CHAR;
+                        break;
 
-					case eReady:		cStatus = tskREADY_CHAR;
-										break;
+                    case eReady:
+                        cStatus = tskREADY_CHAR;
+                        break;
 
-					case eBlocked:		cStatus = tskBLOCKED_CHAR;
-										break;
+                    case eBlocked:
+                        cStatus = tskBLOCKED_CHAR;
+                        break;
 
-					case eSuspended:	cStatus = tskSUSPENDED_CHAR;
-										break;
+                    case eSuspended:
+                        cStatus = tskSUSPENDED_CHAR;
+                        break;
 
-					case eDeleted:		cStatus = tskDELETED_CHAR;
-										break;
+                    case eDeleted:
+                        cStatus = tskDELETED_CHAR;
+                        break;
 
-					case eInvalid:		/* Fall through. */
-					default:			/* Should not get here, but it is included
-										to prevent static checking errors. */
-										cStatus = ( char ) 0x00;
-										break;
-				}
+                    case eInvalid: /* Fall through. */
+                    default:       /* Should not get here, but it is included
+                                    * to prevent static checking errors. */
+                        cStatus = ( char ) 0x00;
+                        break;
+                }
 
-				/* Write the task name to the string, padding with spaces so it
-				can be printed in tabular form more easily. */
-				pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
+                /* Write the task name to the string, padding with spaces so it
+                 * can be printed in tabular form more easily. */
+                pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
 
-				/* Write the rest of the string. */
-				sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
-				pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
-			}
+                /* Write the rest of the string. */
+                sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+                pcWriteBuffer += strlen( pcWriteBuffer );                                                                                                                                                                                                /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
+            }
 
-			/* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
-			is 0 then vPortFree() will be #defined to nothing. */
-			vPortFree( pxTaskStatusArray );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
+            /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
+             * is 0 then vPortFree() will be #defined to nothing. */
+            vPortFree( pxTaskStatusArray );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
-#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
 /*----------------------------------------------------------*/
 
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configUSE_TRACE_FACILITY == 1 ) )
 
-	void vTaskGetRunTimeStats( char *pcWriteBuffer )
-	{
-	TaskStatus_t *pxTaskStatusArray;
-	UBaseType_t uxArraySize, x;
-	uint32_t ulTotalTime, ulStatsAsPercentage;
+    void vTaskGetRunTimeStats( char * pcWriteBuffer )
+    {
+        TaskStatus_t * pxTaskStatusArray;
+        UBaseType_t uxArraySize, x;
+        configRUN_TIME_COUNTER_TYPE ulTotalTime, ulStatsAsPercentage;
 
-		#if( configUSE_TRACE_FACILITY != 1 )
-		{
-			#error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
-		}
-		#endif
+        /*
+         * PLEASE NOTE:
+         *
+         * This function is provided for convenience only, and is used by many
+         * of the demo applications.  Do not consider it to be part of the
+         * scheduler.
+         *
+         * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
+         * of the uxTaskGetSystemState() output into a human readable table that
+         * displays the amount of time each task has spent in the Running state
+         * in both absolute and percentage terms.
+         *
+         * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
+         * function that might bloat the code size, use a lot of stack, and
+         * provide different results on different platforms.  An alternative,
+         * tiny, third party, and limited functionality implementation of
+         * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
+         * a file called printf-stdarg.c (note printf-stdarg.c does not provide
+         * a full snprintf() implementation!).
+         *
+         * It is recommended that production systems call uxTaskGetSystemState()
+         * directly to get access to raw stats data, rather than indirectly
+         * through a call to vTaskGetRunTimeStats().
+         */
 
-		/*
-		 * PLEASE NOTE:
-		 *
-		 * This function is provided for convenience only, and is used by many
-		 * of the demo applications.  Do not consider it to be part of the
-		 * scheduler.
-		 *
-		 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
-		 * of the uxTaskGetSystemState() output into a human readable table that
-		 * displays the amount of time each task has spent in the Running state
-		 * in both absolute and percentage terms.
-		 *
-		 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
-		 * function that might bloat the code size, use a lot of stack, and
-		 * provide different results on different platforms.  An alternative,
-		 * tiny, third party, and limited functionality implementation of
-		 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
-		 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
-		 * a full snprintf() implementation!).
-		 *
-		 * It is recommended that production systems call uxTaskGetSystemState()
-		 * directly to get access to raw stats data, rather than indirectly
-		 * through a call to vTaskGetRunTimeStats().
-		 */
+        /* Make sure the write buffer does not contain a string. */
+        *pcWriteBuffer = ( char ) 0x00;
 
-		/* Make sure the write buffer does not contain a string. */
-		*pcWriteBuffer = ( char ) 0x00;
+        /* Take a snapshot of the number of tasks in case it changes while this
+         * function is executing. */
+        uxArraySize = uxCurrentNumberOfTasks;
 
-		/* Take a snapshot of the number of tasks in case it changes while this
-		function is executing. */
-		uxArraySize = uxCurrentNumberOfTasks;
+        /* Allocate an array index for each task.  NOTE!  If
+         * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
+         * equate to NULL. */
+        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
 
-		/* Allocate an array index for each task.  NOTE!  If
-		configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
-		equate to NULL. */
-		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
+        if( pxTaskStatusArray != NULL )
+        {
+            /* Generate the (binary) data. */
+            uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
 
-		if( pxTaskStatusArray != NULL )
-		{
-			/* Generate the (binary) data. */
-			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
+            /* For percentage calculations. */
+            ulTotalTime /= 100UL;
 
-			/* For percentage calculations. */
-			ulTotalTime /= 100UL;
+            /* Avoid divide by zero errors. */
+            if( ulTotalTime > 0UL )
+            {
+                /* Create a human readable table from the binary data. */
+                for( x = 0; x < uxArraySize; x++ )
+                {
+                    /* What percentage of the total run time has the task used?
+                     * This will always be rounded down to the nearest integer.
+                     * ulTotalRunTime has already been divided by 100. */
+                    ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
 
-			/* Avoid divide by zero errors. */
-			if( ulTotalTime > 0UL )
-			{
-				/* Create a human readable table from the binary data. */
-				for( x = 0; x < uxArraySize; x++ )
-				{
-					/* What percentage of the total run time has the task used?
-					This will always be rounded down to the nearest integer.
-					ulTotalRunTimeDiv100 has already been divided by 100. */
-					ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
+                    /* Write the task name to the string, padding with
+                     * spaces so it can be printed in tabular form more
+                     * easily. */
+                    pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
 
-					/* Write the task name to the string, padding with
-					spaces so it can be printed in tabular form more
-					easily. */
-					pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
+                    if( ulStatsAsPercentage > 0UL )
+                    {
+                        #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+                        {
+                            sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+                        }
+                        #else
+                        {
+                            /* sizeof( int ) == sizeof( long ) so a smaller
+                             * printf() library can be used. */
+                            sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+                        }
+                        #endif
+                    }
+                    else
+                    {
+                        /* If the percentage is zero here then the task has
+                         * consumed less than 1% of the total run time. */
+                        #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+                        {
+                            sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
+                        }
+                        #else
+                        {
+                            /* sizeof( int ) == sizeof( long ) so a smaller
+                             * printf() library can be used. */
+                            sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
+                        }
+                        #endif
+                    }
 
-					if( ulStatsAsPercentage > 0UL )
-					{
-						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
-						{
-							sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
-						}
-						#else
-						{
-							/* sizeof( int ) == sizeof( long ) so a smaller
-							printf() library can be used. */
-							sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
-						}
-						#endif
-					}
-					else
-					{
-						/* If the percentage is zero here then the task has
-						consumed less than 1% of the total run time. */
-						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
-						{
-							sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
-						}
-						#else
-						{
-							/* sizeof( int ) == sizeof( long ) so a smaller
-							printf() library can be used. */
-							sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
-						}
-						#endif
-					}
+                    pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-					pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+            /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
+             * is 0 then vPortFree() will be #defined to nothing. */
+            vPortFree( pxTaskStatusArray );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
+    }
 
-			/* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
-			is 0 then vPortFree() will be #defined to nothing. */
-			vPortFree( pxTaskStatusArray );
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-
-#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
+#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) ) */
 /*-----------------------------------------------------------*/
 
 TickType_t uxTaskResetEventItemValue( void )
 {
-TickType_t uxReturn;
+    TickType_t uxReturn;
 
-	uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
+    uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
 
-	/* Reset the event list item to its normal value - so it can be used with
-	queues and semaphores. */
-	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+    /* Reset the event list item to its normal value - so it can be used with
+     * queues and semaphores. */
+    listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-	return uxReturn;
+    return uxReturn;
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	TaskHandle_t pvTaskIncrementMutexHeldCount( void )
-	{
-		/* If xSemaphoreCreateMutex() is called before any tasks have been created
-		then pxCurrentTCB will be NULL. */
-		if( pxCurrentTCB != NULL )
-		{
-			( pxCurrentTCB->uxMutexesHeld )++;
-		}
+    TaskHandle_t pvTaskIncrementMutexHeldCount( void )
+    {
+        /* If xSemaphoreCreateMutex() is called before any tasks have been created
+         * then pxCurrentTCB will be NULL. */
+        if( pxCurrentTCB != NULL )
+        {
+            ( pxCurrentTCB->uxMutexesHeld )++;
+        }
 
-		return pxCurrentTCB;
-	}
+        return pxCurrentTCB;
+    }
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
-	{
-	uint32_t ulReturn;
+    uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
+                                      BaseType_t xClearCountOnExit,
+                                      TickType_t xTicksToWait )
+    {
+        uint32_t ulReturn;
 
-		taskENTER_CRITICAL();
-		{
-			/* Only block if the notification count is not already non-zero. */
-			if( pxCurrentTCB->ulNotifiedValue == 0UL )
-			{
-				/* Mark this task as waiting for a notification. */
-				pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
+        configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-				if( xTicksToWait > ( TickType_t ) 0 )
-				{
-					prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
-					traceTASK_NOTIFY_TAKE_BLOCK();
+        taskENTER_CRITICAL();
+        {
+            /* Only block if the notification count is not already non-zero. */
+            if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL )
+            {
+                /* Mark this task as waiting for a notification. */
+                pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
 
-					/* All ports are written to allow a yield in a critical
-					section (some will yield immediately, others wait until the
-					critical section exits) - but it is not something that
-					application code should ever do. */
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		taskEXIT_CRITICAL();
+                if( xTicksToWait > ( TickType_t ) 0 )
+                {
+                    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+                    traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );
 
-		taskENTER_CRITICAL();
-		{
-			traceTASK_NOTIFY_TAKE();
-			ulReturn = pxCurrentTCB->ulNotifiedValue;
+                    /* All ports are written to allow a yield in a critical
+                     * section (some will yield immediately, others wait until the
+                     * critical section exits) - but it is not something that
+                     * application code should ever do. */
+                    portYIELD_WITHIN_API();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        taskEXIT_CRITICAL();
 
-			if( ulReturn != 0UL )
-			{
-				if( xClearCountOnExit != pdFALSE )
-				{
-					pxCurrentTCB->ulNotifiedValue = 0UL;
-				}
-				else
-				{
-					pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
+        taskENTER_CRITICAL();
+        {
+            traceTASK_NOTIFY_TAKE( uxIndexToWait );
+            ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
 
-			pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
-		}
-		taskEXIT_CRITICAL();
+            if( ulReturn != 0UL )
+            {
+                if( xClearCountOnExit != pdFALSE )
+                {
+                    pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL;
+                }
+                else
+                {
+                    pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
 
-		return ulReturn;
-	}
+            pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
+        }
+        taskEXIT_CRITICAL();
+
+        return ulReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
-	{
-	BaseType_t xReturn;
+    BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
+                                       uint32_t ulBitsToClearOnEntry,
+                                       uint32_t ulBitsToClearOnExit,
+                                       uint32_t * pulNotificationValue,
+                                       TickType_t xTicksToWait )
+    {
+        BaseType_t xReturn;
 
-		taskENTER_CRITICAL();
-		{
-			/* Only block if a notification is not already pending. */
-			if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
-			{
-				/* Clear bits in the task's notification value as bits may get
-				set	by the notifying task or interrupt.  This can be used to
-				clear the value to zero. */
-				pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
+        configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-				/* Mark this task as waiting for a notification. */
-				pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
+        taskENTER_CRITICAL();
+        {
+            /* Only block if a notification is not already pending. */
+            if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
+            {
+                /* Clear bits in the task's notification value as bits may get
+                 * set  by the notifying task or interrupt.  This can be used to
+                 * clear the value to zero. */
+                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
 
-				if( xTicksToWait > ( TickType_t ) 0 )
-				{
-					prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
-					traceTASK_NOTIFY_WAIT_BLOCK();
+                /* Mark this task as waiting for a notification. */
+                pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
 
-					/* All ports are written to allow a yield in a critical
-					section (some will yield immediately, others wait until the
-					critical section exits) - but it is not something that
-					application code should ever do. */
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		taskEXIT_CRITICAL();
+                if( xTicksToWait > ( TickType_t ) 0 )
+                {
+                    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
+                    traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );
 
-		taskENTER_CRITICAL();
-		{
-			traceTASK_NOTIFY_WAIT();
+                    /* All ports are written to allow a yield in a critical
+                     * section (some will yield immediately, others wait until the
+                     * critical section exits) - but it is not something that
+                     * application code should ever do. */
+                    portYIELD_WITHIN_API();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        taskEXIT_CRITICAL();
 
-			if( pulNotificationValue != NULL )
-			{
-				/* Output the current notification value, which may or may not
-				have changed. */
-				*pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
-			}
+        taskENTER_CRITICAL();
+        {
+            traceTASK_NOTIFY_WAIT( uxIndexToWait );
 
-			/* If ucNotifyValue is set then either the task never entered the
-			blocked state (because a notification was already pending) or the
-			task unblocked because of a notification.  Otherwise the task
-			unblocked because of a timeout. */
-			if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
-			{
-				/* A notification was not received. */
-				xReturn = pdFALSE;
-			}
-			else
-			{
-				/* A notification was already pending or a notification was
-				received while the task was waiting. */
-				pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
-				xReturn = pdTRUE;
-			}
+            if( pulNotificationValue != NULL )
+            {
+                /* Output the current notification value, which may or may not
+                 * have changed. */
+                *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
+            }
 
-			pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
-		}
-		taskEXIT_CRITICAL();
+            /* If ucNotifyValue is set then either the task never entered the
+             * blocked state (because a notification was already pending) or the
+             * task unblocked because of a notification.  Otherwise the task
+             * unblocked because of a timeout. */
+            if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
+            {
+                /* A notification was not received. */
+                xReturn = pdFALSE;
+            }
+            else
+            {
+                /* A notification was already pending or a notification was
+                 * received while the task was waiting. */
+                pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
+                xReturn = pdTRUE;
+            }
 
-		return xReturn;
-	}
+            pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
+        }
+        taskEXIT_CRITICAL();
+
+        return xReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
-	{
-	TCB_t * pxTCB;
-	BaseType_t xReturn = pdPASS;
-	uint8_t ucOriginalNotifyState;
+    BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
+                                   UBaseType_t uxIndexToNotify,
+                                   uint32_t ulValue,
+                                   eNotifyAction eAction,
+                                   uint32_t * pulPreviousNotificationValue )
+    {
+        TCB_t * pxTCB;
+        BaseType_t xReturn = pdPASS;
+        uint8_t ucOriginalNotifyState;
 
-		configASSERT( xTaskToNotify );
-		pxTCB = xTaskToNotify;
+        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
+        configASSERT( xTaskToNotify );
+        pxTCB = xTaskToNotify;
 
-		taskENTER_CRITICAL();
-		{
-			if( pulPreviousNotificationValue != NULL )
-			{
-				*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
-			}
+        taskENTER_CRITICAL();
+        {
+            if( pulPreviousNotificationValue != NULL )
+            {
+                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
+            }
 
-			ucOriginalNotifyState = pxTCB->ucNotifyState;
+            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
 
-			pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
 
-			switch( eAction )
-			{
-				case eSetBits	:
-					pxTCB->ulNotifiedValue |= ulValue;
-					break;
+            switch( eAction )
+            {
+                case eSetBits:
+                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
+                    break;
 
-				case eIncrement	:
-					( pxTCB->ulNotifiedValue )++;
-					break;
+                case eIncrement:
+                    ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
+                    break;
 
-				case eSetValueWithOverwrite	:
-					pxTCB->ulNotifiedValue = ulValue;
-					break;
+                case eSetValueWithOverwrite:
+                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
+                    break;
 
-				case eSetValueWithoutOverwrite :
-					if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
-					{
-						pxTCB->ulNotifiedValue = ulValue;
-					}
-					else
-					{
-						/* The value could not be written to the task. */
-						xReturn = pdFAIL;
-					}
-					break;
+                case eSetValueWithoutOverwrite:
 
-				case eNoAction:
-					/* The task is being notified without its notify value being
-					updated. */
-					break;
+                    if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
+                    {
+                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
+                    }
+                    else
+                    {
+                        /* The value could not be written to the task. */
+                        xReturn = pdFAIL;
+                    }
 
-				default:
-					/* Should not get here if all enums are handled.
-					Artificially force an assert by testing a value the
-					compiler can't assume is const. */
-					configASSERT( pxTCB->ulNotifiedValue == ~0UL );
+                    break;
 
-					break;
-			}
+                case eNoAction:
 
-			traceTASK_NOTIFY();
+                    /* The task is being notified without its notify value being
+                     * updated. */
+                    break;
 
-			/* If the task is in the blocked state specifically to wait for a
-			notification then unblock it now. */
-			if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
-			{
-				( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-				prvAddTaskToReadyList( pxTCB );
+                default:
 
-				/* The task should not have been on an event list. */
-				configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+                    /* Should not get here if all enums are handled.
+                     * Artificially force an assert by testing a value the
+                     * compiler can't assume is const. */
+                    configASSERT( xTickCount == ( TickType_t ) 0 );
 
-				#if( configUSE_TICKLESS_IDLE != 0 )
-				{
-					/* If a task is blocked waiting for a notification then
-					xNextTaskUnblockTime might be set to the blocked task's time
-					out time.  If the task is unblocked for a reason other than
-					a timeout xNextTaskUnblockTime is normally left unchanged,
-					because it will automatically get reset to a new value when
-					the tick count equals xNextTaskUnblockTime.  However if
-					tickless idling is used it might be more important to enter
-					sleep mode at the earliest possible time - so reset
-					xNextTaskUnblockTime here to ensure it is updated at the
-					earliest possible time. */
-					prvResetNextTaskUnblockTime();
-				}
-				#endif
+                    break;
+            }
 
-				if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
-				{
-					/* The notified task has a priority above the currently
-					executing task so a yield is required. */
-					taskYIELD_IF_USING_PREEMPTION();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		taskEXIT_CRITICAL();
+            traceTASK_NOTIFY( uxIndexToNotify );
 
-		return xReturn;
-	}
+            /* If the task is in the blocked state specifically to wait for a
+             * notification then unblock it now. */
+            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+            {
+                listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
+                prvAddTaskToReadyList( pxTCB );
+
+                /* The task should not have been on an event list. */
+                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+
+                #if ( configUSE_TICKLESS_IDLE != 0 )
+                {
+                    /* If a task is blocked waiting for a notification then
+                     * xNextTaskUnblockTime might be set to the blocked task's time
+                     * out time.  If the task is unblocked for a reason other than
+                     * a timeout xNextTaskUnblockTime is normally left unchanged,
+                     * because it will automatically get reset to a new value when
+                     * the tick count equals xNextTaskUnblockTime.  However if
+                     * tickless idling is used it might be more important to enter
+                     * sleep mode at the earliest possible time - so reset
+                     * xNextTaskUnblockTime here to ensure it is updated at the
+                     * earliest possible time. */
+                    prvResetNextTaskUnblockTime();
+                }
+                #endif
+
+                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                {
+                    /* The notified task has a priority above the currently
+                     * executing task so a yield is required. */
+                    taskYIELD_IF_USING_PREEMPTION();
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        taskEXIT_CRITICAL();
+
+        return xReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
-	{
-	TCB_t * pxTCB;
-	uint8_t ucOriginalNotifyState;
-	BaseType_t xReturn = pdPASS;
-	UBaseType_t uxSavedInterruptStatus;
+    BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
+                                          UBaseType_t uxIndexToNotify,
+                                          uint32_t ulValue,
+                                          eNotifyAction eAction,
+                                          uint32_t * pulPreviousNotificationValue,
+                                          BaseType_t * pxHigherPriorityTaskWoken )
+    {
+        TCB_t * pxTCB;
+        uint8_t ucOriginalNotifyState;
+        BaseType_t xReturn = pdPASS;
+        UBaseType_t uxSavedInterruptStatus;
 
-		configASSERT( xTaskToNotify );
+        configASSERT( xTaskToNotify );
+        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-		/* RTOS ports that support interrupt nesting have the concept of a
-		maximum	system call (or maximum API call) interrupt priority.
-		Interrupts that are	above the maximum system call priority are keep
-		permanently enabled, even when the RTOS kernel is in a critical section,
-		but cannot make any calls to FreeRTOS API functions.  If configASSERT()
-		is defined in FreeRTOSConfig.h then
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-		failure if a FreeRTOS API function is called from an interrupt that has
-		been assigned a priority above the configured maximum system call
-		priority.  Only FreeRTOS functions that end in FromISR can be called
-		from interrupts	that have been assigned a priority at or (logically)
-		below the maximum system call interrupt priority.  FreeRTOS maintains a
-		separate interrupt safe API to ensure interrupt entry is as fast and as
-		simple as possible.  More information (albeit Cortex-M specific) is
-		provided on the following link:
-		http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+        /* RTOS ports that support interrupt nesting have the concept of a
+         * maximum  system call (or maximum API call) interrupt priority.
+         * Interrupts that are  above the maximum system call priority are keep
+         * permanently enabled, even when the RTOS kernel is in a critical section,
+         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
+         * is defined in FreeRTOSConfig.h then
+         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+         * failure if a FreeRTOS API function is called from an interrupt that has
+         * been assigned a priority above the configured maximum system call
+         * priority.  Only FreeRTOS functions that end in FromISR can be called
+         * from interrupts  that have been assigned a priority at or (logically)
+         * below the maximum system call interrupt priority.  FreeRTOS maintains a
+         * separate interrupt safe API to ensure interrupt entry is as fast and as
+         * simple as possible.  More information (albeit Cortex-M specific) is
+         * provided on the following link:
+         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-		pxTCB = xTaskToNotify;
+        pxTCB = xTaskToNotify;
 
-		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-		{
-			if( pulPreviousNotificationValue != NULL )
-			{
-				*pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
-			}
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+        {
+            if( pulPreviousNotificationValue != NULL )
+            {
+                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
+            }
 
-			ucOriginalNotifyState = pxTCB->ucNotifyState;
-			pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
+            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
 
-			switch( eAction )
-			{
-				case eSetBits	:
-					pxTCB->ulNotifiedValue |= ulValue;
-					break;
+            switch( eAction )
+            {
+                case eSetBits:
+                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
+                    break;
 
-				case eIncrement	:
-					( pxTCB->ulNotifiedValue )++;
-					break;
+                case eIncrement:
+                    ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
+                    break;
 
-				case eSetValueWithOverwrite	:
-					pxTCB->ulNotifiedValue = ulValue;
-					break;
+                case eSetValueWithOverwrite:
+                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
+                    break;
 
-				case eSetValueWithoutOverwrite :
-					if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
-					{
-						pxTCB->ulNotifiedValue = ulValue;
-					}
-					else
-					{
-						/* The value could not be written to the task. */
-						xReturn = pdFAIL;
-					}
-					break;
+                case eSetValueWithoutOverwrite:
 
-				case eNoAction :
-					/* The task is being notified without its notify value being
-					updated. */
-					break;
+                    if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
+                    {
+                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
+                    }
+                    else
+                    {
+                        /* The value could not be written to the task. */
+                        xReturn = pdFAIL;
+                    }
 
-				default:
-					/* Should not get here if all enums are handled.
-					Artificially force an assert by testing a value the
-					compiler can't assume is const. */
-					configASSERT( pxTCB->ulNotifiedValue == ~0UL );
-					break;
-			}
+                    break;
 
-			traceTASK_NOTIFY_FROM_ISR();
+                case eNoAction:
 
-			/* If the task is in the blocked state specifically to wait for a
-			notification then unblock it now. */
-			if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
-			{
-				/* The task should not have been on an event list. */
-				configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+                    /* The task is being notified without its notify value being
+                     * updated. */
+                    break;
 
-				if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-				{
-					( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-					prvAddTaskToReadyList( pxTCB );
-				}
-				else
-				{
-					/* The delayed and ready lists cannot be accessed, so hold
-					this task pending until the scheduler is resumed. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
-				}
+                default:
 
-				if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
-				{
-					/* The notified task has a priority above the currently
-					executing task so a yield is required. */
-					if( pxHigherPriorityTaskWoken != NULL )
-					{
-						*pxHigherPriorityTaskWoken = pdTRUE;
-					}
+                    /* Should not get here if all enums are handled.
+                     * Artificially force an assert by testing a value the
+                     * compiler can't assume is const. */
+                    configASSERT( xTickCount == ( TickType_t ) 0 );
+                    break;
+            }
 
-					/* Mark that a yield is pending in case the user is not
-					using the "xHigherPriorityTaskWoken" parameter to an ISR
-					safe FreeRTOS function. */
-					xYieldPending = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+            traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
 
-		return xReturn;
-	}
+            /* If the task is in the blocked state specifically to wait for a
+             * notification then unblock it now. */
+            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+            {
+                /* The task should not have been on an event list. */
+                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+
+                if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+                {
+                    listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
+                    prvAddTaskToReadyList( pxTCB );
+                }
+                else
+                {
+                    /* The delayed and ready lists cannot be accessed, so hold
+                     * this task pending until the scheduler is resumed. */
+                    listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                }
+
+                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                {
+                    /* The notified task has a priority above the currently
+                     * executing task so a yield is required. */
+                    if( pxHigherPriorityTaskWoken != NULL )
+                    {
+                        *pxHigherPriorityTaskWoken = pdTRUE;
+                    }
+
+                    /* Mark that a yield is pending in case the user is not
+                     * using the "xHigherPriorityTaskWoken" parameter to an ISR
+                     * safe FreeRTOS function. */
+                    xYieldPending = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+        return xReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
-	{
-	TCB_t * pxTCB;
-	uint8_t ucOriginalNotifyState;
-	UBaseType_t uxSavedInterruptStatus;
+    void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
+                                        UBaseType_t uxIndexToNotify,
+                                        BaseType_t * pxHigherPriorityTaskWoken )
+    {
+        TCB_t * pxTCB;
+        uint8_t ucOriginalNotifyState;
+        UBaseType_t uxSavedInterruptStatus;
 
-		configASSERT( xTaskToNotify );
+        configASSERT( xTaskToNotify );
+        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-		/* RTOS ports that support interrupt nesting have the concept of a
-		maximum	system call (or maximum API call) interrupt priority.
-		Interrupts that are	above the maximum system call priority are keep
-		permanently enabled, even when the RTOS kernel is in a critical section,
-		but cannot make any calls to FreeRTOS API functions.  If configASSERT()
-		is defined in FreeRTOSConfig.h then
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
-		failure if a FreeRTOS API function is called from an interrupt that has
-		been assigned a priority above the configured maximum system call
-		priority.  Only FreeRTOS functions that end in FromISR can be called
-		from interrupts	that have been assigned a priority at or (logically)
-		below the maximum system call interrupt priority.  FreeRTOS maintains a
-		separate interrupt safe API to ensure interrupt entry is as fast and as
-		simple as possible.  More information (albeit Cortex-M specific) is
-		provided on the following link:
-		http://www.freertos.org/RTOS-Cortex-M3-M4.html */
-		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+        /* RTOS ports that support interrupt nesting have the concept of a
+         * maximum  system call (or maximum API call) interrupt priority.
+         * Interrupts that are  above the maximum system call priority are keep
+         * permanently enabled, even when the RTOS kernel is in a critical section,
+         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
+         * is defined in FreeRTOSConfig.h then
+         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+         * failure if a FreeRTOS API function is called from an interrupt that has
+         * been assigned a priority above the configured maximum system call
+         * priority.  Only FreeRTOS functions that end in FromISR can be called
+         * from interrupts  that have been assigned a priority at or (logically)
+         * below the maximum system call interrupt priority.  FreeRTOS maintains a
+         * separate interrupt safe API to ensure interrupt entry is as fast and as
+         * simple as possible.  More information (albeit Cortex-M specific) is
+         * provided on the following link:
+         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
+        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
-		pxTCB = xTaskToNotify;
+        pxTCB = xTaskToNotify;
 
-		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
-		{
-			ucOriginalNotifyState = pxTCB->ucNotifyState;
-			pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
+        uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+        {
+            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
+            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
 
-			/* 'Giving' is equivalent to incrementing a count in a counting
-			semaphore. */
-			( pxTCB->ulNotifiedValue )++;
+            /* 'Giving' is equivalent to incrementing a count in a counting
+             * semaphore. */
+            ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
 
-			traceTASK_NOTIFY_GIVE_FROM_ISR();
+            traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
 
-			/* If the task is in the blocked state specifically to wait for a
-			notification then unblock it now. */
-			if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
-			{
-				/* The task should not have been on an event list. */
-				configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
+            /* If the task is in the blocked state specifically to wait for a
+             * notification then unblock it now. */
+            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
+            {
+                /* The task should not have been on an event list. */
+                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
 
-				if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
-				{
-					( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-					prvAddTaskToReadyList( pxTCB );
-				}
-				else
-				{
-					/* The delayed and ready lists cannot be accessed, so hold
-					this task pending until the scheduler is resumed. */
-					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
-				}
+                if( uxSchedulerSuspended == ( UBaseType_t ) 0U )
+                {
+                    listREMOVE_ITEM( &( pxTCB->xStateListItem ) );
+                    prvAddTaskToReadyList( pxTCB );
+                }
+                else
+                {
+                    /* The delayed and ready lists cannot be accessed, so hold
+                     * this task pending until the scheduler is resumed. */
+                    listINSERT_END( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+                }
 
-				if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
-				{
-					/* The notified task has a priority above the currently
-					executing task so a yield is required. */
-					if( pxHigherPriorityTaskWoken != NULL )
-					{
-						*pxHigherPriorityTaskWoken = pdTRUE;
-					}
+                if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
+                {
+                    /* The notified task has a priority above the currently
+                     * executing task so a yield is required. */
+                    if( pxHigherPriorityTaskWoken != NULL )
+                    {
+                        *pxHigherPriorityTaskWoken = pdTRUE;
+                    }
 
-					/* Mark that a yield is pending in case the user is not
-					using the "xHigherPriorityTaskWoken" parameter in an ISR
-					safe FreeRTOS function. */
-					xYieldPending = pdTRUE;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-	}
+                    /* Mark that a yield is pending in case the user is not
+                     * using the "xHigherPriorityTaskWoken" parameter in an ISR
+                     * safe FreeRTOS function. */
+                    xYieldPending = pdTRUE;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+        portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
-	{
-	TCB_t *pxTCB;
-	BaseType_t xReturn;
+    BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
+                                             UBaseType_t uxIndexToClear )
+    {
+        TCB_t * pxTCB;
+        BaseType_t xReturn;
 
-		/* If null is passed in here then it is the calling task that is having
-		its notification state cleared. */
-		pxTCB = prvGetTCBFromHandle( xTask );
+        configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-		taskENTER_CRITICAL();
-		{
-			if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
-			{
-				pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
-				xReturn = pdPASS;
-			}
-			else
-			{
-				xReturn = pdFAIL;
-			}
-		}
-		taskEXIT_CRITICAL();
+        /* If null is passed in here then it is the calling task that is having
+         * its notification state cleared. */
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		return xReturn;
-	}
+        taskENTER_CRITICAL();
+        {
+            if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
+            {
+                pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
+                xReturn = pdPASS;
+            }
+            else
+            {
+                xReturn = pdFAIL;
+            }
+        }
+        taskEXIT_CRITICAL();
+
+        return xReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
+#if ( configUSE_TASK_NOTIFICATIONS == 1 )
 
-	uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
-	{
-	TCB_t *pxTCB;
-	uint32_t ulReturn;
+    uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
+                                            UBaseType_t uxIndexToClear,
+                                            uint32_t ulBitsToClear )
+    {
+        TCB_t * pxTCB;
+        uint32_t ulReturn;
 
-		/* If null is passed in here then it is the calling task that is having
-		its notification state cleared. */
-		pxTCB = prvGetTCBFromHandle( xTask );
+        configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
 
-		taskENTER_CRITICAL();
-		{
-			/* Return the notification as it was before the bits were cleared,
-			then clear the bit mask. */
-			ulReturn = pxCurrentTCB->ulNotifiedValue;
-			pxTCB->ulNotifiedValue &= ~ulBitsToClear;
-		}
-		taskEXIT_CRITICAL();
+        /* If null is passed in here then it is the calling task that is having
+         * its notification state cleared. */
+        pxTCB = prvGetTCBFromHandle( xTask );
 
-		return ulReturn;
-	}
+        taskENTER_CRITICAL();
+        {
+            /* Return the notification as it was before the bits were cleared,
+             * then clear the bit mask. */
+            ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
+            pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
+        }
+        taskEXIT_CRITICAL();
+
+        return ulReturn;
+    }
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
-#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-	uint32_t ulTaskGetIdleRunTimeCounter( void )
-	{
-		return xIdleTaskHandle->ulRunTimeCounter;
-	}
+    configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimeCounter( const TaskHandle_t xTask )
+    {
+        return xTask->ulRunTimeCounter;
+    }
 
 #endif
 /*-----------------------------------------------------------*/
 
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+    configRUN_TIME_COUNTER_TYPE ulTaskGetRunTimePercent( const TaskHandle_t xTask )
+    {
+        configRUN_TIME_COUNTER_TYPE ulTotalTime, ulReturn;
+
+        ulTotalTime = ( configRUN_TIME_COUNTER_TYPE ) portGET_RUN_TIME_COUNTER_VALUE();
+
+        /* For percentage calculations. */
+        ulTotalTime /= ( configRUN_TIME_COUNTER_TYPE ) 100;
+
+        /* Avoid divide by zero errors. */
+        if( ulTotalTime > ( configRUN_TIME_COUNTER_TYPE ) 0 )
+        {
+            ulReturn = xTask->ulRunTimeCounter / ulTotalTime;
+        }
+        else
+        {
+            ulReturn = 0;
+        }
+
+        return ulReturn;
+    }
+
+#endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimeCounter( void )
+    {
+        return ulTaskGetRunTimeCounter( xIdleTaskHandle );
+    }
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+    configRUN_TIME_COUNTER_TYPE ulTaskGetIdleRunTimePercent( void )
+    {
+        return ulTaskGetRunTimePercent( xIdleTaskHandle );
+    }
+
+#endif
+/*-----------------------------------------------------------*/
+
+static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
+                                            const BaseType_t xCanBlockIndefinitely )
 {
-TickType_t xTimeToWake;
-const TickType_t xConstTickCount = xTickCount;
+    TickType_t xTimeToWake;
+    const TickType_t xConstTickCount = xTickCount;
 
-	#if( INCLUDE_xTaskAbortDelay == 1 )
-	{
-		/* About to enter a delayed list, so ensure the ucDelayAborted flag is
-		reset to pdFALSE so it can be detected as having been set to pdTRUE
-		when the task leaves the Blocked state. */
-		pxCurrentTCB->ucDelayAborted = pdFALSE;
-	}
-	#endif
+    #if ( INCLUDE_xTaskAbortDelay == 1 )
+    {
+        /* About to enter a delayed list, so ensure the ucDelayAborted flag is
+         * reset to pdFALSE so it can be detected as having been set to pdTRUE
+         * when the task leaves the Blocked state. */
+        pxCurrentTCB->ucDelayAborted = pdFALSE;
+    }
+    #endif
 
-	/* Remove the task from the ready list before adding it to the blocked list
-	as the same list item is used for both lists. */
-	if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
-	{
-		/* The current task must be in a ready list, so there is no need to
-		check, and the port reset macro can be called directly. */
-		portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task.  pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* Remove the task from the ready list before adding it to the blocked list
+     * as the same list item is used for both lists. */
+    if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
+    {
+        /* The current task must be in a ready list, so there is no need to
+         * check, and the port reset macro can be called directly. */
+        portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task.  pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	#if ( INCLUDE_vTaskSuspend == 1 )
-	{
-		if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
-		{
-			/* Add the task to the suspended task list instead of a delayed task
-			list to ensure it is not woken by a timing event.  It will block
-			indefinitely. */
-			vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
-		}
-		else
-		{
-			/* Calculate the time at which the task should be woken if the event
-			does not occur.  This may overflow but this doesn't matter, the
-			kernel will manage it correctly. */
-			xTimeToWake = xConstTickCount + xTicksToWait;
+    #if ( INCLUDE_vTaskSuspend == 1 )
+    {
+        if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
+        {
+            /* Add the task to the suspended task list instead of a delayed task
+             * list to ensure it is not woken by a timing event.  It will block
+             * indefinitely. */
+            listINSERT_END( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
+        }
+        else
+        {
+            /* Calculate the time at which the task should be woken if the event
+             * does not occur.  This may overflow but this doesn't matter, the
+             * kernel will manage it correctly. */
+            xTimeToWake = xConstTickCount + xTicksToWait;
 
-			/* The list item will be inserted in wake time order. */
-			listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
+            /* The list item will be inserted in wake time order. */
+            listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
 
-			if( xTimeToWake < xConstTickCount )
-			{
-				/* Wake time has overflowed.  Place this item in the overflow
-				list. */
-				vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
-			}
-			else
-			{
-				/* The wake time has not overflowed, so the current block list
-				is used. */
-				vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+            if( xTimeToWake < xConstTickCount )
+            {
+                /* Wake time has overflowed.  Place this item in the overflow
+                 * list. */
+                vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+            }
+            else
+            {
+                /* The wake time has not overflowed, so the current block list
+                 * is used. */
+                vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 
-				/* If the task entering the blocked state was placed at the
-				head of the list of blocked tasks then xNextTaskUnblockTime
-				needs to be updated too. */
-				if( xTimeToWake < xNextTaskUnblockTime )
-				{
-					xNextTaskUnblockTime = xTimeToWake;
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-	}
-	#else /* INCLUDE_vTaskSuspend */
-	{
-		/* Calculate the time at which the task should be woken if the event
-		does not occur.  This may overflow but this doesn't matter, the kernel
-		will manage it correctly. */
-		xTimeToWake = xConstTickCount + xTicksToWait;
+                /* If the task entering the blocked state was placed at the
+                 * head of the list of blocked tasks then xNextTaskUnblockTime
+                 * needs to be updated too. */
+                if( xTimeToWake < xNextTaskUnblockTime )
+                {
+                    xNextTaskUnblockTime = xTimeToWake;
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+        }
+    }
+    #else /* INCLUDE_vTaskSuspend */
+    {
+        /* Calculate the time at which the task should be woken if the event
+         * does not occur.  This may overflow but this doesn't matter, the kernel
+         * will manage it correctly. */
+        xTimeToWake = xConstTickCount + xTicksToWait;
 
-		/* The list item will be inserted in wake time order. */
-		listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
+        /* The list item will be inserted in wake time order. */
+        listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
 
-		if( xTimeToWake < xConstTickCount )
-		{
-			/* Wake time has overflowed.  Place this item in the overflow list. */
-			vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
-		}
-		else
-		{
-			/* The wake time has not overflowed, so the current block list is used. */
-			vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+        if( xTimeToWake < xConstTickCount )
+        {
+            /* Wake time has overflowed.  Place this item in the overflow list. */
+            vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
+        }
+        else
+        {
+            /* The wake time has not overflowed, so the current block list is used. */
+            vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 
-			/* If the task entering the blocked state was placed at the head of the
-			list of blocked tasks then xNextTaskUnblockTime needs to be updated
-			too. */
-			if( xTimeToWake < xNextTaskUnblockTime )
-			{
-				xNextTaskUnblockTime = xTimeToWake;
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
+            /* If the task entering the blocked state was placed at the head of the
+             * list of blocked tasks then xNextTaskUnblockTime needs to be updated
+             * too. */
+            if( xTimeToWake < xNextTaskUnblockTime )
+            {
+                xNextTaskUnblockTime = xTimeToWake;
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
 
-		/* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
-		( void ) xCanBlockIndefinitely;
-	}
-	#endif /* INCLUDE_vTaskSuspend */
+        /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
+        ( void ) xCanBlockIndefinitely;
+    }
+    #endif /* INCLUDE_vTaskSuspend */
 }
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+    xMPU_SETTINGS * xTaskGetMPUSettings( TaskHandle_t xTask )
+    {
+        TCB_t * pxTCB;
+
+        pxTCB = prvGetTCBFromHandle( xTask );
+
+        return &( pxTCB->xMPUSettings );
+    }
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
 
 /* Code below here allows additional code to be inserted into this source file,
-especially where access to file scope functions and data is needed (for example
-when performing module tests). */
+ * especially where access to file scope functions and data is needed (for example
+ * when performing module tests). */
 
 #ifdef FREERTOS_MODULE_TEST
-	#include "tasks_test_access_functions.h"
+    #include "tasks_test_access_functions.h"
 #endif
 
 
-#if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
+#if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
 
-	#include "freertos_tasks_c_additions.h"
-
-	#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
-		static void freertos_tasks_c_additions_init( void )
-		{
-			FREERTOS_TASKS_C_ADDITIONS_INIT();
-		}
-	#endif
-
-#endif
+    #include "freertos_tasks_c_additions.h"
 
+    #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
+        static void freertos_tasks_c_additions_init( void )
+        {
+            FREERTOS_TASKS_C_ADDITIONS_INIT();
+        }
+    #endif
 
+#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
diff --git a/Middlewares/Third_Party/FreeRTOS/Source/timers.c b/Middlewares/Third_Party/FreeRTOS/Source/timers.c
index 00200b8..d5012ad 100644
--- a/Middlewares/Third_Party/FreeRTOS/Source/timers.c
+++ b/Middlewares/Third_Party/FreeRTOS/Source/timers.c
@@ -1,6 +1,8 @@
 /*
- * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * FreeRTOS Kernel V10.6.2
+ * 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
@@ -19,18 +21,17 @@
  * 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://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /* Standard includes. */
 #include 
 
 /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers.  That should only be done when
-task.h is included from an application file. */
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
 #include "FreeRTOS.h"
@@ -39,164 +40,168 @@ task.h is included from an application file. */
 #include "timers.h"
 
 #if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
-	#error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
+    #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
 #endif
 
 /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
+ * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
+ * for the header files above, but not in this file, in order to generate the
+ * correct privileged Vs unprivileged linkage and placement. */
 #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */
 
 
 /* This entire source file will be skipped if the application is not configured
-to include software timer functionality.  This #if is closed at the very bottom
-of this file.  If you want to include software timer functionality then ensure
-configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
+ * to include software timer functionality.  This #if is closed at the very bottom
+ * of this file.  If you want to include software timer functionality then ensure
+ * configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
 #if ( configUSE_TIMERS == 1 )
 
 /* Misc definitions. */
-#define tmrNO_DELAY		( TickType_t ) 0U
+    #define tmrNO_DELAY                    ( ( TickType_t ) 0U )
+    #define tmrMAX_TIME_BEFORE_OVERFLOW    ( ( TickType_t ) -1 )
 
 /* The name assigned to the timer service task.  This can be overridden by
-defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
-#ifndef configTIMER_SERVICE_TASK_NAME
-	#define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
-#endif
+ * defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
+    #ifndef configTIMER_SERVICE_TASK_NAME
+        #define configTIMER_SERVICE_TASK_NAME    "Tmr Svc"
+    #endif
 
 /* Bit definitions used in the ucStatus member of a timer structure. */
-#define tmrSTATUS_IS_ACTIVE					( ( uint8_t ) 0x01 )
-#define tmrSTATUS_IS_STATICALLY_ALLOCATED	( ( uint8_t ) 0x02 )
-#define tmrSTATUS_IS_AUTORELOAD				( ( uint8_t ) 0x04 )
+    #define tmrSTATUS_IS_ACTIVE                  ( ( uint8_t ) 0x01 )
+    #define tmrSTATUS_IS_STATICALLY_ALLOCATED    ( ( uint8_t ) 0x02 )
+    #define tmrSTATUS_IS_AUTORELOAD              ( ( uint8_t ) 0x04 )
 
 /* The definition of the timers themselves. */
-typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-{
-	const char				*pcTimerName;		/*<< Text name.  This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	ListItem_t				xTimerListItem;		/*<< Standard linked list item as used by all kernel features for event management. */
-	TickType_t				xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
-	void 					*pvTimerID;			/*<< An ID to identify the timer.  This allows the timer to be identified when the same callback is used for multiple timers. */
-	TimerCallbackFunction_t	pxCallbackFunction;	/*<< The function that will be called when the timer expires. */
-	#if( configUSE_TRACE_FACILITY == 1 )
-		UBaseType_t			uxTimerNumber;		/*<< An ID assigned by trace tools such as FreeRTOS+Trace */
-	#endif
-	uint8_t 				ucStatus;			/*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */
-} xTIMER;
+    typedef struct tmrTimerControl                  /* The old naming convention is used to prevent breaking kernel aware debuggers. */
+    {
+        const char * pcTimerName;                   /**< Text name.  This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+        ListItem_t xTimerListItem;                  /**< Standard linked list item as used by all kernel features for event management. */
+        TickType_t xTimerPeriodInTicks;             /**< How quickly and often the timer expires. */
+        void * pvTimerID;                           /**< An ID to identify the timer.  This allows the timer to be identified when the same callback is used for multiple timers. */
+        TimerCallbackFunction_t pxCallbackFunction; /**< The function that will be called when the timer expires. */
+        #if ( configUSE_TRACE_FACILITY == 1 )
+            UBaseType_t uxTimerNumber;              /**< An ID assigned by trace tools such as FreeRTOS+Trace */
+        #endif
+        uint8_t ucStatus;                           /**< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */
+    } xTIMER;
 
 /* The old xTIMER name is maintained above then typedefed to the new Timer_t
-name below to enable the use of older kernel aware debuggers. */
-typedef xTIMER Timer_t;
+ * name below to enable the use of older kernel aware debuggers. */
+    typedef xTIMER Timer_t;
 
 /* The definition of messages that can be sent and received on the timer queue.
-Two types of message can be queued - messages that manipulate a software timer,
-and messages that request the execution of a non-timer related callback.  The
-two message types are defined in two separate structures, xTimerParametersType
-and xCallbackParametersType respectively. */
-typedef struct tmrTimerParameters
-{
-	TickType_t			xMessageValue;		/*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
-	Timer_t *			pxTimer;			/*<< The timer to which the command will be applied. */
-} TimerParameter_t;
+ * Two types of message can be queued - messages that manipulate a software timer,
+ * and messages that request the execution of a non-timer related callback.  The
+ * two message types are defined in two separate structures, xTimerParametersType
+ * and xCallbackParametersType respectively. */
+    typedef struct tmrTimerParameters
+    {
+        TickType_t xMessageValue; /**< An optional value used by a subset of commands, for example, when changing the period of a timer. */
+        Timer_t * pxTimer;        /**< The timer to which the command will be applied. */
+    } TimerParameter_t;
 
 
-typedef struct tmrCallbackParameters
-{
-	PendedFunction_t	pxCallbackFunction;	/* << The callback function to execute. */
-	void *pvParameter1;						/* << The value that will be used as the callback functions first parameter. */
-	uint32_t ulParameter2;					/* << The value that will be used as the callback functions second parameter. */
-} CallbackParameters_t;
+    typedef struct tmrCallbackParameters
+    {
+        PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
+        void * pvParameter1;                 /* << The value that will be used as the callback functions first parameter. */
+        uint32_t ulParameter2;               /* << The value that will be used as the callback functions second parameter. */
+    } CallbackParameters_t;
 
 /* The structure that contains the two message types, along with an identifier
-that is used to determine which message type is valid. */
-typedef struct tmrTimerQueueMessage
-{
-	BaseType_t			xMessageID;			/*<< The command being sent to the timer service task. */
-	union
-	{
-		TimerParameter_t xTimerParameters;
+ * that is used to determine which message type is valid. */
+    typedef struct tmrTimerQueueMessage
+    {
+        BaseType_t xMessageID; /**< The command being sent to the timer service task. */
+        union
+        {
+            TimerParameter_t xTimerParameters;
 
-		/* Don't include xCallbackParameters if it is not going to be used as
-		it makes the structure (and therefore the timer queue) larger. */
-		#if ( INCLUDE_xTimerPendFunctionCall == 1 )
-			CallbackParameters_t xCallbackParameters;
-		#endif /* INCLUDE_xTimerPendFunctionCall */
-	} u;
-} DaemonTaskMessage_t;
+            /* Don't include xCallbackParameters if it is not going to be used as
+             * it makes the structure (and therefore the timer queue) larger. */
+            #if ( INCLUDE_xTimerPendFunctionCall == 1 )
+                CallbackParameters_t xCallbackParameters;
+            #endif /* INCLUDE_xTimerPendFunctionCall */
+        } u;
+    } DaemonTaskMessage_t;
 
 /*lint -save -e956 A manual analysis and inspection has been used to determine
-which static variables must be declared volatile. */
+ * which static variables must be declared volatile. */
 
 /* The list in which active timers are stored.  Timers are referenced in expire
-time order, with the nearest expiry time at the front of the list.  Only the
-timer service task is allowed to access these lists.
-xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
-breaks some kernel aware debuggers, and debuggers that reply on removing the
-static qualifier. */
-PRIVILEGED_DATA static List_t xActiveTimerList1;
-PRIVILEGED_DATA static List_t xActiveTimerList2;
-PRIVILEGED_DATA static List_t *pxCurrentTimerList;
-PRIVILEGED_DATA static List_t *pxOverflowTimerList;
+ * time order, with the nearest expiry time at the front of the list.  Only the
+ * timer service task is allowed to access these lists.
+ * xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
+ * breaks some kernel aware debuggers, and debuggers that reply on removing the
+ * static qualifier. */
+    PRIVILEGED_DATA static List_t xActiveTimerList1;
+    PRIVILEGED_DATA static List_t xActiveTimerList2;
+    PRIVILEGED_DATA static List_t * pxCurrentTimerList;
+    PRIVILEGED_DATA static List_t * pxOverflowTimerList;
 
 /* A queue that is used to send commands to the timer service task. */
-PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
-PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
+    PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
+    PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
 
 /*lint -restore */
 
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
-	/* If static allocation is supported then the application must provide the
-	following callback function - which enables the application to optionally
-	provide the memory that will be used by the timer task as the task's stack
-	and TCB. */
-	extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
-
-#endif
-
 /*
  * Initialise the infrastructure used by the timer service task if it has not
  * been initialised already.
  */
-static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
+    static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
 
 /*
  * The timer service task (daemon).  Timer functionality is controlled by this
  * task.  Other tasks communicate with the timer service task using the
  * xTimerQueue queue.
  */
-static portTASK_FUNCTION_PROTO( prvTimerTask, pvParameters ) PRIVILEGED_FUNCTION;
+    static portTASK_FUNCTION_PROTO( prvTimerTask, pvParameters ) PRIVILEGED_FUNCTION;
 
 /*
  * Called by the timer service task to interpret and process a command it
  * received on the timer queue.
  */
-static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
+    static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
 
 /*
  * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
  * depending on if the expire time causes a timer counter overflow.
  */
-static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
+    static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer,
+                                                  const TickType_t xNextExpiryTime,
+                                                  const TickType_t xTimeNow,
+                                                  const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
+
+/*
+ * Reload the specified auto-reload timer.  If the reloading is backlogged,
+ * clear the backlog, calling the callback for each additional reload.  When
+ * this function returns, the next expiry time is after xTimeNow.
+ */
+    static void prvReloadTimer( Timer_t * const pxTimer,
+                                TickType_t xExpiredTime,
+                                const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
 
 /*
  * An active timer has reached its expire time.  Reload the timer if it is an
  * auto-reload timer, then call its callback.
  */
-static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
+    static void prvProcessExpiredTimer( const TickType_t xNextExpireTime,
+                                        const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
 
 /*
  * The tick count has overflowed.  Switch the timer lists after ensuring the
  * current timer list does not still reference some timers.
  */
-static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
+    static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
 
 /*
  * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
  * if a tick count overflow occurred since prvSampleTimeNow() was last called.
  */
-static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
+    static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
 
 /*
  * If the timer list contains any active timers then return the expire time of
@@ -204,924 +209,938 @@ static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched
  * timer list does not contain any timers then return 0 and set *pxListWasEmpty
  * to pdTRUE.
  */
-static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
+    static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
 
 /*
  * If a timer has expired, process it.  Otherwise, block the timer service task
  * until either a timer does expire or a command is received.
  */
-static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
+    static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime,
+                                            BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
 
 /*
  * Called after a Timer_t structure has been allocated either statically or
  * dynamically to fill in the structure's members.
  */
-static void prvInitialiseNewTimer(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const TickType_t xTimerPeriodInTicks,
-									const UBaseType_t uxAutoReload,
-									void * const pvTimerID,
-									TimerCallbackFunction_t pxCallbackFunction,
-									Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
+    static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                       const TickType_t xTimerPeriodInTicks,
+                                       const BaseType_t xAutoReload,
+                                       void * const pvTimerID,
+                                       TimerCallbackFunction_t pxCallbackFunction,
+                                       Timer_t * pxNewTimer ) PRIVILEGED_FUNCTION;
 /*-----------------------------------------------------------*/
 
-BaseType_t xTimerCreateTimerTask( void )
-{
-BaseType_t xReturn = pdFAIL;
+    BaseType_t xTimerCreateTimerTask( void )
+    {
+        BaseType_t xReturn = pdFAIL;
 
-	/* This function is called when the scheduler is started if
-	configUSE_TIMERS is set to 1.  Check that the infrastructure used by the
-	timer service task has been created/initialised.  If timers have already
-	been created then the initialisation will already have been performed. */
-	prvCheckForValidListAndQueue();
+        /* This function is called when the scheduler is started if
+         * configUSE_TIMERS is set to 1.  Check that the infrastructure used by the
+         * timer service task has been created/initialised.  If timers have already
+         * been created then the initialisation will already have been performed. */
+        prvCheckForValidListAndQueue();
 
-	if( xTimerQueue != NULL )
-	{
-		#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-		{
-			StaticTask_t *pxTimerTaskTCBBuffer = NULL;
-			StackType_t *pxTimerTaskStackBuffer = NULL;
-			uint32_t ulTimerTaskStackSize;
+        if( xTimerQueue != NULL )
+        {
+            #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+            {
+                StaticTask_t * pxTimerTaskTCBBuffer = NULL;
+                StackType_t * pxTimerTaskStackBuffer = NULL;
+                uint32_t ulTimerTaskStackSize;
 
-			vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
-			xTimerTaskHandle = xTaskCreateStatic(	prvTimerTask,
-													configTIMER_SERVICE_TASK_NAME,
-													ulTimerTaskStackSize,
-													NULL,
-													( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
-													pxTimerTaskStackBuffer,
-													pxTimerTaskTCBBuffer );
+                vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
+                xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
+                                                      configTIMER_SERVICE_TASK_NAME,
+                                                      ulTimerTaskStackSize,
+                                                      NULL,
+                                                      ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
+                                                      pxTimerTaskStackBuffer,
+                                                      pxTimerTaskTCBBuffer );
 
-			if( xTimerTaskHandle != NULL )
-			{
-				xReturn = pdPASS;
-			}
-		}
-		#else
-		{
-			xReturn = xTaskCreate(	prvTimerTask,
-									configTIMER_SERVICE_TASK_NAME,
-									configTIMER_TASK_STACK_DEPTH,
-									NULL,
-									( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
-									&xTimerTaskHandle );
-		}
-		#endif /* configSUPPORT_STATIC_ALLOCATION */
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+                if( xTimerTaskHandle != NULL )
+                {
+                    xReturn = pdPASS;
+                }
+            }
+            #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
+            {
+                xReturn = xTaskCreate( prvTimerTask,
+                                       configTIMER_SERVICE_TASK_NAME,
+                                       configTIMER_TASK_STACK_DEPTH,
+                                       NULL,
+                                       ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
+                                       &xTimerTaskHandle );
+            }
+            #endif /* configSUPPORT_STATIC_ALLOCATION */
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-	configASSERT( xReturn );
-	return xReturn;
-}
+        configASSERT( xReturn );
+        return xReturn;
+    }
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
-	TimerHandle_t xTimerCreate(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-								const TickType_t xTimerPeriodInTicks,
-								const UBaseType_t uxAutoReload,
-								void * const pvTimerID,
-								TimerCallbackFunction_t pxCallbackFunction )
-	{
-	Timer_t *pxNewTimer;
+        TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                    const TickType_t xTimerPeriodInTicks,
+                                    const BaseType_t xAutoReload,
+                                    void * const pvTimerID,
+                                    TimerCallbackFunction_t pxCallbackFunction )
+        {
+            Timer_t * pxNewTimer;
 
-		pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
+            pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
 
-		if( pxNewTimer != NULL )
-		{
-			/* Status is thus far zero as the timer is not created statically
-			and has not been started.  The auto-reload bit may get set in
-			prvInitialiseNewTimer. */
-			pxNewTimer->ucStatus = 0x00;
-			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
-		}
+            if( pxNewTimer != NULL )
+            {
+                /* Status is thus far zero as the timer is not created statically
+                 * and has not been started.  The auto-reload bit may get set in
+                 * prvInitialiseNewTimer. */
+                pxNewTimer->ucStatus = 0x00;
+                prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, xAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
+            }
 
-		return pxNewTimer;
-	}
+            return pxNewTimer;
+        }
 
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+    #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
 
-	TimerHandle_t xTimerCreateStatic(	const char * const pcTimerName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-										const TickType_t xTimerPeriodInTicks,
-										const UBaseType_t uxAutoReload,
-										void * const pvTimerID,
-										TimerCallbackFunction_t pxCallbackFunction,
-										StaticTimer_t *pxTimerBuffer )
-	{
-	Timer_t *pxNewTimer;
+        TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                          const TickType_t xTimerPeriodInTicks,
+                                          const BaseType_t xAutoReload,
+                                          void * const pvTimerID,
+                                          TimerCallbackFunction_t pxCallbackFunction,
+                                          StaticTimer_t * pxTimerBuffer )
+        {
+            Timer_t * pxNewTimer;
 
-		#if( configASSERT_DEFINED == 1 )
-		{
-			/* Sanity check that the size of the structure used to declare a
-			variable of type StaticTimer_t equals the size of the real timer
-			structure. */
-			volatile size_t xSize = sizeof( StaticTimer_t );
-			configASSERT( xSize == sizeof( Timer_t ) );
-			( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
-		}
-		#endif /* configASSERT_DEFINED */
+            #if ( configASSERT_DEFINED == 1 )
+            {
+                /* Sanity check that the size of the structure used to declare a
+                 * variable of type StaticTimer_t equals the size of the real timer
+                 * structure. */
+                volatile size_t xSize = sizeof( StaticTimer_t );
+                configASSERT( xSize == sizeof( Timer_t ) );
+                ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
+            }
+            #endif /* configASSERT_DEFINED */
 
-		/* A pointer to a StaticTimer_t structure MUST be provided, use it. */
-		configASSERT( pxTimerBuffer );
-		pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
+            /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
+            configASSERT( pxTimerBuffer );
+            pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
 
-		if( pxNewTimer != NULL )
-		{
-			/* Timers can be created statically or dynamically so note this
-			timer was created statically in case it is later deleted.  The
-			auto-reload bit may get set in prvInitialiseNewTimer(). */
-			pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
+            if( pxNewTimer != NULL )
+            {
+                /* Timers can be created statically or dynamically so note this
+                 * timer was created statically in case it is later deleted.  The
+                 * auto-reload bit may get set in prvInitialiseNewTimer(). */
+                pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
 
-			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
-		}
+                prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, xAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
+            }
 
-		return pxNewTimer;
-	}
+            return pxNewTimer;
+        }
 
-#endif /* configSUPPORT_STATIC_ALLOCATION */
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseNewTimer(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-									const TickType_t xTimerPeriodInTicks,
-									const UBaseType_t uxAutoReload,
-									void * const pvTimerID,
-									TimerCallbackFunction_t pxCallbackFunction,
-									Timer_t *pxNewTimer )
-{
-	/* 0 is not a valid value for xTimerPeriodInTicks. */
-	configASSERT( ( xTimerPeriodInTicks > 0 ) );
+    static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                       const TickType_t xTimerPeriodInTicks,
+                                       const BaseType_t xAutoReload,
+                                       void * const pvTimerID,
+                                       TimerCallbackFunction_t pxCallbackFunction,
+                                       Timer_t * pxNewTimer )
+    {
+        /* 0 is not a valid value for xTimerPeriodInTicks. */
+        configASSERT( ( xTimerPeriodInTicks > 0 ) );
 
-	if( pxNewTimer != NULL )
-	{
-		/* Ensure the infrastructure used by the timer service task has been
-		created/initialised. */
-		prvCheckForValidListAndQueue();
+        /* Ensure the infrastructure used by the timer service task has been
+         * created/initialised. */
+        prvCheckForValidListAndQueue();
 
-		/* Initialise the timer structure members using the function
-		parameters. */
-		pxNewTimer->pcTimerName = pcTimerName;
-		pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
-		pxNewTimer->pvTimerID = pvTimerID;
-		pxNewTimer->pxCallbackFunction = pxCallbackFunction;
-		vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
-		if( uxAutoReload != pdFALSE )
-		{
-			pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
-		}
-		traceTIMER_CREATE( pxNewTimer );
-	}
-}
+        /* Initialise the timer structure members using the function
+         * parameters. */
+        pxNewTimer->pcTimerName = pcTimerName;
+        pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
+        pxNewTimer->pvTimerID = pvTimerID;
+        pxNewTimer->pxCallbackFunction = pxCallbackFunction;
+        vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
+
+        if( xAutoReload != pdFALSE )
+        {
+            pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
+        }
+
+        traceTIMER_CREATE( pxNewTimer );
+    }
 /*-----------------------------------------------------------*/
 
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
-{
-BaseType_t xReturn = pdFAIL;
-DaemonTaskMessage_t xMessage;
+    BaseType_t xTimerGenericCommand( TimerHandle_t xTimer,
+                                     const BaseType_t xCommandID,
+                                     const TickType_t xOptionalValue,
+                                     BaseType_t * const pxHigherPriorityTaskWoken,
+                                     const TickType_t xTicksToWait )
+    {
+        BaseType_t xReturn = pdFAIL;
+        DaemonTaskMessage_t xMessage;
 
-	configASSERT( xTimer );
+        configASSERT( xTimer );
 
-	/* Send a message to the timer service task to perform a particular action
-	on a particular timer definition. */
-	if( xTimerQueue != NULL )
-	{
-		/* Send a command to the timer service task to start the xTimer timer. */
-		xMessage.xMessageID = xCommandID;
-		xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
-		xMessage.u.xTimerParameters.pxTimer = xTimer;
+        /* Send a message to the timer service task to perform a particular action
+         * on a particular timer definition. */
+        if( xTimerQueue != NULL )
+        {
+            /* Send a command to the timer service task to start the xTimer timer. */
+            xMessage.xMessageID = xCommandID;
+            xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
+            xMessage.u.xTimerParameters.pxTimer = xTimer;
 
-		if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
-		{
-			if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
-			{
-				xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
-			}
-			else
-			{
-				xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
-			}
-		}
-		else
-		{
-			xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
-		}
+            if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
+            {
+                if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
+                {
+                    xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
+                }
+                else
+                {
+                    xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
+                }
+            }
+            else
+            {
+                xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
+            }
 
-		traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+            traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
+        }
+        else
+        {
+            mtCOVERAGE_TEST_MARKER();
+        }
 
-	return xReturn;
-}
+        return xReturn;
+    }
 /*-----------------------------------------------------------*/
 
-TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
-{
-	/* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
-	started, then xTimerTaskHandle will be NULL. */
-	configASSERT( ( xTimerTaskHandle != NULL ) );
-	return xTimerTaskHandle;
-}
+    TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
+    {
+        /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
+         * started, then xTimerTaskHandle will be NULL. */
+        configASSERT( ( xTimerTaskHandle != NULL ) );
+        return xTimerTaskHandle;
+    }
 /*-----------------------------------------------------------*/
 
-TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
-{
-Timer_t *pxTimer = xTimer;
+    TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
+    {
+        Timer_t * pxTimer = xTimer;
 
-	configASSERT( xTimer );
-	return pxTimer->xTimerPeriodInTicks;
-}
+        configASSERT( xTimer );
+        return pxTimer->xTimerPeriodInTicks;
+    }
 /*-----------------------------------------------------------*/
 
-void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload )
-{
-Timer_t * pxTimer =  xTimer;
+    void vTimerSetReloadMode( TimerHandle_t xTimer,
+                              const BaseType_t xAutoReload )
+    {
+        Timer_t * pxTimer = xTimer;
 
-	configASSERT( xTimer );
-	taskENTER_CRITICAL();
-	{
-		if( uxAutoReload != pdFALSE )
-		{
-			pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
-		}
-		else
-		{
-			pxTimer->ucStatus &= ~tmrSTATUS_IS_AUTORELOAD;
-		}
-	}
-	taskEXIT_CRITICAL();
-}
+        configASSERT( xTimer );
+        taskENTER_CRITICAL();
+        {
+            if( xAutoReload != pdFALSE )
+            {
+                pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
+            }
+            else
+            {
+                pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_AUTORELOAD );
+            }
+        }
+        taskEXIT_CRITICAL();
+    }
 /*-----------------------------------------------------------*/
 
-UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer )
-{
-Timer_t * pxTimer =  xTimer;
-UBaseType_t uxReturn;
+    BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer )
+    {
+        Timer_t * pxTimer = xTimer;
+        BaseType_t xReturn;
 
-	configASSERT( xTimer );
-	taskENTER_CRITICAL();
-	{
-		if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 )
-		{
-			/* Not an auto-reload timer. */
-			uxReturn = ( UBaseType_t ) pdFALSE;
-		}
-		else
-		{
-			/* Is an auto-reload timer. */
-			uxReturn = ( UBaseType_t ) pdTRUE;
-		}
-	}
-	taskEXIT_CRITICAL();
+        configASSERT( xTimer );
+        taskENTER_CRITICAL();
+        {
+            if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 )
+            {
+                /* Not an auto-reload timer. */
+                xReturn = pdFALSE;
+            }
+            else
+            {
+                /* Is an auto-reload timer. */
+                xReturn = pdTRUE;
+            }
+        }
+        taskEXIT_CRITICAL();
 
-	return uxReturn;
-}
+        return xReturn;
+    }
+
+    UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer )
+    {
+        return ( UBaseType_t ) xTimerGetReloadMode( xTimer );
+    }
 /*-----------------------------------------------------------*/
 
-TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
-{
-Timer_t * pxTimer =  xTimer;
-TickType_t xReturn;
+    TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
+    {
+        Timer_t * pxTimer = xTimer;
+        TickType_t xReturn;
 
-	configASSERT( xTimer );
-	xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
-	return xReturn;
-}
+        configASSERT( xTimer );
+        xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
+        return xReturn;
+    }
 /*-----------------------------------------------------------*/
 
-const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-{
-Timer_t *pxTimer = xTimer;
+    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+        BaseType_t xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                          StaticTimer_t ** ppxTimerBuffer )
+        {
+            BaseType_t xReturn;
+            Timer_t * pxTimer = xTimer;
 
-	configASSERT( xTimer );
-	return pxTimer->pcTimerName;
-}
+            configASSERT( ppxTimerBuffer != NULL );
+
+            if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) != 0 )
+            {
+                *ppxTimerBuffer = ( StaticTimer_t * ) pxTimer;
+                xReturn = pdTRUE;
+            }
+            else
+            {
+                xReturn = pdFALSE;
+            }
+
+            return xReturn;
+        }
+    #endif /* configSUPPORT_STATIC_ALLOCATION */
 /*-----------------------------------------------------------*/
 
-static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
-{
-BaseType_t xResult;
-Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
+    const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    {
+        Timer_t * pxTimer = xTimer;
 
-	/* Remove the timer from the list of active timers.  A check has already
-	been performed to ensure the list is not empty. */
-	( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
-	traceTIMER_EXPIRED( pxTimer );
-
-	/* If the timer is an auto-reload timer then calculate the next
-	expiry time and re-insert the timer in the list of active timers. */
-	if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
-	{
-		/* The timer is inserted into a list using a time relative to anything
-		other than the current time.  It will therefore be inserted into the
-		correct list relative to the time this task thinks it is now. */
-		if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
-		{
-			/* The timer expired before it was added to the active timer
-			list.  Reload it now.  */
-			xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
-			configASSERT( xResult );
-			( void ) xResult;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	else
-	{
-		pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
-		mtCOVERAGE_TEST_MARKER();
-	}
-
-	/* Call the timer callback. */
-	pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
-}
+        configASSERT( xTimer );
+        return pxTimer->pcTimerName;
+    }
 /*-----------------------------------------------------------*/
 
-static portTASK_FUNCTION( prvTimerTask, pvParameters )
-{
-TickType_t xNextExpireTime;
-BaseType_t xListWasEmpty;
+    static void prvReloadTimer( Timer_t * const pxTimer,
+                                TickType_t xExpiredTime,
+                                const TickType_t xTimeNow )
+    {
+        /* Insert the timer into the appropriate list for the next expiry time.
+         * If the next expiry time has already passed, advance the expiry time,
+         * call the callback function, and try again. */
+        while( prvInsertTimerInActiveList( pxTimer, ( xExpiredTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xExpiredTime ) != pdFALSE )
+        {
+            /* Advance the expiry time. */
+            xExpiredTime += pxTimer->xTimerPeriodInTicks;
 
-	/* Just to avoid compiler warnings. */
-	( void ) pvParameters;
-
-	#if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
-	{
-		extern void vApplicationDaemonTaskStartupHook( void );
-
-		/* Allow the application writer to execute some code in the context of
-		this task at the point the task starts executing.  This is useful if the
-		application includes initialisation code that would benefit from
-		executing after the scheduler has been started. */
-		vApplicationDaemonTaskStartupHook();
-	}
-	#endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
-
-	for( ;; )
-	{
-		/* Query the timers list to see if it contains any timers, and if so,
-		obtain the time at which the next timer will expire. */
-		xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
-
-		/* If a timer has expired, process it.  Otherwise, block this task
-		until either a timer does expire, or a command is received. */
-		prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
-
-		/* Empty the command queue. */
-		prvProcessReceivedCommands();
-	}
-}
+            /* Call the timer callback. */
+            traceTIMER_EXPIRED( pxTimer );
+            pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
+        }
+    }
 /*-----------------------------------------------------------*/
 
-static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
-{
-TickType_t xTimeNow;
-BaseType_t xTimerListsWereSwitched;
+    static void prvProcessExpiredTimer( const TickType_t xNextExpireTime,
+                                        const TickType_t xTimeNow )
+    {
+        Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
 
-	vTaskSuspendAll();
-	{
-		/* Obtain the time now to make an assessment as to whether the timer
-		has expired or not.  If obtaining the time causes the lists to switch
-		then don't process this timer as any timers that remained in the list
-		when the lists were switched will have been processed within the
-		prvSampleTimeNow() function. */
-		xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
-		if( xTimerListsWereSwitched == pdFALSE )
-		{
-			/* The tick count has not overflowed, has the timer expired? */
-			if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
-			{
-				( void ) xTaskResumeAll();
-				prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
-			}
-			else
-			{
-				/* The tick count has not overflowed, and the next expire
-				time has not been reached yet.  This task should therefore
-				block to wait for the next expire time or a command to be
-				received - whichever comes first.  The following line cannot
-				be reached unless xNextExpireTime > xTimeNow, except in the
-				case when the current timer list is empty. */
-				if( xListWasEmpty != pdFALSE )
-				{
-					/* The current timer list is empty - is the overflow list
-					also empty? */
-					xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
-				}
+        /* Remove the timer from the list of active timers.  A check has already
+         * been performed to ensure the list is not empty. */
 
-				vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
+        ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 
-				if( xTaskResumeAll() == pdFALSE )
-				{
-					/* Yield to wait for either a command to arrive, or the
-					block time to expire.  If a command arrived between the
-					critical section being exited and this yield then the yield
-					will not cause the task to block. */
-					portYIELD_WITHIN_API();
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-		}
-		else
-		{
-			( void ) xTaskResumeAll();
-		}
-	}
-}
+        /* If the timer is an auto-reload timer then calculate the next
+         * expiry time and re-insert the timer in the list of active timers. */
+        if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
+        {
+            prvReloadTimer( pxTimer, xNextExpireTime, xTimeNow );
+        }
+        else
+        {
+            pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE );
+        }
+
+        /* Call the timer callback. */
+        traceTIMER_EXPIRED( pxTimer );
+        pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
+    }
 /*-----------------------------------------------------------*/
 
-static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
-{
-TickType_t xNextExpireTime;
+    static portTASK_FUNCTION( prvTimerTask, pvParameters )
+    {
+        TickType_t xNextExpireTime;
+        BaseType_t xListWasEmpty;
 
-	/* Timers are listed in expiry time order, with the head of the list
-	referencing the task that will expire first.  Obtain the time at which
-	the timer with the nearest expiry time will expire.  If there are no
-	active timers then just set the next expire time to 0.  That will cause
-	this task to unblock when the tick count overflows, at which point the
-	timer lists will be switched and the next expiry time can be
-	re-assessed.  */
-	*pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
-	if( *pxListWasEmpty == pdFALSE )
-	{
-		xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
-	}
-	else
-	{
-		/* Ensure the task unblocks when the tick count rolls over. */
-		xNextExpireTime = ( TickType_t ) 0U;
-	}
+        /* Just to avoid compiler warnings. */
+        ( void ) pvParameters;
 
-	return xNextExpireTime;
-}
+        #if ( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
+        {
+            /* Allow the application writer to execute some code in the context of
+             * this task at the point the task starts executing.  This is useful if the
+             * application includes initialisation code that would benefit from
+             * executing after the scheduler has been started. */
+            vApplicationDaemonTaskStartupHook();
+        }
+        #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
+
+        for( ; ; )
+        {
+            /* Query the timers list to see if it contains any timers, and if so,
+             * obtain the time at which the next timer will expire. */
+            xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
+
+            /* If a timer has expired, process it.  Otherwise, block this task
+             * until either a timer does expire, or a command is received. */
+            prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
+
+            /* Empty the command queue. */
+            prvProcessReceivedCommands();
+        }
+    }
 /*-----------------------------------------------------------*/
 
-static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
-{
-TickType_t xTimeNow;
-PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
+    static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime,
+                                            BaseType_t xListWasEmpty )
+    {
+        TickType_t xTimeNow;
+        BaseType_t xTimerListsWereSwitched;
 
-	xTimeNow = xTaskGetTickCount();
+        vTaskSuspendAll();
+        {
+            /* Obtain the time now to make an assessment as to whether the timer
+             * has expired or not.  If obtaining the time causes the lists to switch
+             * then don't process this timer as any timers that remained in the list
+             * when the lists were switched will have been processed within the
+             * prvSampleTimeNow() function. */
+            xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
 
-	if( xTimeNow < xLastTime )
-	{
-		prvSwitchTimerLists();
-		*pxTimerListsWereSwitched = pdTRUE;
-	}
-	else
-	{
-		*pxTimerListsWereSwitched = pdFALSE;
-	}
+            if( xTimerListsWereSwitched == pdFALSE )
+            {
+                /* The tick count has not overflowed, has the timer expired? */
+                if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
+                {
+                    ( void ) xTaskResumeAll();
+                    prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
+                }
+                else
+                {
+                    /* The tick count has not overflowed, and the next expire
+                     * time has not been reached yet.  This task should therefore
+                     * block to wait for the next expire time or a command to be
+                     * received - whichever comes first.  The following line cannot
+                     * be reached unless xNextExpireTime > xTimeNow, except in the
+                     * case when the current timer list is empty. */
+                    if( xListWasEmpty != pdFALSE )
+                    {
+                        /* The current timer list is empty - is the overflow list
+                         * also empty? */
+                        xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
+                    }
 
-	xLastTime = xTimeNow;
+                    vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
 
-	return xTimeNow;
-}
+                    if( xTaskResumeAll() == pdFALSE )
+                    {
+                        /* Yield to wait for either a command to arrive, or the
+                         * block time to expire.  If a command arrived between the
+                         * critical section being exited and this yield then the yield
+                         * will not cause the task to block. */
+                        portYIELD_WITHIN_API();
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+            }
+            else
+            {
+                ( void ) xTaskResumeAll();
+            }
+        }
+    }
 /*-----------------------------------------------------------*/
 
-static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
-{
-BaseType_t xProcessTimerNow = pdFALSE;
+    static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
+    {
+        TickType_t xNextExpireTime;
 
-	listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
-	listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
+        /* Timers are listed in expiry time order, with the head of the list
+         * referencing the task that will expire first.  Obtain the time at which
+         * the timer with the nearest expiry time will expire.  If there are no
+         * active timers then just set the next expire time to 0.  That will cause
+         * this task to unblock when the tick count overflows, at which point the
+         * timer lists will be switched and the next expiry time can be
+         * re-assessed.  */
+        *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
 
-	if( xNextExpiryTime <= xTimeNow )
-	{
-		/* Has the expiry time elapsed between the command to start/reset a
-		timer was issued, and the time the command was processed? */
-		if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-		{
-			/* The time between a command being issued and the command being
-			processed actually exceeds the timers period.  */
-			xProcessTimerNow = pdTRUE;
-		}
-		else
-		{
-			vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
-		}
-	}
-	else
-	{
-		if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
-		{
-			/* If, since the command was issued, the tick count has overflowed
-			but the expiry time has not, then the timer must have already passed
-			its expiry time and should be processed immediately. */
-			xProcessTimerNow = pdTRUE;
-		}
-		else
-		{
-			vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
-		}
-	}
+        if( *pxListWasEmpty == pdFALSE )
+        {
+            xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
+        }
+        else
+        {
+            /* Ensure the task unblocks when the tick count rolls over. */
+            xNextExpireTime = ( TickType_t ) 0U;
+        }
 
-	return xProcessTimerNow;
-}
+        return xNextExpireTime;
+    }
 /*-----------------------------------------------------------*/
 
-static void	prvProcessReceivedCommands( void )
-{
-DaemonTaskMessage_t xMessage;
-Timer_t *pxTimer;
-BaseType_t xTimerListsWereSwitched, xResult;
-TickType_t xTimeNow;
+    static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
+    {
+        TickType_t xTimeNow;
+        PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
 
-	while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
-	{
-		#if ( INCLUDE_xTimerPendFunctionCall == 1 )
-		{
-			/* Negative commands are pended function calls rather than timer
-			commands. */
-			if( xMessage.xMessageID < ( BaseType_t ) 0 )
-			{
-				const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
+        xTimeNow = xTaskGetTickCount();
 
-				/* The timer uses the xCallbackParameters member to request a
-				callback be executed.  Check the callback is not NULL. */
-				configASSERT( pxCallback );
+        if( xTimeNow < xLastTime )
+        {
+            prvSwitchTimerLists();
+            *pxTimerListsWereSwitched = pdTRUE;
+        }
+        else
+        {
+            *pxTimerListsWereSwitched = pdFALSE;
+        }
 
-				/* Call the function. */
-				pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-		}
-		#endif /* INCLUDE_xTimerPendFunctionCall */
+        xLastTime = xTimeNow;
 
-		/* Commands that are positive are timer commands rather than pended
-		function calls. */
-		if( xMessage.xMessageID >= ( BaseType_t ) 0 )
-		{
-			/* The messages uses the xTimerParameters member to work on a
-			software timer. */
-			pxTimer = xMessage.u.xTimerParameters.pxTimer;
-
-			if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
-			{
-				/* The timer is in a list, remove it. */
-				( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
-			}
-			else
-			{
-				mtCOVERAGE_TEST_MARKER();
-			}
-
-			traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
-
-			/* In this case the xTimerListsWereSwitched parameter is not used, but
-			it must be present in the function call.  prvSampleTimeNow() must be
-			called after the message is received from xTimerQueue so there is no
-			possibility of a higher priority task adding a message to the message
-			queue with a time that is ahead of the timer daemon task (because it
-			pre-empted the timer daemon task after the xTimeNow value was set). */
-			xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
-
-			switch( xMessage.xMessageID )
-			{
-				case tmrCOMMAND_START :
-				case tmrCOMMAND_START_FROM_ISR :
-				case tmrCOMMAND_RESET :
-				case tmrCOMMAND_RESET_FROM_ISR :
-				case tmrCOMMAND_START_DONT_TRACE :
-					/* Start or restart a timer. */
-					pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
-					if( prvInsertTimerInActiveList( pxTimer,  xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
-					{
-						/* The timer expired before it was added to the active
-						timer list.  Process it now. */
-						pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
-						traceTIMER_EXPIRED( pxTimer );
-
-						if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
-						{
-							xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
-							configASSERT( xResult );
-							( void ) xResult;
-						}
-						else
-						{
-							mtCOVERAGE_TEST_MARKER();
-						}
-					}
-					else
-					{
-						mtCOVERAGE_TEST_MARKER();
-					}
-					break;
-
-				case tmrCOMMAND_STOP :
-				case tmrCOMMAND_STOP_FROM_ISR :
-					/* The timer has already been removed from the active list. */
-					pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
-					break;
-
-				case tmrCOMMAND_CHANGE_PERIOD :
-				case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
-					pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
-					pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
-					configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
-
-					/* The new period does not really have a reference, and can
-					be longer or shorter than the old one.  The command time is
-					therefore set to the current time, and as the period cannot
-					be zero the next expiry time can only be in the future,
-					meaning (unlike for the xTimerStart() case above) there is
-					no fail case that needs to be handled here. */
-					( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
-					break;
-
-				case tmrCOMMAND_DELETE :
-					#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-					{
-						/* The timer has already been removed from the active list,
-						just free up the memory if the memory was dynamically
-						allocated. */
-						if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 )
-						{
-							vPortFree( pxTimer );
-						}
-						else
-						{
-							pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
-						}
-					}
-					#else
-					{
-						/* If dynamic allocation is not enabled, the memory
-						could not have been dynamically allocated. So there is
-						no need to free the memory - just mark the timer as
-						"not active". */
-						pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
-					}
-					#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-					break;
-
-				default	:
-					/* Don't expect to get here. */
-					break;
-			}
-		}
-	}
-}
+        return xTimeNow;
+    }
 /*-----------------------------------------------------------*/
 
-static void prvSwitchTimerLists( void )
-{
-TickType_t xNextExpireTime, xReloadTime;
-List_t *pxTemp;
-Timer_t *pxTimer;
-BaseType_t xResult;
+    static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer,
+                                                  const TickType_t xNextExpiryTime,
+                                                  const TickType_t xTimeNow,
+                                                  const TickType_t xCommandTime )
+    {
+        BaseType_t xProcessTimerNow = pdFALSE;
 
-	/* The tick count has overflowed.  The timer lists must be switched.
-	If there are any timers still referenced from the current timer list
-	then they must have expired and should be processed before the lists
-	are switched. */
-	while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
-	{
-		xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
+        listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
+        listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
 
-		/* Remove the timer from the list. */
-		pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-		( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
-		traceTIMER_EXPIRED( pxTimer );
+        if( xNextExpiryTime <= xTimeNow )
+        {
+            /* Has the expiry time elapsed between the command to start/reset a
+             * timer was issued, and the time the command was processed? */
+            if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+            {
+                /* The time between a command being issued and the command being
+                 * processed actually exceeds the timers period.  */
+                xProcessTimerNow = pdTRUE;
+            }
+            else
+            {
+                vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
+            }
+        }
+        else
+        {
+            if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
+            {
+                /* If, since the command was issued, the tick count has overflowed
+                 * but the expiry time has not, then the timer must have already passed
+                 * its expiry time and should be processed immediately. */
+                xProcessTimerNow = pdTRUE;
+            }
+            else
+            {
+                vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
+            }
+        }
 
-		/* Execute its callback, then send a command to restart the timer if
-		it is an auto-reload timer.  It cannot be restarted here as the lists
-		have not yet been switched. */
-		pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
-
-		if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
-		{
-			/* Calculate the reload value, and if the reload value results in
-			the timer going into the same timer list then it has already expired
-			and the timer should be re-inserted into the current list so it is
-			processed again within this loop.  Otherwise a command should be sent
-			to restart the timer to ensure it is only inserted into a list after
-			the lists have been swapped. */
-			xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
-			if( xReloadTime > xNextExpireTime )
-			{
-				listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
-				listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
-				vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
-			}
-			else
-			{
-				xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
-				configASSERT( xResult );
-				( void ) xResult;
-			}
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-
-	pxTemp = pxCurrentTimerList;
-	pxCurrentTimerList = pxOverflowTimerList;
-	pxOverflowTimerList = pxTemp;
-}
+        return xProcessTimerNow;
+    }
 /*-----------------------------------------------------------*/
 
-static void prvCheckForValidListAndQueue( void )
-{
-	/* Check that the list from which active timers are referenced, and the
-	queue used to communicate with the timer service, have been
-	initialised. */
-	taskENTER_CRITICAL();
-	{
-		if( xTimerQueue == NULL )
-		{
-			vListInitialise( &xActiveTimerList1 );
-			vListInitialise( &xActiveTimerList2 );
-			pxCurrentTimerList = &xActiveTimerList1;
-			pxOverflowTimerList = &xActiveTimerList2;
+    static void prvProcessReceivedCommands( void )
+    {
+        DaemonTaskMessage_t xMessage;
+        Timer_t * pxTimer;
+        BaseType_t xTimerListsWereSwitched;
+        TickType_t xTimeNow;
 
-			#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-			{
-				/* The timer queue is allocated statically in case
-				configSUPPORT_DYNAMIC_ALLOCATION is 0. */
-				static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
-				static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
+        while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
+        {
+            #if ( INCLUDE_xTimerPendFunctionCall == 1 )
+            {
+                /* Negative commands are pended function calls rather than timer
+                 * commands. */
+                if( xMessage.xMessageID < ( BaseType_t ) 0 )
+                {
+                    const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
 
-				xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
-			}
-			#else
-			{
-				xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
-			}
-			#endif
+                    /* The timer uses the xCallbackParameters member to request a
+                     * callback be executed.  Check the callback is not NULL. */
+                    configASSERT( pxCallback );
 
-			#if ( configQUEUE_REGISTRY_SIZE > 0 )
-			{
-				if( xTimerQueue != NULL )
-				{
-					vQueueAddToRegistry( xTimerQueue, "TmrQ" );
-				}
-				else
-				{
-					mtCOVERAGE_TEST_MARKER();
-				}
-			}
-			#endif /* configQUEUE_REGISTRY_SIZE */
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	taskEXIT_CRITICAL();
-}
+                    /* Call the function. */
+                    pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+            }
+            #endif /* INCLUDE_xTimerPendFunctionCall */
+
+            /* Commands that are positive are timer commands rather than pended
+             * function calls. */
+            if( xMessage.xMessageID >= ( BaseType_t ) 0 )
+            {
+                /* The messages uses the xTimerParameters member to work on a
+                 * software timer. */
+                pxTimer = xMessage.u.xTimerParameters.pxTimer;
+
+                if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
+                {
+                    /* The timer is in a list, remove it. */
+                    ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
+                }
+                else
+                {
+                    mtCOVERAGE_TEST_MARKER();
+                }
+
+                traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
+
+                /* In this case the xTimerListsWereSwitched parameter is not used, but
+                 *  it must be present in the function call.  prvSampleTimeNow() must be
+                 *  called after the message is received from xTimerQueue so there is no
+                 *  possibility of a higher priority task adding a message to the message
+                 *  queue with a time that is ahead of the timer daemon task (because it
+                 *  pre-empted the timer daemon task after the xTimeNow value was set). */
+                xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
+
+                switch( xMessage.xMessageID )
+                {
+                    case tmrCOMMAND_START:
+                    case tmrCOMMAND_START_FROM_ISR:
+                    case tmrCOMMAND_RESET:
+                    case tmrCOMMAND_RESET_FROM_ISR:
+                        /* Start or restart a timer. */
+                        pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
+
+                        if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
+                        {
+                            /* The timer expired before it was added to the active
+                             * timer list.  Process it now. */
+                            if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
+                            {
+                                prvReloadTimer( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow );
+                            }
+                            else
+                            {
+                                pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE );
+                            }
+
+                            /* Call the timer callback. */
+                            traceTIMER_EXPIRED( pxTimer );
+                            pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
+                        }
+                        else
+                        {
+                            mtCOVERAGE_TEST_MARKER();
+                        }
+
+                        break;
+
+                    case tmrCOMMAND_STOP:
+                    case tmrCOMMAND_STOP_FROM_ISR:
+                        /* The timer has already been removed from the active list. */
+                        pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE );
+                        break;
+
+                    case tmrCOMMAND_CHANGE_PERIOD:
+                    case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR:
+                        pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
+                        pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
+                        configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
+
+                        /* The new period does not really have a reference, and can
+                         * be longer or shorter than the old one.  The command time is
+                         * therefore set to the current time, and as the period cannot
+                         * be zero the next expiry time can only be in the future,
+                         * meaning (unlike for the xTimerStart() case above) there is
+                         * no fail case that needs to be handled here. */
+                        ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
+                        break;
+
+                    case tmrCOMMAND_DELETE:
+                        #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+                        {
+                            /* The timer has already been removed from the active list,
+                             * just free up the memory if the memory was dynamically
+                             * allocated. */
+                            if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 )
+                            {
+                                vPortFree( pxTimer );
+                            }
+                            else
+                            {
+                                pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE );
+                            }
+                        }
+                        #else /* if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) */
+                        {
+                            /* If dynamic allocation is not enabled, the memory
+                             * could not have been dynamically allocated. So there is
+                             * no need to free the memory - just mark the timer as
+                             * "not active". */
+                            pxTimer->ucStatus &= ( ( uint8_t ) ~tmrSTATUS_IS_ACTIVE );
+                        }
+                        #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+                        break;
+
+                    default:
+                        /* Don't expect to get here. */
+                        break;
+                }
+            }
+        }
+    }
 /*-----------------------------------------------------------*/
 
-BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
-{
-BaseType_t xReturn;
-Timer_t *pxTimer = xTimer;
+    static void prvSwitchTimerLists( void )
+    {
+        TickType_t xNextExpireTime;
+        List_t * pxTemp;
 
-	configASSERT( xTimer );
+        /* The tick count has overflowed.  The timer lists must be switched.
+         * If there are any timers still referenced from the current timer list
+         * then they must have expired and should be processed before the lists
+         * are switched. */
+        while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
+        {
+            xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
 
-	/* Is the timer in the list of active timers? */
-	taskENTER_CRITICAL();
-	{
-		if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 )
-		{
-			xReturn = pdFALSE;
-		}
-		else
-		{
-			xReturn = pdTRUE;
-		}
-	}
-	taskEXIT_CRITICAL();
+            /* Process the expired timer.  For auto-reload timers, be careful to
+             * process only expirations that occur on the current list.  Further
+             * expirations must wait until after the lists are switched. */
+            prvProcessExpiredTimer( xNextExpireTime, tmrMAX_TIME_BEFORE_OVERFLOW );
+        }
 
-	return xReturn;
-} /*lint !e818 Can't be pointer to const due to the typedef. */
+        pxTemp = pxCurrentTimerList;
+        pxCurrentTimerList = pxOverflowTimerList;
+        pxOverflowTimerList = pxTemp;
+    }
 /*-----------------------------------------------------------*/
 
-void *pvTimerGetTimerID( const TimerHandle_t xTimer )
-{
-Timer_t * const pxTimer = xTimer;
-void *pvReturn;
+    static void prvCheckForValidListAndQueue( void )
+    {
+        /* Check that the list from which active timers are referenced, and the
+         * queue used to communicate with the timer service, have been
+         * initialised. */
+        taskENTER_CRITICAL();
+        {
+            if( xTimerQueue == NULL )
+            {
+                vListInitialise( &xActiveTimerList1 );
+                vListInitialise( &xActiveTimerList2 );
+                pxCurrentTimerList = &xActiveTimerList1;
+                pxOverflowTimerList = &xActiveTimerList2;
 
-	configASSERT( xTimer );
+                #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+                {
+                    /* The timer queue is allocated statically in case
+                     * configSUPPORT_DYNAMIC_ALLOCATION is 0. */
+                    PRIVILEGED_DATA static StaticQueue_t xStaticTimerQueue;                                                                          /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
+                    PRIVILEGED_DATA static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
 
-	taskENTER_CRITICAL();
-	{
-		pvReturn = pxTimer->pvTimerID;
-	}
-	taskEXIT_CRITICAL();
+                    xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
+                }
+                #else
+                {
+                    xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
+                }
+                #endif /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
 
-	return pvReturn;
-}
+                #if ( configQUEUE_REGISTRY_SIZE > 0 )
+                {
+                    if( xTimerQueue != NULL )
+                    {
+                        vQueueAddToRegistry( xTimerQueue, "TmrQ" );
+                    }
+                    else
+                    {
+                        mtCOVERAGE_TEST_MARKER();
+                    }
+                }
+                #endif /* configQUEUE_REGISTRY_SIZE */
+            }
+            else
+            {
+                mtCOVERAGE_TEST_MARKER();
+            }
+        }
+        taskEXIT_CRITICAL();
+    }
 /*-----------------------------------------------------------*/
 
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
-{
-Timer_t * const pxTimer = xTimer;
+    BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
+    {
+        BaseType_t xReturn;
+        Timer_t * pxTimer = xTimer;
 
-	configASSERT( xTimer );
+        configASSERT( xTimer );
 
-	taskENTER_CRITICAL();
-	{
-		pxTimer->pvTimerID = pvNewID;
-	}
-	taskEXIT_CRITICAL();
-}
+        /* Is the timer in the list of active timers? */
+        taskENTER_CRITICAL();
+        {
+            if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 )
+            {
+                xReturn = pdFALSE;
+            }
+            else
+            {
+                xReturn = pdTRUE;
+            }
+        }
+        taskEXIT_CRITICAL();
+
+        return xReturn;
+    } /*lint !e818 Can't be pointer to const due to the typedef. */
 /*-----------------------------------------------------------*/
 
-#if( INCLUDE_xTimerPendFunctionCall == 1 )
+    void * pvTimerGetTimerID( const TimerHandle_t xTimer )
+    {
+        Timer_t * const pxTimer = xTimer;
+        void * pvReturn;
 
-	BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
-	{
-	DaemonTaskMessage_t xMessage;
-	BaseType_t xReturn;
+        configASSERT( xTimer );
 
-		/* Complete the message with the function parameters and post it to the
-		daemon task. */
-		xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
-		xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
-		xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
-		xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
+        taskENTER_CRITICAL();
+        {
+            pvReturn = pxTimer->pvTimerID;
+        }
+        taskEXIT_CRITICAL();
 
-		xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
-
-		tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
-
-		return xReturn;
-	}
-
-#endif /* INCLUDE_xTimerPendFunctionCall */
+        return pvReturn;
+    }
 /*-----------------------------------------------------------*/
 
-#if( INCLUDE_xTimerPendFunctionCall == 1 )
+    void vTimerSetTimerID( TimerHandle_t xTimer,
+                           void * pvNewID )
+    {
+        Timer_t * const pxTimer = xTimer;
 
-	BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
-	{
-	DaemonTaskMessage_t xMessage;
-	BaseType_t xReturn;
+        configASSERT( xTimer );
 
-		/* This function can only be called after a timer has been created or
-		after the scheduler has been started because, until then, the timer
-		queue does not exist. */
-		configASSERT( xTimerQueue );
-
-		/* Complete the message with the function parameters and post it to the
-		daemon task. */
-		xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
-		xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
-		xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
-		xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
-
-		xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
-
-		tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
-
-		return xReturn;
-	}
-
-#endif /* INCLUDE_xTimerPendFunctionCall */
+        taskENTER_CRITICAL();
+        {
+            pxTimer->pvTimerID = pvNewID;
+        }
+        taskEXIT_CRITICAL();
+    }
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_TRACE_FACILITY == 1 )
+    #if ( INCLUDE_xTimerPendFunctionCall == 1 )
 
-	UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
-	{
-		return ( ( Timer_t * ) xTimer )->uxTimerNumber;
-	}
+        BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+                                                  void * pvParameter1,
+                                                  uint32_t ulParameter2,
+                                                  BaseType_t * pxHigherPriorityTaskWoken )
+        {
+            DaemonTaskMessage_t xMessage;
+            BaseType_t xReturn;
 
-#endif /* configUSE_TRACE_FACILITY */
+            /* Complete the message with the function parameters and post it to the
+             * daemon task. */
+            xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
+            xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
+            xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
+            xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
+
+            xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
+
+            tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
+
+            return xReturn;
+        }
+
+    #endif /* INCLUDE_xTimerPendFunctionCall */
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_TRACE_FACILITY == 1 )
+    #if ( INCLUDE_xTimerPendFunctionCall == 1 )
 
-	void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
-	{
-		( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
-	}
+        BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+                                           void * pvParameter1,
+                                           uint32_t ulParameter2,
+                                           TickType_t xTicksToWait )
+        {
+            DaemonTaskMessage_t xMessage;
+            BaseType_t xReturn;
 
-#endif /* configUSE_TRACE_FACILITY */
+            /* This function can only be called after a timer has been created or
+             * after the scheduler has been started because, until then, the timer
+             * queue does not exist. */
+            configASSERT( xTimerQueue );
+
+            /* Complete the message with the function parameters and post it to the
+             * daemon task. */
+            xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
+            xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
+            xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
+            xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
+
+            xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
+
+            tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
+
+            return xReturn;
+        }
+
+    #endif /* INCLUDE_xTimerPendFunctionCall */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
+        {
+            return ( ( Timer_t * ) xTimer )->uxTimerNumber;
+        }
+
+    #endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+    #if ( configUSE_TRACE_FACILITY == 1 )
+
+        void vTimerSetTimerNumber( TimerHandle_t xTimer,
+                                   UBaseType_t uxTimerNumber )
+        {
+            ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
+        }
+
+    #endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 /* This entire source file will be skipped if the application is not configured
-to include software timer functionality.  If you want to include software timer
-functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
+ * to include software timer functionality.  If you want to include software timer
+ * functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
 #endif /* configUSE_TIMERS == 1 */
-
-
-
diff --git a/cmake/stm32cubemx/CMakeLists.txt b/cmake/stm32cubemx/CMakeLists.txt
index 941969d..4afddf9 100644
--- a/cmake/stm32cubemx/CMakeLists.txt
+++ b/cmake/stm32cubemx/CMakeLists.txt
@@ -16,6 +16,10 @@ set(MX_Include_Dirs
     ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/RTOS2/Include
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32H7xx/Include
@@ -31,6 +35,7 @@ set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_cdc_if.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/fdcan.c
@@ -90,6 +95,19 @@ set(USB_Device_Library_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
 )
+set(FreeRTOS_Src
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+)
 
 # Link directories setup
 set(MX_LINK_DIRS
@@ -99,7 +117,7 @@ set(MX_LINK_DIRS
 set(MX_LINK_LIBS 
     STM32_Drivers
     ${TOOLCHAIN_LINK_LIBRARIES}
-    USB_Device_Library
	
+    USB_Device_Library
	FreeRTOS
	
 )
 # Interface library for includes and symbols
 add_library(stm32cubemx INTERFACE)
@@ -116,6 +134,11 @@ target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
 add_library(USB_Device_Library OBJECT)
 target_sources(USB_Device_Library PRIVATE ${USB_Device_Library_Src})
 target_link_libraries(USB_Device_Library PUBLIC stm32cubemx)
+
+# Create FreeRTOS static library
+add_library(FreeRTOS OBJECT)
+target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
+target_link_libraries(FreeRTOS PUBLIC stm32cubemx)
 
 # Add STM32CubeMX generated application sources to the project
 target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${MX_Application_Src})
diff --git a/modules/master_machine/master_machine.c b/modules/master_machine/master_machine.c
index 7774478..63e8595 100644
--- a/modules/master_machine/master_machine.c
+++ b/modules/master_machine/master_machine.c
@@ -3,7 +3,7 @@
 VisionData_t vision_data;
 
 static USARTInstance *cv_usart_instance;
-static DaemonInstance *vision_daemon_instance;
+//static DaemonInstance *vision_daemon_instance;
 
 static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
 {
@@ -15,7 +15,7 @@ static uint8_t calc_checksum(uint8_t *buf, uint8_t len)
 
 static void DecodeVision()
 {
-    DaemonReload(vision_daemon_instance);
+    //DaemonReload(vision_daemon_instance);
 
     static uint32_t counter;
     float dt = DWT_GetDeltaT(&counter);
@@ -71,5 +71,5 @@ void Vision_Uart_Init(UART_HandleTypeDef *_handle)
         .owner_id     = NULL,
         .reload_count = 10,
     };
-    vision_daemon_instance = DaemonRegister(&daemon_conf);
+    //vision_daemon_instance = DaemonRegister(&daemon_conf);
 }
diff --git a/modules/motor/DMmotor/dmmotor.c b/modules/motor/DMmotor/dmmotor.c
index ebb9efb..6f680a3 100644
--- a/modules/motor/DMmotor/dmmotor.c
+++ b/modules/motor/DMmotor/dmmotor.c
@@ -111,7 +111,7 @@ static void DMMotorDecode(CANInstance *motor_can)
     DM_Motor_Measure_s *measure = &motor->measure;
     uint16_t tmp;
 
-    DaemonReload(motor->motor_daemon);
+    //DaemonReload(motor->motor_daemon);
 
     measure->id    = rxbuff[0] & 0x0F;
     measure->state = (rxbuff[0] >> 4) & 0x0F;
@@ -175,7 +175,7 @@ DMMotorInstance *DMMotorInit(DM_Motor_Init_Config_s *config)
         .owner_id = motor,
         .reload_count = 10,
     };
-    motor->motor_daemon = DaemonRegister(&conf);
+    //motor->motor_daemon = DaemonRegister(&conf);
 
     /* enable motor */
     DMMotorSetMode(DM_CMD_MOTOR_MODE, motor);