diff --git a/include/FreeRTOS.h b/include/FreeRTOS.h index a18e09315..97c5c733d 100644 --- a/include/FreeRTOS.h +++ b/include/FreeRTOS.h @@ -25,12 +25,12 @@ */ #ifndef INC_FREERTOS_H - #define INC_FREERTOS_H +#define INC_FREERTOS_H /* * Include the generic headers required for the FreeRTOS port being used. */ - #include +#include /* * If stdint.h cannot be located then: @@ -45,30 +45,32 @@ * contains the typedefs required to build FreeRTOS. Read the instructions * in FreeRTOS/source/stdint.readme for more information. */ - #include /* READ COMMENT ABOVE. */ +#include /* READ COMMENT ABOVE. */ - #ifdef __cplusplus - extern "C" { - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ /* Application specific configuration options. */ - #include "FreeRTOSConfig.h" +#include "FreeRTOSConfig.h" /* Basic FreeRTOS definitions. */ - #include "projdefs.h" +#include "projdefs.h" /* Definitions specific to the port being used. */ - #include "portable.h" +#include "portable.h" /* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */ - #ifndef configUSE_NEWLIB_REENTRANT - #define configUSE_NEWLIB_REENTRANT 0 - #endif +#ifndef configUSE_NEWLIB_REENTRANT + #define configUSE_NEWLIB_REENTRANT 0 +#endif /* Required if struct _reent is used. */ - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - #include - #endif +#if ( configUSE_NEWLIB_REENTRANT == 1 ) + #include +#endif /* * Check all the required application specific macros have been defined. @@ -76,864 +78,864 @@ * within FreeRTOSConfig.h. */ - #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. - #endif +#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. +#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. - #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. +#endif - #if configMAX_PRIORITIES < 1 - #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. - #endif +#if configMAX_PRIORITIES < 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. - #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. +#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. - #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. +#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. - #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. +#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. - #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. +#endif - #ifndef configUSE_CO_ROUTINES - #define configUSE_CO_ROUTINES 0 - #endif +#ifndef configUSE_CO_ROUTINES + #define configUSE_CO_ROUTINES 0 +#endif - #ifndef INCLUDE_vTaskPrioritySet - #define INCLUDE_vTaskPrioritySet 0 - #endif +#ifndef INCLUDE_vTaskPrioritySet + #define INCLUDE_vTaskPrioritySet 0 +#endif - #ifndef INCLUDE_uxTaskPriorityGet - #define INCLUDE_uxTaskPriorityGet 0 - #endif +#ifndef INCLUDE_uxTaskPriorityGet + #define INCLUDE_uxTaskPriorityGet 0 +#endif - #ifndef INCLUDE_vTaskDelete - #define INCLUDE_vTaskDelete 0 - #endif +#ifndef INCLUDE_vTaskDelete + #define INCLUDE_vTaskDelete 0 +#endif - #ifndef INCLUDE_vTaskSuspend - #define INCLUDE_vTaskSuspend 0 - #endif +#ifndef INCLUDE_vTaskSuspend + #define INCLUDE_vTaskSuspend 0 +#endif - #ifndef INCLUDE_vTaskDelayUntil - #define INCLUDE_vTaskDelayUntil 0 - #endif +#ifndef INCLUDE_vTaskDelayUntil + #define INCLUDE_vTaskDelayUntil 0 +#endif - #ifndef INCLUDE_vTaskDelay - #define INCLUDE_vTaskDelay 0 - #endif +#ifndef INCLUDE_vTaskDelay + #define INCLUDE_vTaskDelay 0 +#endif - #ifndef INCLUDE_xTaskGetIdleTaskHandle - #define INCLUDE_xTaskGetIdleTaskHandle 0 - #endif +#ifndef INCLUDE_xTaskGetIdleTaskHandle + #define INCLUDE_xTaskGetIdleTaskHandle 0 +#endif - #ifndef INCLUDE_xTaskAbortDelay - #define INCLUDE_xTaskAbortDelay 0 - #endif +#ifndef INCLUDE_xTaskAbortDelay + #define INCLUDE_xTaskAbortDelay 0 +#endif - #ifndef INCLUDE_xQueueGetMutexHolder - #define INCLUDE_xQueueGetMutexHolder 0 - #endif +#ifndef INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xQueueGetMutexHolder 0 +#endif - #ifndef INCLUDE_xSemaphoreGetMutexHolder - #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder - #endif +#ifndef INCLUDE_xSemaphoreGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder +#endif - #ifndef INCLUDE_xTaskGetHandle - #define INCLUDE_xTaskGetHandle 0 - #endif +#ifndef INCLUDE_xTaskGetHandle + #define INCLUDE_xTaskGetHandle 0 +#endif - #ifndef INCLUDE_uxTaskGetStackHighWaterMark - #define INCLUDE_uxTaskGetStackHighWaterMark 0 - #endif +#ifndef INCLUDE_uxTaskGetStackHighWaterMark + #define INCLUDE_uxTaskGetStackHighWaterMark 0 +#endif - #ifndef INCLUDE_uxTaskGetStackHighWaterMark2 - #define INCLUDE_uxTaskGetStackHighWaterMark2 0 - #endif +#ifndef INCLUDE_uxTaskGetStackHighWaterMark2 + #define INCLUDE_uxTaskGetStackHighWaterMark2 0 +#endif - #ifndef INCLUDE_eTaskGetState - #define INCLUDE_eTaskGetState 0 - #endif +#ifndef INCLUDE_eTaskGetState + #define INCLUDE_eTaskGetState 0 +#endif - #ifndef INCLUDE_xTaskResumeFromISR - #define INCLUDE_xTaskResumeFromISR 1 - #endif +#ifndef INCLUDE_xTaskResumeFromISR + #define INCLUDE_xTaskResumeFromISR 1 +#endif - #ifndef INCLUDE_xTimerPendFunctionCall - #define INCLUDE_xTimerPendFunctionCall 0 - #endif +#ifndef INCLUDE_xTimerPendFunctionCall + #define INCLUDE_xTimerPendFunctionCall 0 +#endif - #ifndef INCLUDE_xTaskGetSchedulerState - #define INCLUDE_xTaskGetSchedulerState 0 - #endif +#ifndef INCLUDE_xTaskGetSchedulerState + #define INCLUDE_xTaskGetSchedulerState 0 +#endif - #ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 - #endif +#ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 +#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 +#if configUSE_CO_ROUTINES != 0 + #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 - #endif +#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK + #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 +#endif - #ifndef configUSE_APPLICATION_TASK_TAG - #define configUSE_APPLICATION_TASK_TAG 0 - #endif +#ifndef configUSE_APPLICATION_TASK_TAG + #define configUSE_APPLICATION_TASK_TAG 0 +#endif - #ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS - #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 - #endif +#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS + #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 +#endif - #ifndef configUSE_RECURSIVE_MUTEXES - #define configUSE_RECURSIVE_MUTEXES 0 - #endif +#ifndef configUSE_RECURSIVE_MUTEXES + #define configUSE_RECURSIVE_MUTEXES 0 +#endif - #ifndef configUSE_MUTEXES - #define configUSE_MUTEXES 0 - #endif +#ifndef configUSE_MUTEXES + #define configUSE_MUTEXES 0 +#endif - #ifndef configUSE_TIMERS - #define configUSE_TIMERS 0 - #endif +#ifndef configUSE_TIMERS + #define configUSE_TIMERS 0 +#endif - #ifndef configUSE_COUNTING_SEMAPHORES - #define configUSE_COUNTING_SEMAPHORES 0 - #endif +#ifndef configUSE_COUNTING_SEMAPHORES + #define configUSE_COUNTING_SEMAPHORES 0 +#endif - #ifndef configUSE_ALTERNATIVE_API - #define configUSE_ALTERNATIVE_API 0 - #endif +#ifndef configUSE_ALTERNATIVE_API + #define configUSE_ALTERNATIVE_API 0 +#endif - #ifndef portCRITICAL_NESTING_IN_TCB - #define portCRITICAL_NESTING_IN_TCB 0 - #endif +#ifndef portCRITICAL_NESTING_IN_TCB + #define portCRITICAL_NESTING_IN_TCB 0 +#endif - #ifndef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 16 - #endif +#ifndef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 16 +#endif - #ifndef configIDLE_SHOULD_YIELD - #define configIDLE_SHOULD_YIELD 1 - #endif +#ifndef configIDLE_SHOULD_YIELD + #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 - #endif +#if configMAX_TASK_NAME_LEN < 1 + #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 - #else - #define configASSERT_DEFINED 1 - #endif +#ifndef configASSERT + #define configASSERT( x ) + #define configASSERT_DEFINED 0 +#else + #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. */ - #ifndef configPRECONDITION - #define configPRECONDITION( X ) configASSERT( X ) - #define configPRECONDITION_DEFINED 0 - #else - #define configPRECONDITION_DEFINED 1 - #endif +#ifndef configPRECONDITION + #define configPRECONDITION( X ) configASSERT( X ) + #define configPRECONDITION_DEFINED 0 +#else + #define configPRECONDITION_DEFINED 1 +#endif - #ifndef portMEMORY_BARRIER - #define portMEMORY_BARRIER() - #endif +#ifndef portMEMORY_BARRIER + #define portMEMORY_BARRIER() +#endif - #ifndef portSOFTWARE_BARRIER - #define portSOFTWARE_BARRIER() - #endif +#ifndef portSOFTWARE_BARRIER + #define portSOFTWARE_BARRIER() +#endif /* The timers module relies on xTaskGetSchedulerState(). */ - #if configUSE_TIMERS == 1 +#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 */ +#endif /* configUSE_TIMERS */ - #ifndef portSET_INTERRUPT_MASK_FROM_ISR - #define portSET_INTERRUPT_MASK_FROM_ISR() 0 - #endif +#ifndef portSET_INTERRUPT_MASK_FROM_ISR + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 +#endif - #ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR - #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue - #endif +#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue +#endif - #ifndef portCLEAN_UP_TCB - #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB - #endif +#ifndef portCLEAN_UP_TCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB +#endif - #ifndef portPRE_TASK_DELETE_HOOK - #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) - #endif +#ifndef portPRE_TASK_DELETE_HOOK + #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) +#endif - #ifndef portSETUP_TCB - #define portSETUP_TCB( pxTCB ) ( void ) pxTCB - #endif +#ifndef portSETUP_TCB + #define portSETUP_TCB( pxTCB ) ( void ) pxTCB +#endif - #ifndef configQUEUE_REGISTRY_SIZE - #define configQUEUE_REGISTRY_SIZE 0U - #endif +#ifndef configQUEUE_REGISTRY_SIZE + #define configQUEUE_REGISTRY_SIZE 0U +#endif - #if ( configQUEUE_REGISTRY_SIZE < 1 ) - #define vQueueAddToRegistry( xQueue, pcName ) - #define vQueueUnregisterQueue( xQueue ) - #define pcQueueGetName( xQueue ) - #endif +#if ( configQUEUE_REGISTRY_SIZE < 1 ) + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) + #define pcQueueGetName( xQueue ) +#endif - #ifndef portPOINTER_SIZE_TYPE - #define portPOINTER_SIZE_TYPE uint32_t - #endif +#ifndef portPOINTER_SIZE_TYPE + #define portPOINTER_SIZE_TYPE uint32_t +#endif /* Remove any unused trace macros. */ - #ifndef traceSTART +#ifndef traceSTART /* Used to perform any necessary initialisation - for example, open a file * into which trace is to be written. */ - #define traceSTART() - #endif + #define traceSTART() +#endif - #ifndef traceEND +#ifndef traceEND /* Use to close a trace, for example close a file into which trace has been * written. */ - #define traceEND() - #endif + #define traceEND() +#endif - #ifndef traceTASK_SWITCHED_IN +#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() - #endif + #define traceTASK_SWITCHED_IN() +#endif - #ifndef traceINCREASE_TICK_COUNT +#ifndef traceINCREASE_TICK_COUNT /* Called before stepping the tick count after waking from tickless idle * sleep. */ - #define traceINCREASE_TICK_COUNT( x ) - #endif + #define traceINCREASE_TICK_COUNT( x ) +#endif - #ifndef traceLOW_POWER_IDLE_BEGIN - /* Called immediately before entering tickless idle. */ - #define traceLOW_POWER_IDLE_BEGIN() - #endif +#ifndef 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() - #endif +#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 +#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() - #endif + #define traceTASK_SWITCHED_OUT() +#endif - #ifndef traceTASK_PRIORITY_INHERIT +#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 ) - #endif + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) +#endif - #ifndef traceTASK_PRIORITY_DISINHERIT +#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 ) - #endif + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) +#endif - #ifndef traceBLOCKING_ON_QUEUE_RECEIVE +#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 ) - #endif + #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) +#endif - #ifndef traceBLOCKING_ON_QUEUE_PEEK +#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 ) - #endif + #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) +#endif - #ifndef traceBLOCKING_ON_QUEUE_SEND +#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 ) - #endif + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) +#endif - #ifndef configCHECK_FOR_STACK_OVERFLOW - #define configCHECK_FOR_STACK_OVERFLOW 0 - #endif +#ifndef configCHECK_FOR_STACK_OVERFLOW + #define configCHECK_FOR_STACK_OVERFLOW 0 +#endif - #ifndef configRECORD_STACK_HIGH_ADDRESS - #define configRECORD_STACK_HIGH_ADDRESS 0 - #endif +#ifndef configRECORD_STACK_HIGH_ADDRESS + #define configRECORD_STACK_HIGH_ADDRESS 0 +#endif - #ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H - #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 - #endif +#ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H + #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 ) - #endif +#ifndef traceMOVED_TASK_TO_READY_STATE + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) +#endif - #ifndef tracePOST_MOVED_TASK_TO_READY_STATE - #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) - #endif +#ifndef tracePOST_MOVED_TASK_TO_READY_STATE + #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) +#endif - #ifndef traceQUEUE_CREATE - #define traceQUEUE_CREATE( pxNewQueue ) - #endif +#ifndef traceQUEUE_CREATE + #define traceQUEUE_CREATE( pxNewQueue ) +#endif - #ifndef traceQUEUE_CREATE_FAILED - #define traceQUEUE_CREATE_FAILED( ucQueueType ) - #endif +#ifndef traceQUEUE_CREATE_FAILED + #define traceQUEUE_CREATE_FAILED( ucQueueType ) +#endif - #ifndef traceCREATE_MUTEX - #define traceCREATE_MUTEX( pxNewQueue ) - #endif +#ifndef traceCREATE_MUTEX + #define traceCREATE_MUTEX( pxNewQueue ) +#endif - #ifndef traceCREATE_MUTEX_FAILED - #define traceCREATE_MUTEX_FAILED() - #endif +#ifndef traceCREATE_MUTEX_FAILED + #define traceCREATE_MUTEX_FAILED() +#endif - #ifndef traceGIVE_MUTEX_RECURSIVE - #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) - #endif +#ifndef traceGIVE_MUTEX_RECURSIVE + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) +#endif - #ifndef traceGIVE_MUTEX_RECURSIVE_FAILED - #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) - #endif +#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif - #ifndef traceTAKE_MUTEX_RECURSIVE - #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) - #endif +#ifndef traceTAKE_MUTEX_RECURSIVE + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) +#endif - #ifndef traceTAKE_MUTEX_RECURSIVE_FAILED - #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) - #endif +#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif - #ifndef traceCREATE_COUNTING_SEMAPHORE - #define traceCREATE_COUNTING_SEMAPHORE() - #endif +#ifndef traceCREATE_COUNTING_SEMAPHORE + #define traceCREATE_COUNTING_SEMAPHORE() +#endif - #ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED - #define traceCREATE_COUNTING_SEMAPHORE_FAILED() - #endif +#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() +#endif - #ifndef traceQUEUE_SET_SEND - #define traceQUEUE_SET_SEND traceQUEUE_SEND - #endif +#ifndef traceQUEUE_SET_SEND + #define traceQUEUE_SET_SEND traceQUEUE_SEND +#endif - #ifndef traceQUEUE_SEND - #define traceQUEUE_SEND( pxQueue ) - #endif +#ifndef traceQUEUE_SEND + #define traceQUEUE_SEND( pxQueue ) +#endif - #ifndef traceQUEUE_SEND_FAILED - #define traceQUEUE_SEND_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_SEND_FAILED + #define traceQUEUE_SEND_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_RECEIVE - #define traceQUEUE_RECEIVE( pxQueue ) - #endif +#ifndef traceQUEUE_RECEIVE + #define traceQUEUE_RECEIVE( pxQueue ) +#endif - #ifndef traceQUEUE_PEEK - #define traceQUEUE_PEEK( pxQueue ) - #endif +#ifndef traceQUEUE_PEEK + #define traceQUEUE_PEEK( pxQueue ) +#endif - #ifndef traceQUEUE_PEEK_FAILED - #define traceQUEUE_PEEK_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_PEEK_FAILED + #define traceQUEUE_PEEK_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_PEEK_FROM_ISR - #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) - #endif +#ifndef traceQUEUE_PEEK_FROM_ISR + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) +#endif - #ifndef traceQUEUE_RECEIVE_FAILED - #define traceQUEUE_RECEIVE_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_RECEIVE_FAILED + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_SEND_FROM_ISR - #define traceQUEUE_SEND_FROM_ISR( pxQueue ) - #endif +#ifndef traceQUEUE_SEND_FROM_ISR + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) +#endif - #ifndef traceQUEUE_SEND_FROM_ISR_FAILED - #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_SEND_FROM_ISR_FAILED + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_RECEIVE_FROM_ISR - #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) - #endif +#ifndef traceQUEUE_RECEIVE_FROM_ISR + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) +#endif - #ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED - #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_PEEK_FROM_ISR_FAILED - #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) - #endif +#ifndef traceQUEUE_PEEK_FROM_ISR_FAILED + #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) +#endif - #ifndef traceQUEUE_DELETE - #define traceQUEUE_DELETE( pxQueue ) - #endif +#ifndef traceQUEUE_DELETE + #define traceQUEUE_DELETE( pxQueue ) +#endif - #ifndef traceTASK_CREATE - #define traceTASK_CREATE( pxNewTCB ) - #endif +#ifndef traceTASK_CREATE + #define traceTASK_CREATE( pxNewTCB ) +#endif - #ifndef traceTASK_CREATE_FAILED - #define traceTASK_CREATE_FAILED() - #endif +#ifndef traceTASK_CREATE_FAILED + #define traceTASK_CREATE_FAILED() +#endif - #ifndef traceTASK_DELETE - #define traceTASK_DELETE( pxTaskToDelete ) - #endif +#ifndef traceTASK_DELETE + #define traceTASK_DELETE( pxTaskToDelete ) +#endif - #ifndef traceTASK_DELAY_UNTIL - #define traceTASK_DELAY_UNTIL( x ) - #endif +#ifndef traceTASK_DELAY_UNTIL + #define traceTASK_DELAY_UNTIL( x ) +#endif - #ifndef traceTASK_DELAY - #define traceTASK_DELAY() - #endif +#ifndef traceTASK_DELAY + #define traceTASK_DELAY() +#endif - #ifndef traceTASK_PRIORITY_SET - #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) - #endif +#ifndef traceTASK_PRIORITY_SET + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) +#endif - #ifndef traceTASK_SUSPEND - #define traceTASK_SUSPEND( pxTaskToSuspend ) - #endif +#ifndef traceTASK_SUSPEND + #define traceTASK_SUSPEND( pxTaskToSuspend ) +#endif - #ifndef traceTASK_RESUME - #define traceTASK_RESUME( pxTaskToResume ) - #endif +#ifndef traceTASK_RESUME + #define traceTASK_RESUME( pxTaskToResume ) +#endif - #ifndef traceTASK_RESUME_FROM_ISR - #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) - #endif +#ifndef traceTASK_RESUME_FROM_ISR + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) +#endif - #ifndef traceTASK_INCREMENT_TICK - #define traceTASK_INCREMENT_TICK( xTickCount ) - #endif +#ifndef traceTASK_INCREMENT_TICK + #define traceTASK_INCREMENT_TICK( xTickCount ) +#endif - #ifndef traceTIMER_CREATE - #define traceTIMER_CREATE( pxNewTimer ) - #endif +#ifndef traceTIMER_CREATE + #define traceTIMER_CREATE( pxNewTimer ) +#endif - #ifndef traceTIMER_CREATE_FAILED - #define traceTIMER_CREATE_FAILED() - #endif +#ifndef traceTIMER_CREATE_FAILED + #define traceTIMER_CREATE_FAILED() +#endif - #ifndef traceTIMER_COMMAND_SEND - #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) - #endif +#ifndef traceTIMER_COMMAND_SEND + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) +#endif - #ifndef traceTIMER_EXPIRED - #define traceTIMER_EXPIRED( pxTimer ) - #endif +#ifndef traceTIMER_EXPIRED + #define traceTIMER_EXPIRED( pxTimer ) +#endif - #ifndef traceTIMER_COMMAND_RECEIVED - #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) - #endif +#ifndef traceTIMER_COMMAND_RECEIVED + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) +#endif - #ifndef traceMALLOC - #define traceMALLOC( pvAddress, uiSize ) - #endif +#ifndef traceMALLOC + #define traceMALLOC( pvAddress, uiSize ) +#endif - #ifndef traceFREE - #define traceFREE( pvAddress, uiSize ) - #endif +#ifndef traceFREE + #define traceFREE( pvAddress, uiSize ) +#endif - #ifndef traceEVENT_GROUP_CREATE - #define traceEVENT_GROUP_CREATE( xEventGroup ) - #endif +#ifndef traceEVENT_GROUP_CREATE + #define traceEVENT_GROUP_CREATE( xEventGroup ) +#endif - #ifndef traceEVENT_GROUP_CREATE_FAILED - #define traceEVENT_GROUP_CREATE_FAILED() - #endif +#ifndef traceEVENT_GROUP_CREATE_FAILED + #define traceEVENT_GROUP_CREATE_FAILED() +#endif - #ifndef traceEVENT_GROUP_SYNC_BLOCK - #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) - #endif +#ifndef traceEVENT_GROUP_SYNC_BLOCK + #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 - #endif +#ifndef traceEVENT_GROUP_SYNC_END + #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 ) - #endif +#ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK + #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 - #endif +#ifndef traceEVENT_GROUP_WAIT_BITS_END + #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred +#endif - #ifndef traceEVENT_GROUP_CLEAR_BITS - #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) - #endif +#ifndef traceEVENT_GROUP_CLEAR_BITS + #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) +#endif - #ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR - #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) - #endif +#ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR + #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) +#endif - #ifndef traceEVENT_GROUP_SET_BITS - #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) - #endif +#ifndef traceEVENT_GROUP_SET_BITS + #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) +#endif - #ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR - #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) - #endif +#ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR + #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) +#endif - #ifndef traceEVENT_GROUP_DELETE - #define traceEVENT_GROUP_DELETE( xEventGroup ) - #endif +#ifndef traceEVENT_GROUP_DELETE + #define traceEVENT_GROUP_DELETE( xEventGroup ) +#endif - #ifndef tracePEND_FUNC_CALL - #define tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, ret ) - #endif +#ifndef tracePEND_FUNC_CALL + #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 ) - #endif +#ifndef tracePEND_FUNC_CALL_FROM_ISR + #define tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, ret ) +#endif - #ifndef traceQUEUE_REGISTRY_ADD - #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ) - #endif +#ifndef traceQUEUE_REGISTRY_ADD + #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ) +#endif - #ifndef traceTASK_NOTIFY_TAKE_BLOCK - #define traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait ) - #endif +#ifndef traceTASK_NOTIFY_TAKE_BLOCK + #define traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait ) +#endif - #ifndef traceTASK_NOTIFY_TAKE - #define traceTASK_NOTIFY_TAKE( uxIndexToWait ) - #endif +#ifndef traceTASK_NOTIFY_TAKE + #define traceTASK_NOTIFY_TAKE( uxIndexToWait ) +#endif - #ifndef traceTASK_NOTIFY_WAIT_BLOCK - #define traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait ) - #endif +#ifndef traceTASK_NOTIFY_WAIT_BLOCK + #define traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait ) +#endif - #ifndef traceTASK_NOTIFY_WAIT - #define traceTASK_NOTIFY_WAIT( uxIndexToWait ) - #endif +#ifndef traceTASK_NOTIFY_WAIT + #define traceTASK_NOTIFY_WAIT( uxIndexToWait ) +#endif - #ifndef traceTASK_NOTIFY - #define traceTASK_NOTIFY( uxIndexToNotify ) - #endif +#ifndef traceTASK_NOTIFY + #define traceTASK_NOTIFY( uxIndexToNotify ) +#endif - #ifndef traceTASK_NOTIFY_FROM_ISR - #define traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify ) - #endif +#ifndef traceTASK_NOTIFY_FROM_ISR + #define traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify ) +#endif - #ifndef traceTASK_NOTIFY_GIVE_FROM_ISR - #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify ) - #endif +#ifndef traceTASK_NOTIFY_GIVE_FROM_ISR + #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify ) +#endif - #ifndef traceSTREAM_BUFFER_CREATE_FAILED - #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_CREATE_FAILED + #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED - #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED + #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_CREATE - #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_CREATE + #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_DELETE - #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_DELETE + #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_RESET - #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_RESET + #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) +#endif - #ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND - #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) - #endif +#ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND + #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_SEND - #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) - #endif +#ifndef traceSTREAM_BUFFER_SEND + #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) +#endif - #ifndef traceSTREAM_BUFFER_SEND_FAILED - #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_SEND_FAILED + #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_SEND_FROM_ISR - #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) - #endif +#ifndef traceSTREAM_BUFFER_SEND_FROM_ISR + #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) +#endif - #ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE - #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) - #endif +#ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE + #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_RECEIVE - #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) - #endif +#ifndef traceSTREAM_BUFFER_RECEIVE + #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) +#endif - #ifndef traceSTREAM_BUFFER_RECEIVE_FAILED - #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) - #endif +#ifndef traceSTREAM_BUFFER_RECEIVE_FAILED + #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) +#endif - #ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR - #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) - #endif +#ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR + #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) +#endif - #ifndef configGENERATE_RUN_TIME_STATS - #define configGENERATE_RUN_TIME_STATS 0 - #endif +#ifndef configGENERATE_RUN_TIME_STATS + #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 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 */ +#if ( configGENERATE_RUN_TIME_STATS == 1 ) #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() - #endif + #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 configUSE_MALLOC_FAILED_HOOK - #define configUSE_MALLOC_FAILED_HOOK 0 - #endif + #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 portPRIVILEGE_BIT - #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) - #endif +#endif /* configGENERATE_RUN_TIME_STATS */ - #ifndef portYIELD_WITHIN_API - #define portYIELD_WITHIN_API portYIELD - #endif +#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() +#endif - #ifndef portSUPPRESS_TICKS_AND_SLEEP - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) - #endif +#ifndef configUSE_MALLOC_FAILED_HOOK + #define configUSE_MALLOC_FAILED_HOOK 0 +#endif - #ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP - #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 - #endif +#ifndef portPRIVILEGE_BIT + #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) +#endif - #if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 - #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 - #endif +#ifndef portYIELD_WITHIN_API + #define portYIELD_WITHIN_API portYIELD +#endif - #ifndef configUSE_TICKLESS_IDLE - #define configUSE_TICKLESS_IDLE 0 - #endif +#ifndef portSUPPRESS_TICKS_AND_SLEEP + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) +#endif - #ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING - #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) - #endif +#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP + #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 +#endif - #ifndef configPRE_SLEEP_PROCESSING - #define configPRE_SLEEP_PROCESSING( x ) - #endif +#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 + #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 +#endif - #ifndef configPOST_SLEEP_PROCESSING - #define configPOST_SLEEP_PROCESSING( x ) - #endif +#ifndef configUSE_TICKLESS_IDLE + #define configUSE_TICKLESS_IDLE 0 +#endif - #ifndef configUSE_QUEUE_SETS - #define configUSE_QUEUE_SETS 0 - #endif +#ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING + #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) +#endif - #ifndef portTASK_USES_FLOATING_POINT - #define portTASK_USES_FLOATING_POINT() - #endif +#ifndef configPRE_SLEEP_PROCESSING + #define configPRE_SLEEP_PROCESSING( x ) +#endif - #ifndef portALLOCATE_SECURE_CONTEXT - #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) - #endif +#ifndef configPOST_SLEEP_PROCESSING + #define configPOST_SLEEP_PROCESSING( x ) +#endif - #ifndef portDONT_DISCARD - #define portDONT_DISCARD - #endif +#ifndef configUSE_QUEUE_SETS + #define configUSE_QUEUE_SETS 0 +#endif - #ifndef configUSE_TIME_SLICING - #define configUSE_TIME_SLICING 1 - #endif +#ifndef portTASK_USES_FLOATING_POINT + #define portTASK_USES_FLOATING_POINT() +#endif - #ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 - #endif +#ifndef portALLOCATE_SECURE_CONTEXT + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) +#endif - #ifndef configUSE_STATS_FORMATTING_FUNCTIONS - #define configUSE_STATS_FORMATTING_FUNCTIONS 0 - #endif +#ifndef portDONT_DISCARD + #define portDONT_DISCARD +#endif - #ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() - #endif +#ifndef configUSE_TIME_SLICING + #define configUSE_TIME_SLICING 1 +#endif - #ifndef configUSE_TRACE_FACILITY - #define configUSE_TRACE_FACILITY 0 - #endif +#ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 +#endif - #ifndef mtCOVERAGE_TEST_MARKER - #define mtCOVERAGE_TEST_MARKER() - #endif +#ifndef configUSE_STATS_FORMATTING_FUNCTIONS + #define configUSE_STATS_FORMATTING_FUNCTIONS 0 +#endif - #ifndef mtCOVERAGE_TEST_DELAY - #define mtCOVERAGE_TEST_DELAY() - #endif +#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() +#endif - #ifndef portASSERT_IF_IN_ISR - #define portASSERT_IF_IN_ISR() - #endif +#ifndef configUSE_TRACE_FACILITY + #define configUSE_TRACE_FACILITY 0 +#endif - #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 - #endif +#ifndef mtCOVERAGE_TEST_MARKER + #define mtCOVERAGE_TEST_MARKER() +#endif - #ifndef configAPPLICATION_ALLOCATED_HEAP - #define configAPPLICATION_ALLOCATED_HEAP 0 - #endif +#ifndef mtCOVERAGE_TEST_DELAY + #define mtCOVERAGE_TEST_DELAY() +#endif - #ifndef configUSE_TASK_NOTIFICATIONS - #define configUSE_TASK_NOTIFICATIONS 1 - #endif +#ifndef portASSERT_IF_IN_ISR + #define portASSERT_IF_IN_ISR() +#endif - #ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES - #define configTASK_NOTIFICATION_ARRAY_ENTRIES 1 - #endif +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#endif - #if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1 - #error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1 - #endif +#ifndef configAPPLICATION_ALLOCATED_HEAP + #define configAPPLICATION_ALLOCATED_HEAP 0 +#endif - #ifndef configUSE_POSIX_ERRNO - #define configUSE_POSIX_ERRNO 0 - #endif +#ifndef configUSE_TASK_NOTIFICATIONS + #define configUSE_TASK_NOTIFICATIONS 1 +#endif - #ifndef portTICK_TYPE_IS_ATOMIC - #define portTICK_TYPE_IS_ATOMIC 0 - #endif +#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES + #define configTASK_NOTIFICATION_ARRAY_ENTRIES 1 +#endif - #ifndef configSUPPORT_STATIC_ALLOCATION - /* Defaults to 0 for backward compatibility. */ - #define configSUPPORT_STATIC_ALLOCATION 0 - #endif +#if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1 + #error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1 +#endif - #ifndef configSUPPORT_DYNAMIC_ALLOCATION - /* Defaults to 1 for backward compatibility. */ - #define configSUPPORT_DYNAMIC_ALLOCATION 1 - #endif +#ifndef configUSE_POSIX_ERRNO + #define configUSE_POSIX_ERRNO 0 +#endif - #ifndef configSTACK_DEPTH_TYPE +#ifndef portTICK_TYPE_IS_ATOMIC + #define portTICK_TYPE_IS_ATOMIC 0 +#endif + +#ifndef configSUPPORT_STATIC_ALLOCATION + /* 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 +#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 - #endif + #define configSTACK_DEPTH_TYPE uint16_t +#endif - #ifndef configMESSAGE_BUFFER_LENGTH_TYPE +#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 - #endif + #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 ( 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. - #endif +#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 - #endif +#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 - #endif +#ifndef configINITIAL_TICK_COUNT + #define configINITIAL_TICK_COUNT 0 +#endif - #if ( portTICK_TYPE_IS_ATOMIC == 0 ) +#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 + #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 /* if ( portTICK_TYPE_IS_ATOMIC == 0 ) */ + #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. */ - #ifndef configENABLE_BACKWARD_COMPATIBILITY - #define configENABLE_BACKWARD_COMPATIBILITY 1 - #endif +#ifndef configENABLE_BACKWARD_COMPATIBILITY + #define configENABLE_BACKWARD_COMPATIBILITY 1 +#endif - #ifndef configPRINTF +#ifndef configPRINTF /* configPRINTF() was not defined, so define it away to nothing. To use * configPRINTF() then define it as follows (where MyPrintFunction() is @@ -945,92 +947,92 @@ * 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 + #define configPRINTF( X ) +#endif - #ifndef configMAX +#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 ) ) - #endif + #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) +#endif - #ifndef configMIN +#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 ) ) - #endif + #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 +#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 /* 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 + #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 - #endif /* configENABLE_BACKWARD_COMPATIBILITY */ + #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 - #endif +#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. */ - #ifndef configUSE_TASK_FPU_SUPPORT - #define configUSE_TASK_FPU_SUPPORT 1 - #endif +#ifndef configUSE_TASK_FPU_SUPPORT + #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. */ - #ifndef configENABLE_MPU - #define configENABLE_MPU 0 - #endif +#ifndef configENABLE_MPU + #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. */ - #ifndef configENABLE_FPU - #define configENABLE_FPU 1 - #endif +#ifndef configENABLE_FPU + #define configENABLE_FPU 1 +#endif /* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it. * This is currently used in ARMv8M ports. */ - #ifndef configENABLE_TRUSTZONE - #define configENABLE_TRUSTZONE 1 - #endif +#ifndef configENABLE_TRUSTZONE + #define configENABLE_TRUSTZONE 1 +#endif /* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on * the Secure Side only. */ - #ifndef configRUN_FREERTOS_SECURE_ONLY - #define configRUN_FREERTOS_SECURE_ONLY 0 - #endif +#ifndef configRUN_FREERTOS_SECURE_ONLY + #define configRUN_FREERTOS_SECURE_ONLY 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 @@ -1074,7 +1076,7 @@ * | | | | xTaskCreateRestrictedStatic | | | | * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ */ - #define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE \ +#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 ) ) ) @@ -1088,43 +1090,43 @@ * 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 - }; - typedef struct xSTATIC_LIST_ITEM StaticListItem_t; +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 +}; +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; +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; /* 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 - } StaticList_t; +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 +} StaticList_t; /* * In line with software engineering best practice, especially when supplying a @@ -1139,55 +1141,55 @@ * 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_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[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; - uint8_t ucDummy19[ configTASK_NOTIFICATION_ARRAY_ENTRIES ]; - #endif - #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - uint8_t uxDummy20; - #endif +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[ 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 - } StaticTask_t; + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDummy21; + #endif + #if ( configUSE_POSIX_ERRNO == 1 ) + int iDummy22; + #endif +} StaticTask_t; /* * In line with software engineering best practice, especially when supplying a @@ -1203,34 +1205,34 @@ * users will recognise that it would be unwise to make direct use of the * structure members. */ - typedef struct xSTATIC_QUEUE +typedef struct xSTATIC_QUEUE +{ + void * pvDummy1[ 3 ]; + + union { - void * pvDummy1[ 3 ]; + 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_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; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy8; + uint8_t ucDummy9; + #endif +} StaticQueue_t; +typedef StaticQueue_t StaticSemaphore_t; /* * In line with software engineering best practice, especially when supplying a @@ -1246,19 +1248,19 @@ * obfuscated in the hope users will recognise that it would be unwise to make * direct use of the structure members. */ - typedef struct xSTATIC_EVENT_GROUP - { - TickType_t xDummy1; - StaticList_t xDummy2; +typedef struct xSTATIC_EVENT_GROUP +{ + TickType_t xDummy1; + StaticList_t xDummy2; - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy3; - #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; + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy4; + #endif +} StaticEventGroup_t; /* * In line with software engineering best practice, especially when supplying a @@ -1274,18 +1276,18 @@ * the hope users will recognise that it would be unwise to make direct use of * the structure members. */ - 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; - } StaticTimer_t; +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; +} StaticTimer_t; /* * In line with software engineering best practice, especially when supplying a @@ -1301,21 +1303,23 @@ * 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 - } StaticStreamBuffer_t; +typedef struct xSTATIC_STREAM_BUFFER +{ + size_t uxDummy1[ 4 ]; + void * pvDummy2[ 3 ]; + uint8_t ucDummy3; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy4; + #endif +} StaticStreamBuffer_t; /* Message buffers are built on stream buffers. */ - typedef StaticStreamBuffer_t StaticMessageBuffer_t; +typedef StaticStreamBuffer_t StaticMessageBuffer_t; - #ifdef __cplusplus - } - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ #endif /* INC_FREERTOS_H */ diff --git a/include/atomic.h b/include/atomic.h index 662d8673f..379de7319 100644 --- a/include/atomic.h +++ b/include/atomic.h @@ -34,18 +34,20 @@ */ #ifndef ATOMIC_H - #define ATOMIC_H +#define ATOMIC_H - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include atomic.h" - #endif +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include atomic.h" +#endif /* Standard includes. */ - #include +#include - #ifdef __cplusplus - extern "C" { - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ /* * Port specific definitions -- entering/exiting critical section. @@ -55,22 +57,22 @@ * ATOMIC_ENTER_CRITICAL(). * */ - #if defined( portSET_INTERRUPT_MASK_FROM_ISR ) +#if defined( portSET_INTERRUPT_MASK_FROM_ISR ) /* Nested interrupt scheme is supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() \ + #define ATOMIC_ENTER_CRITICAL() \ UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() - #define ATOMIC_EXIT_CRITICAL() \ + #define ATOMIC_EXIT_CRITICAL() \ portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) - #else +#else /* Nested interrupt scheme is NOT supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() - #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() + #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() + #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() - #endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ +#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ /* * Port specific definition -- "always inline". @@ -79,12 +81,12 @@ * for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h, * instead of resulting error, simply define it away. */ - #ifndef portFORCE_INLINE - #define portFORCE_INLINE - #endif +#ifndef 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 ------------------------------*/ @@ -103,28 +105,28 @@ * @note This function only swaps *pulDestination with ulExchange, if previous * *pulDestination value equals ulComparand. */ - static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, - uint32_t ulExchange, - uint32_t ulComparand ) +static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, + uint32_t ulExchange, + uint32_t ulComparand ) +{ + uint32_t ulReturnValue; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulReturnValue; - - ATOMIC_ENTER_CRITICAL(); + if( *pulDestination == ulComparand ) { - if( *pulDestination == ulComparand ) - { - *pulDestination = ulExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; - } - else - { - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; - } + *pulDestination = ulExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + else + { + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; } - ATOMIC_EXIT_CRITICAL(); - - return ulReturnValue; } + ATOMIC_EXIT_CRITICAL(); + + return ulReturnValue; +} /*-----------------------------------------------------------*/ /** @@ -139,20 +141,20 @@ * * @return The initial value of *ppvDestination. */ - static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, - void * pvExchange ) +static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange ) +{ + void * pReturnValue; + + ATOMIC_ENTER_CRITICAL(); { - void * pReturnValue; - - ATOMIC_ENTER_CRITICAL(); - { - pReturnValue = *ppvDestination; - *ppvDestination = pvExchange; - } - ATOMIC_EXIT_CRITICAL(); - - return pReturnValue; + pReturnValue = *ppvDestination; + *ppvDestination = pvExchange; } + ATOMIC_EXIT_CRITICAL(); + + return pReturnValue; +} /*-----------------------------------------------------------*/ /** @@ -171,24 +173,24 @@ * @note This function only swaps *ppvDestination with pvExchange, if previous * *ppvDestination value equals pvComparand. */ - static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, - void * pvExchange, - void * pvComparand ) +static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange, + void * pvComparand ) +{ + uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; - - ATOMIC_ENTER_CRITICAL(); + if( *ppvDestination == pvComparand ) { - if( *ppvDestination == pvComparand ) - { - *ppvDestination = pvExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; - } + *ppvDestination = pvExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; } - ATOMIC_EXIT_CRITICAL(); - - return ulReturnValue; } + ATOMIC_EXIT_CRITICAL(); + + return ulReturnValue; +} /*----------------------------- Arithmetic ------------------------------*/ @@ -204,20 +206,20 @@ * * @return previous *pulAddend value. */ - static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, - uint32_t ulCount ) +static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend += ulCount; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulAddend; + *pulAddend += ulCount; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -232,20 +234,20 @@ * * @return previous *pulAddend value. */ - static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, - uint32_t ulCount ) +static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend -= ulCount; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulAddend; + *pulAddend -= ulCount; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -258,19 +260,19 @@ * * @return *pulAddend value before increment. */ - static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) +static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend += 1; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulAddend; + *pulAddend += 1; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -283,19 +285,19 @@ * * @return *pulAddend value before decrement. */ - static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) +static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulAddend; - *pulAddend -= 1; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulAddend; + *pulAddend -= 1; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*----------------------------- Bitwise Logical ------------------------------*/ @@ -310,20 +312,20 @@ * * @return The original value of *pulDestination. */ - static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination |= ulValue; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulDestination; + *pulDestination |= ulValue; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -337,20 +339,20 @@ * * @return The original value of *pulDestination. */ - static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination &= ulValue; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulDestination; + *pulDestination &= ulValue; } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -364,20 +366,20 @@ * * @return The original value of *pulDestination. */ - static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination = ~( ulCurrent & ulValue ); - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulDestination; + *pulDestination = ~( ulCurrent & ulValue ); } + ATOMIC_EXIT_CRITICAL(); + + return ulCurrent; +} /*-----------------------------------------------------------*/ /** @@ -391,23 +393,25 @@ * * @return The original value of *pulDestination. */ - static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) +{ + uint32_t ulCurrent; + + ATOMIC_ENTER_CRITICAL(); { - uint32_t ulCurrent; - - ATOMIC_ENTER_CRITICAL(); - { - ulCurrent = *pulDestination; - *pulDestination ^= ulValue; - } - ATOMIC_EXIT_CRITICAL(); - - return ulCurrent; + ulCurrent = *pulDestination; + *pulDestination ^= ulValue; } + ATOMIC_EXIT_CRITICAL(); - #ifdef __cplusplus - } - #endif + return ulCurrent; +} + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ #endif /* ATOMIC_H */ diff --git a/include/croutine.h b/include/croutine.h index 76c805bf0..ac0c413fa 100644 --- a/include/croutine.h +++ b/include/croutine.h @@ -25,36 +25,38 @@ */ #ifndef CO_ROUTINE_H - #define CO_ROUTINE_H +#define CO_ROUTINE_H - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include croutine.h" - #endif +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include croutine.h" +#endif - #include "list.h" +#include "list.h" - #ifdef __cplusplus - extern "C" { - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + 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. */ - typedef void * CoRoutineHandle_t; +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. */ +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. */ /** * croutine. h @@ -128,9 +130,9 @@ * \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 ); /** @@ -172,7 +174,7 @@ * \defgroup vCoRoutineSchedule vCoRoutineSchedule * \ingroup Tasks */ - void vCoRoutineSchedule( void ); +void vCoRoutineSchedule( void ); /** * croutine. h @@ -203,7 +205,7 @@ * \defgroup crSTART crSTART * \ingroup Tasks */ - #define crSTART( pxCRCB ) \ +#define crSTART( pxCRCB ) \ switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \ case 0: @@ -236,16 +238,16 @@ * \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 ) \ +#define crSET_STATE0( xHandle ) \ ( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \ case ( __LINE__ * 2 ): - #define crSET_STATE1( xHandle ) \ +#define crSET_STATE1( xHandle ) \ ( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \ case ( ( __LINE__ * 2 ) + 1 ): @@ -295,7 +297,7 @@ * \defgroup crDELAY crDELAY * \ingroup Tasks */ - #define crDELAY( xHandle, xTicksToDelay ) \ +#define crDELAY( xHandle, xTicksToDelay ) \ if( ( xTicksToDelay ) > 0 ) \ { \ vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ @@ -385,7 +387,7 @@ * \defgroup crQUEUE_SEND crQUEUE_SEND * \ingroup Tasks */ - #define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ { \ *( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \ if( *( pxResult ) == errQUEUE_BLOCKED ) \ @@ -477,7 +479,7 @@ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE * \ingroup Tasks */ - #define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ { \ *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \ if( *( pxResult ) == errQUEUE_BLOCKED ) \ @@ -586,7 +588,8 @@ * \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 ) ) /** @@ -699,7 +702,8 @@ * \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. @@ -710,8 +714,8 @@ * 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. @@ -720,10 +724,12 @@ * 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 ); - #ifdef __cplusplus - } - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ #endif /* CO_ROUTINE_H */ diff --git a/include/event_groups.h b/include/event_groups.h index 147fbe42f..a1d8925d9 100644 --- a/include/event_groups.h +++ b/include/event_groups.h @@ -1,769 +1,775 @@ -/* - * 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 - * - */ - -#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" - #endif - -/* FreeRTOS includes. */ - #include "timers.h" - - #ifdef __cplusplus - extern "C" { - #endif - -/** - * An event group is a collection of bits to which an application can assign a - * meaning. For example, an application may create an event group to convey - * the status of various CAN bus related events in which bit 0 might mean "A CAN - * message has been received and is ready for processing", bit 1 might mean "The - * application has queued a message that is ready for sending onto the CAN - * network", and bit 2 might mean "It is time to send a SYNC message onto the - * CAN network" etc. A task can then test the bit values to see which events - * are active, and optionally enter the Blocked state to wait for a specified - * bit or a group of specified bits to be active. To continue the CAN bus - * example, a CAN controlling task can enter the Blocked state (and therefore - * not consume any processing time) until either bit 0, bit 1 or bit 2 are - * active, at which time the bit that was actually active would inform the task - * which action it had to take (process a received message, send a message, or - * send a SYNC). - * - * The event groups implementation contains intelligence to avoid race - * conditions that would otherwise occur were an application to use a simple - * variable for the same purpose. This is particularly important with respect - * to when a bit within an event group is to be cleared, and when bits have to - * 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 - */ - - - -/** - * event_groups.h - * - * Type by which event groups are referenced. For example, a call to - * xEventGroupCreate() returns an EventGroupHandle_t variable that can then - * be used as a parameter to other event group functions. - * - * \defgroup EventGroupHandle_t EventGroupHandle_t - * \ingroup EventGroup - */ - struct EventGroupDef_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. - * - * \defgroup EventBits_t EventBits_t - * \ingroup EventGroup - */ - typedef TickType_t EventBits_t; - -/** - * event_groups.h - *
- * EventGroupHandle_t xEventGroupCreate( void );
- *
- * - * 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 - * 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 - * 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. - * - * @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 - * - * 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.
- *  }
- *
- * \defgroup xEventGroupCreate xEventGroupCreate - * \ingroup EventGroup - */ - #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; - #endif - -/** - * event_groups.h - *
- * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
- *
- * - * 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 - * 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 - * 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. - * - * @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 - * structures, removing the need for the memory to be allocated dynamically. - * - * @return If the event group was created then a handle to the event group is - * 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 );
- *
- */ - #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 );
- *
- * - * [Potentially] block to wait for one or more bits to be set within a - * previously created event group. - * - * This function cannot be called from an interrupt. - * - * @param xEventGroup The event group in which the bits are being tested. The - * event group must have previously been created using a call to - * xEventGroupCreate(). - * - * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test - * inside the event group. For example, to wait for bit 0 and/or bit 2 set - * uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set - * uxBitsToWaitFor to 0x07. Etc. - * - * @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within - * uxBitsToWaitFor that are set within the event group will be cleared before - * xEventGroupWaitBits() returns if the wait condition was met (if the function - * returns for a reason other than a timeout). If xClearOnExit is set to - * pdFALSE then the bits set in the event group are not altered when the call to - * xEventGroupWaitBits() returns. - * - * @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then - * xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor - * are set or the specified block time expires. If xWaitForAllBits is set to - * pdFALSE then xEventGroupWaitBits() will return when any one of the bits set - * in uxBitsToWaitFor is set or the specified block time expires. The block - * time is specified by the xTicksToWait parameter. - * - * @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. - * - * @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 - * which bits were set. If xEventGroupWaitBits() returned because its timeout - * expired then not all the bits being waited for will be set. If - * xEventGroupWaitBits() returned because the bits it was waiting for were set - * then the returned value is the event group value before any bits were - * automatically cleared in the case that xClearOnExit parameter was set to - * 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.
- *      }
- * }
- *
- * \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; - -/** - * event_groups.h - *
- *  EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
- *
- * - * Clear bits within an event group. This function cannot be called from an - * interrupt. - * - * @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 - * in the event group. For example, to clear bit 3 only, set uxBitsToClear to - * 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09. - * - * @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.
- *      }
- * }
- *
- * \defgroup xEventGroupClearBits xEventGroupClearBits - * \ingroup EventGroup - */ - 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 );
- *
- * - * A version of xEventGroupClearBits() that can be called from an interrupt. - * - * Setting bits in an event group is not a deterministic operation because there - * are an unknown number of tasks that may be waiting for the bit or bits being - * set. FreeRTOS does not allow nondeterministic operations to be performed - * while interrupts are disabled, so protects event groups that are accessed - * from tasks by suspending the scheduler rather than disabling interrupts. As - * a result event groups cannot be accessed directly from an interrupt service - * routine. Therefore xEventGroupClearBitsFromISR() sends a message to the - * timer task to have the clear operation performed in the context of the timer - * task. - * - * @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. - * For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3 - * and bit 0 set uxBitsToClear to 0x09. - * - * @return If the request to execute the function was posted successfully then - * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned - * 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.
- *      }
- * }
- *
- * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR - * \ingroup EventGroup - */ - #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 ) - #endif - -/** - * event_groups.h - *
- *  EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
- *
- * - * Set bits within an event group. - * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() - * is a version that can be called from an interrupt. - * - * Setting bits in an event group will automatically unblock tasks that are - * blocked waiting for the bits. - * - * @param xEventGroup The event group in which the bits are to be set. - * - * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. - * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 - * and bit 0 set uxBitsToSet to 0x09. - * - * @return The value of the event group at the time the call to - * xEventGroupSetBits() returns. There are two reasons why the returned value - * might have the bits specified by the uxBitsToSet parameter cleared. First, - * if setting a bit results in a task that was waiting for the bit leaving the - * blocked state then it is possible the bit will be cleared automatically - * (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any - * unblocked (or otherwise Ready state) task that has a priority above that of - * the task that called xEventGroupSetBits() will execute and may change the - * 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.
- *      }
- * }
- *
- * \defgroup xEventGroupSetBits xEventGroupSetBits - * \ingroup EventGroup - */ - 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 );
- *
- * - * A version of xEventGroupSetBits() that can be called from an interrupt. - * - * Setting bits in an event group is not a deterministic operation because there - * are an unknown number of tasks that may be waiting for the bit or bits being - * set. FreeRTOS does not allow nondeterministic operations to be performed in - * interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR() - * sends a message to the timer task to have the set operation performed in the - * context of the timer task - where a scheduler lock is used in place of a - * critical section. - * - * @param xEventGroup The event group in which the bits are to be set. - * - * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. - * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 - * and bit 0 set uxBitsToSet to 0x09. - * - * @param pxHigherPriorityTaskWoken As mentioned above, calling this function - * will result in a message being sent to the timer daemon task. If the - * priority of the timer daemon task is higher than the priority of the - * currently running task (the task the interrupt interrupted) then - * *pxHigherPriorityTaskWoken will be set to pdTRUE by - * xEventGroupSetBitsFromISR(), indicating that a context switch should be - * requested before the interrupt exits. For that reason - * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the - * example code below. - * - * @return If the request to execute the function was posted successfully then - * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned - * 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 );
- *      }
- * }
- *
- * \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; - #else - #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 );
- *
- * - * 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 - * used to synchronise multiple tasks, where each task has to wait for the other - * tasks to reach a synchronisation point before proceeding. - * - * This function cannot be used from an interrupt. - * - * The function will return before its block time expires if the bits specified - * by the uxBitsToWait parameter are set, or become set within that time. In - * this case all the bits specified by uxBitsToWait will be automatically - * cleared before the function returns. - * - * @param xEventGroup The event group in which the bits are being tested. The - * event group must have previously been created using a call to - * xEventGroupCreate(). - * - * @param uxBitsToSet The bits to set in the event group before determining - * if, and possibly waiting for, all the bits specified by the uxBitsToWait - * parameter are set. - * - * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test - * inside the event group. For example, to wait for bit 0 and bit 2 set - * uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set - * uxBitsToWaitFor to 0x07. Etc. - * - * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait - * for all of the bits specified by uxBitsToWaitFor to become set. - * - * @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 - * which bits were set. If xEventGroupSync() returned because its timeout - * expired then not all the bits being waited for will be set. If - * xEventGroupSync() returned because all the bits it was waiting for were - * set then the returned value is the event group value before any bits were - * 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.
- *  }
- * }
- *
- *
- * \defgroup xEventGroupSync xEventGroupSync - * \ingroup EventGroup - */ - 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 );
- *
- * - * Returns the current value of the bits in an event group. This function - * cannot be used from an interrupt. - * - * @param xEventGroup The event group being queried. - * - * @return The event group bits at the time xEventGroupGetBits() was called. - * - * \defgroup xEventGroupGetBits xEventGroupGetBits - * \ingroup EventGroup - */ - #define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) - -/** - * event_groups.h - *
- *  EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
- *
- * - * A version of xEventGroupGetBits() that can be called from an ISR. - * - * @param xEventGroup The event group being queried. - * - * @return The event group bits at the time xEventGroupGetBitsFromISR() was called. - * - * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR - * \ingroup EventGroup - */ - EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; - -/** - * event_groups.h - *
- *  void xEventGroupDelete( EventGroupHandle_t xEventGroup );
- *
- * - * Delete an event group that was previously created by a call to - * xEventGroupCreate(). Tasks that are blocked on the event group will be - * unblocked and obtain 0 as the event group's value. - * - * @param xEventGroup The event group being deleted. - */ - void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; - -/* For internal use only. */ - 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; - #endif - - #ifdef __cplusplus - } - #endif - -#endif /* EVENT_GROUPS_H */ +/* + * 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 + * + */ + +#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" +#endif + +/* FreeRTOS includes. */ +#include "timers.h" + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +/** + * An event group is a collection of bits to which an application can assign a + * meaning. For example, an application may create an event group to convey + * the status of various CAN bus related events in which bit 0 might mean "A CAN + * message has been received and is ready for processing", bit 1 might mean "The + * application has queued a message that is ready for sending onto the CAN + * network", and bit 2 might mean "It is time to send a SYNC message onto the + * CAN network" etc. A task can then test the bit values to see which events + * are active, and optionally enter the Blocked state to wait for a specified + * bit or a group of specified bits to be active. To continue the CAN bus + * example, a CAN controlling task can enter the Blocked state (and therefore + * not consume any processing time) until either bit 0, bit 1 or bit 2 are + * active, at which time the bit that was actually active would inform the task + * which action it had to take (process a received message, send a message, or + * send a SYNC). + * + * The event groups implementation contains intelligence to avoid race + * conditions that would otherwise occur were an application to use a simple + * variable for the same purpose. This is particularly important with respect + * to when a bit within an event group is to be cleared, and when bits have to + * 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 + */ + + + +/** + * event_groups.h + * + * Type by which event groups are referenced. For example, a call to + * xEventGroupCreate() returns an EventGroupHandle_t variable that can then + * be used as a parameter to other event group functions. + * + * \defgroup EventGroupHandle_t EventGroupHandle_t + * \ingroup EventGroup + */ +struct EventGroupDef_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. + * + * \defgroup EventBits_t EventBits_t + * \ingroup EventGroup + */ +typedef TickType_t EventBits_t; + +/** + * event_groups.h + *
+ * EventGroupHandle_t xEventGroupCreate( void );
+ *
+ * + * 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 + * 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 + * 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. + * + * @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 + * + * 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.
+ *  }
+ *
+ * \defgroup xEventGroupCreate xEventGroupCreate + * \ingroup EventGroup + */ +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; +#endif + +/** + * event_groups.h + *
+ * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
+ *
+ * + * 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 + * 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 + * 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. + * + * @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 + * structures, removing the need for the memory to be allocated dynamically. + * + * @return If the event group was created then a handle to the event group is + * 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 );
+ *
+ */ +#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 );
+ *
+ * + * [Potentially] block to wait for one or more bits to be set within a + * previously created event group. + * + * This function cannot be called from an interrupt. + * + * @param xEventGroup The event group in which the bits are being tested. The + * event group must have previously been created using a call to + * xEventGroupCreate(). + * + * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test + * inside the event group. For example, to wait for bit 0 and/or bit 2 set + * uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set + * uxBitsToWaitFor to 0x07. Etc. + * + * @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within + * uxBitsToWaitFor that are set within the event group will be cleared before + * xEventGroupWaitBits() returns if the wait condition was met (if the function + * returns for a reason other than a timeout). If xClearOnExit is set to + * pdFALSE then the bits set in the event group are not altered when the call to + * xEventGroupWaitBits() returns. + * + * @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then + * xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor + * are set or the specified block time expires. If xWaitForAllBits is set to + * pdFALSE then xEventGroupWaitBits() will return when any one of the bits set + * in uxBitsToWaitFor is set or the specified block time expires. The block + * time is specified by the xTicksToWait parameter. + * + * @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. + * + * @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 + * which bits were set. If xEventGroupWaitBits() returned because its timeout + * expired then not all the bits being waited for will be set. If + * xEventGroupWaitBits() returned because the bits it was waiting for were set + * then the returned value is the event group value before any bits were + * automatically cleared in the case that xClearOnExit parameter was set to + * 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.
+ *      }
+ * }
+ *
+ * \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; + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
+ *
+ * + * Clear bits within an event group. This function cannot be called from an + * interrupt. + * + * @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 + * in the event group. For example, to clear bit 3 only, set uxBitsToClear to + * 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09. + * + * @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.
+ *      }
+ * }
+ *
+ * \defgroup xEventGroupClearBits xEventGroupClearBits + * \ingroup EventGroup + */ +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 );
+ *
+ * + * A version of xEventGroupClearBits() that can be called from an interrupt. + * + * Setting bits in an event group is not a deterministic operation because there + * are an unknown number of tasks that may be waiting for the bit or bits being + * set. FreeRTOS does not allow nondeterministic operations to be performed + * while interrupts are disabled, so protects event groups that are accessed + * from tasks by suspending the scheduler rather than disabling interrupts. As + * a result event groups cannot be accessed directly from an interrupt service + * routine. Therefore xEventGroupClearBitsFromISR() sends a message to the + * timer task to have the clear operation performed in the context of the timer + * task. + * + * @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. + * For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3 + * and bit 0 set uxBitsToClear to 0x09. + * + * @return If the request to execute the function was posted successfully then + * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned + * 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.
+ *      }
+ * }
+ *
+ * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR + * \ingroup EventGroup + */ +#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 ) +#endif + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ *
+ * + * Set bits within an event group. + * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() + * is a version that can be called from an interrupt. + * + * Setting bits in an event group will automatically unblock tasks that are + * blocked waiting for the bits. + * + * @param xEventGroup The event group in which the bits are to be set. + * + * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. + * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 + * and bit 0 set uxBitsToSet to 0x09. + * + * @return The value of the event group at the time the call to + * xEventGroupSetBits() returns. There are two reasons why the returned value + * might have the bits specified by the uxBitsToSet parameter cleared. First, + * if setting a bit results in a task that was waiting for the bit leaving the + * blocked state then it is possible the bit will be cleared automatically + * (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any + * unblocked (or otherwise Ready state) task that has a priority above that of + * the task that called xEventGroupSetBits() will execute and may change the + * 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.
+ *      }
+ * }
+ *
+ * \defgroup xEventGroupSetBits xEventGroupSetBits + * \ingroup EventGroup + */ +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 );
+ *
+ * + * A version of xEventGroupSetBits() that can be called from an interrupt. + * + * Setting bits in an event group is not a deterministic operation because there + * are an unknown number of tasks that may be waiting for the bit or bits being + * set. FreeRTOS does not allow nondeterministic operations to be performed in + * interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR() + * sends a message to the timer task to have the set operation performed in the + * context of the timer task - where a scheduler lock is used in place of a + * critical section. + * + * @param xEventGroup The event group in which the bits are to be set. + * + * @param uxBitsToSet A bitwise value that indicates the bit or bits to set. + * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3 + * and bit 0 set uxBitsToSet to 0x09. + * + * @param pxHigherPriorityTaskWoken As mentioned above, calling this function + * will result in a message being sent to the timer daemon task. If the + * priority of the timer daemon task is higher than the priority of the + * currently running task (the task the interrupt interrupted) then + * *pxHigherPriorityTaskWoken will be set to pdTRUE by + * xEventGroupSetBitsFromISR(), indicating that a context switch should be + * requested before the interrupt exits. For that reason + * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the + * example code below. + * + * @return If the request to execute the function was posted successfully then + * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned + * 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 );
+ *      }
+ * }
+ *
+ * \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; +#else + #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 );
+ *
+ * + * 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 + * used to synchronise multiple tasks, where each task has to wait for the other + * tasks to reach a synchronisation point before proceeding. + * + * This function cannot be used from an interrupt. + * + * The function will return before its block time expires if the bits specified + * by the uxBitsToWait parameter are set, or become set within that time. In + * this case all the bits specified by uxBitsToWait will be automatically + * cleared before the function returns. + * + * @param xEventGroup The event group in which the bits are being tested. The + * event group must have previously been created using a call to + * xEventGroupCreate(). + * + * @param uxBitsToSet The bits to set in the event group before determining + * if, and possibly waiting for, all the bits specified by the uxBitsToWait + * parameter are set. + * + * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test + * inside the event group. For example, to wait for bit 0 and bit 2 set + * uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set + * uxBitsToWaitFor to 0x07. Etc. + * + * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait + * for all of the bits specified by uxBitsToWaitFor to become set. + * + * @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 + * which bits were set. If xEventGroupSync() returned because its timeout + * expired then not all the bits being waited for will be set. If + * xEventGroupSync() returned because all the bits it was waiting for were + * set then the returned value is the event group value before any bits were + * 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.
+ *  }
+ * }
+ *
+ *
+ * \defgroup xEventGroupSync xEventGroupSync + * \ingroup EventGroup + */ +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 );
+ *
+ * + * Returns the current value of the bits in an event group. This function + * cannot be used from an interrupt. + * + * @param xEventGroup The event group being queried. + * + * @return The event group bits at the time xEventGroupGetBits() was called. + * + * \defgroup xEventGroupGetBits xEventGroupGetBits + * \ingroup EventGroup + */ +#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) + +/** + * event_groups.h + *
+ *  EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
+ *
+ * + * A version of xEventGroupGetBits() that can be called from an ISR. + * + * @param xEventGroup The event group being queried. + * + * @return The event group bits at the time xEventGroupGetBitsFromISR() was called. + * + * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR + * \ingroup EventGroup + */ +EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; + +/** + * event_groups.h + *
+ *  void xEventGroupDelete( EventGroupHandle_t xEventGroup );
+ *
+ * + * Delete an event group that was previously created by a call to + * xEventGroupCreate(). Tasks that are blocked on the event group will be + * unblocked and obtain 0 as the event group's value. + * + * @param xEventGroup The event group being deleted. + */ +void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; + +/* For internal use only. */ +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; +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* EVENT_GROUPS_H */ diff --git a/include/list.h b/include/list.h index 7f80574ae..b8496f1a0 100644 --- a/include/list.h +++ b/include/list.h @@ -52,12 +52,13 @@ * \ingroup FreeRTOSIntro */ -#ifndef INC_FREERTOS_H - #error FreeRTOS.h must be included before list.h -#endif #ifndef LIST_H - #define 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 @@ -87,87 +88,89 @@ * FreeRTOSConfig.h (without the quotes): * "#define configLIST_VOLATILE volatile" */ - #ifndef configLIST_VOLATILE - #define configLIST_VOLATILE - #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ +#ifndef configLIST_VOLATILE + #define configLIST_VOLATILE +#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ - #ifdef __cplusplus - extern "C" { - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + 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 /* 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; +#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 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 ) ) - #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ + #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 */ /* * Definition of the only type of object that a list can contain. */ - 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. */ - }; - typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ +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. */ +}; +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; +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; /* * 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. */ - } List_t; +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. */ +} List_t; /* * Access macro to set the owner of a list item. The owner of a list item @@ -176,7 +179,7 @@ * \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 @@ -185,7 +188,7 @@ * \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 @@ -194,7 +197,7 @@ * \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 @@ -204,7 +207,7 @@ * \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 @@ -213,7 +216,7 @@ * \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. @@ -221,7 +224,7 @@ * \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. @@ -229,7 +232,7 @@ * \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 @@ -237,7 +240,7 @@ * \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 @@ -246,12 +249,12 @@ * \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. @@ -273,7 +276,7 @@ * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY * \ingroup LinkedList */ - #define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ +#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 */ \ @@ -303,7 +306,7 @@ * \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 @@ -314,7 +317,7 @@ * @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). @@ -322,14 +325,14 @@ * @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 @@ -341,7 +344,7 @@ * \page vListInitialise vListInitialise * \ingroup LinkedList */ - void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; +void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION; /* * Must be called before a list item is used. This sets the list container to @@ -352,7 +355,7 @@ * \page vListInitialiseItem vListInitialiseItem * \ingroup LinkedList */ - void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; +void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted into the list in @@ -365,8 +368,8 @@ * \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 @@ -387,8 +390,8 @@ * \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 @@ -403,10 +406,12 @@ * \page uxListRemove uxListRemove * \ingroup LinkedList */ - UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; +UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; - #ifdef __cplusplus - } - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ #endif /* ifndef LIST_H */ diff --git a/include/message_buffer.h b/include/message_buffer.h index 53a1d714c..7568d2d99 100644 --- a/include/message_buffer.h +++ b/include/message_buffer.h @@ -59,18 +59,20 @@ */ #ifndef FREERTOS_MESSAGE_BUFFER_H - #define FREERTOS_MESSAGE_BUFFER_H +#define FREERTOS_MESSAGE_BUFFER_H - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include message_buffer.h" - #endif +#ifndef INC_FREERTOS_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" +#include "stream_buffer.h" - #if defined( __cplusplus ) - extern "C" { - #endif +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + extern "C" { +#endif +/* *INDENT-ON* */ /** * Type by which message buffers are referenced. For example, a call to @@ -78,7 +80,7 @@ * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(), * etc. */ - typedef void * MessageBufferHandle_t; +typedef void * MessageBufferHandle_t; /*-----------------------------------------------------------*/ @@ -138,7 +140,8 @@ * \defgroup xMessageBufferCreate xMessageBufferCreate * \ingroup MessageBufferManagement */ - #define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) +#define xMessageBufferCreate( xBufferSizeBytes ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) /** * message_buffer.h @@ -204,7 +207,8 @@ * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic * \ingroup MessageBufferManagement */ - #define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) +#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) /** * message_buffer.h @@ -303,7 +307,8 @@ * \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( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) /** * message_buffer.h @@ -407,7 +412,8 @@ * \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( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) /** * message_buffer.h @@ -495,7 +501,8 @@ * \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( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) /** @@ -596,7 +603,8 @@ * \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( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) /** * message_buffer.h @@ -616,7 +624,8 @@ * @param xMessageBuffer The handle of the message buffer to be deleted. * */ - #define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) +#define vMessageBufferDelete( xMessageBuffer ) \ + vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) /** * message_buffer.h @@ -633,7 +642,8 @@ * @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( ( StreamBufferHandle_t ) xMessageBuffer ) /** * message_buffer.h @@ -649,7 +659,8 @@ * pdTRUE is returned. Otherwise pdFALSE is returned. * */ - #define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferIsEmpty( xMessageBuffer ) \ + xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) /** * message_buffer.h @@ -672,7 +683,8 @@ * \defgroup xMessageBufferReset xMessageBufferReset * \ingroup MessageBufferManagement */ - #define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferReset( xMessageBuffer ) \ + xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) /** @@ -694,8 +706,10 @@ * \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( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferSpacesAvailable( xMessageBuffer ) \ + xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */ /** * message_buffer.h @@ -714,7 +728,8 @@ * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes * \ingroup MessageBufferManagement */ - #define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; +#define xMessageBufferNextLengthBytes( xMessageBuffer ) \ + xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; /** * message_buffer.h @@ -753,7 +768,8 @@ * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR * \ingroup StreamBufferManagement */ - #define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) +#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) /** * message_buffer.h @@ -793,10 +809,13 @@ * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR * \ingroup StreamBufferManagement */ - #define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) +#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) - #if defined( __cplusplus ) - } /* extern "C" */ - #endif +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + } /* extern "C" */ +#endif +/* *INDENT-ON* */ #endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */ diff --git a/include/portable.h b/include/portable.h index 4c1b5de20..25de69ef8 100644 --- a/include/portable.h +++ b/include/portable.h @@ -29,7 +29,7 @@ *----------------------------------------------------------*/ #ifndef PORTABLE_H - #define 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 @@ -41,61 +41,63 @@ * 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" +#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. */ - #ifndef portENTER_CRITICAL - #include "portmacro.h" - #endif +#ifndef portENTER_CRITICAL + #include "portmacro.h" +#endif - #if portBYTE_ALIGNMENT == 32 - #define portBYTE_ALIGNMENT_MASK ( 0x001f ) - #endif +#if portBYTE_ALIGNMENT == 32 + #define portBYTE_ALIGNMENT_MASK ( 0x001f ) +#endif - #if portBYTE_ALIGNMENT == 16 - #define portBYTE_ALIGNMENT_MASK ( 0x000f ) - #endif +#if portBYTE_ALIGNMENT == 16 + #define portBYTE_ALIGNMENT_MASK ( 0x000f ) +#endif - #if portBYTE_ALIGNMENT == 8 - #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) - #endif +#if portBYTE_ALIGNMENT == 8 + #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) +#endif - #if portBYTE_ALIGNMENT == 4 - #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) - #endif +#if portBYTE_ALIGNMENT == 4 + #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) +#endif - #if portBYTE_ALIGNMENT == 2 - #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) - #endif +#if portBYTE_ALIGNMENT == 2 + #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) +#endif - #if portBYTE_ALIGNMENT == 1 - #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) - #endif +#if portBYTE_ALIGNMENT == 1 + #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) +#endif - #ifndef portBYTE_ALIGNMENT_MASK - #error "Invalid portBYTE_ALIGNMENT definition" - #endif +#ifndef portBYTE_ALIGNMENT_MASK + #error "Invalid portBYTE_ALIGNMENT definition" +#endif - #ifndef portNUM_CONFIGURABLE_REGIONS - #define portNUM_CONFIGURABLE_REGIONS 1 - #endif +#ifndef portNUM_CONFIGURABLE_REGIONS + #define portNUM_CONFIGURABLE_REGIONS 1 +#endif - #ifndef portHAS_STACK_OVERFLOW_CHECKING - #define portHAS_STACK_OVERFLOW_CHECKING 0 - #endif +#ifndef portHAS_STACK_OVERFLOW_CHECKING + #define portHAS_STACK_OVERFLOW_CHECKING 0 +#endif - #ifndef portARCH_NAME - #define portARCH_NAME NULL - #endif +#ifndef portARCH_NAME + #define portARCH_NAME NULL +#endif - #ifdef __cplusplus - extern "C" { - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ - #include "mpu_wrappers.h" +#include "mpu_wrappers.h" /* * Setup the stack of a new task so it is ready to be placed under the @@ -103,51 +105,51 @@ * 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 ( 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 ) */ +#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 ( 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. */ - typedef struct HeapRegion - { - uint8_t * pucStartAddress; - size_t xSizeInBytes; - } HeapRegion_t; +typedef struct HeapRegion +{ + 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. */ - } HeapStats_t; +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. */ +} HeapStats_t; /* * Used to define multiple heap regions for use by heap_5.c. This function @@ -160,35 +162,35 @@ * terminated by a HeapRegions_t structure that has a size of 0. The region * with the lowest start address must appear first in the array. */ - void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; +void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION; /* * 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 vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; - size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; - size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; +void * pvPortMalloc( 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; /* * 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. */ - BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION; +BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION; /* * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so * the hardware is left in its original condition after the scheduler stops * executing. */ - void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; +void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; /* * The structures and methods of manipulating the MPU are contained within the @@ -197,16 +199,18 @@ * 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; - #endif +#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 - } - #endif +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ #endif /* PORTABLE_H */ diff --git a/include/queue.h b/include/queue.h index 0edfe400c..6c6c09f1c 100644 --- a/include/queue.h +++ b/include/queue.h @@ -1,1695 +1,1707 @@ -/* - * 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 - * - */ - - -#ifndef QUEUE_H - #define QUEUE_H - - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h" must appear in source files before "include queue.h" - #endif - - #ifdef __cplusplus - extern "C" { - #endif - - #include "task.h" - -/** - * Type by which queues are referenced. For example, a call to xQueueCreate() - * returns an QueueHandle_t variable that can then be used as a parameter to - * xQueueSend(), xQueueReceive(), etc. - */ - struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ - 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; - -/** - * 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; - -/* For internal use only. */ - #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 ) - -/** - * queue. h - * 
- * QueueHandle_t xQueueCreate(
- *                            UBaseType_t uxQueueLength,
- *                            UBaseType_t uxItemSize
- *                        );
- *
- * - * Creates a new queue instance, and returns a handle by which the new queue - * can be referenced. - * - * Internally, within the FreeRTOS implementation, queues use two blocks of - * memory. The first block is used to hold the queue's data structures. The - * 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 - * 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 - * - * @param uxQueueLength The maximum number of items that the queue can contain. - * - * @param uxItemSize The number of bytes each item in the queue will require. - * Items are queued by copy, not by reference, so this is the number of bytes - * that will be copied for each posted item. Each item on the queue must be - * the same size. - * - * @return If the queue is successfully create then a handle to the newly - * created queue is returned. If the queue cannot be created then 0 is - * 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.
- * }
- *
- * \defgroup xQueueCreate xQueueCreate - * \ingroup QueueManagement - */ - #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
- *                        );
- *
- * - * Creates a new queue instance, and returns a handle by which the new queue - * can be referenced. - * - * Internally, within the FreeRTOS implementation, queues use two blocks of - * memory. The first block is used to hold the queue's data structures. The - * 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 - * 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 - * - * @param uxQueueLength The maximum number of items that the queue can contain. - * - * @param uxItemSize The number of bytes each item in the queue will require. - * Items are queued by copy, not by reference, so this is the number of bytes - * 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 - * 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. - * - * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which - * will be used to hold the queue's data structure. - * - * @return If the queue is created then a handle to the created queue is - * returned. If pxQueueBuffer is NULL then NULL is returned. - * - * Example usage: - * 
- * 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.
- * }
- *
- * \defgroup xQueueCreateStatic xQueueCreateStatic - * \ingroup QueueManagement - */ - #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
- *                             );
- *
- * - * 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 - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. 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. - * - * @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.
- * }
- *
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ - #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
- *                             );
- *
- * - * This is a macro that calls xQueueGenericSend(). - * - * Post an item to the back of a queue. The item is queued by copy, not by - * reference. This function must not be called from an interrupt service - * routine. See xQueueSendFromISR () for an alternative which may be used - * in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the queue - * is full. 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. - * - * @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.
- * }
- *
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ - #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
- *                       );
- *
- * - * This is a macro that calls xQueueGenericSend(). It is included for - * backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToFront() and xQueueSendToBack() macros. It is - * equivalent to xQueueSendToBack(). - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. 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. - * - * @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.
- * }
- *
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ - #define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) - -/** - * queue. h - * 
- * BaseType_t xQueueOverwrite(
- *                            QueueHandle_t xQueue,
- *                            const void * pvItemToQueue
- *                       );
- *
- * - * Only for use with queues that have a length of one - so the queue is either - * empty or full. - * - * Post an item on a queue. If the queue is already full then overwrite the - * value held in the queue. The item is queued by copy, not by reference. - * - * This function must not be called from an interrupt service routine. - * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. - * - * @param xQueue The handle of the queue to which the data is being sent. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and - * therefore has the same return values as xQueueSendToFront(). However, pdPASS - * is the only value that can be returned because xQueueOverwrite() will write - * 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!
- *  }
- *
- *  // ...
- * }
- *
- * \defgroup xQueueOverwrite xQueueOverwrite - * \ingroup QueueManagement - */ - #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
- *                              );
- *
- * - * It is preferred that the macros xQueueSend(), xQueueSendToFront() and - * xQueueSendToBack() are used in place of calling this function directly. - * - * Post an item on a queue. The item is queued by copy, not by reference. - * This function must not be called from an interrupt service routine. - * See xQueueSendFromISR () for an alternative which may be used in an ISR. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param xTicksToWait The maximum amount of time the task should block - * waiting for space to become available on the queue, should it already - * be full. The call will return immediately if this is set to 0 and the - * queue is full. 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. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @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.
- * }
- *
- * \defgroup xQueueSend xQueueSend - * \ingroup QueueManagement - */ - 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
- *                       );
- * - * 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 - * provided. The number of bytes copied into the buffer was defined when - * the queue was created. - * - * Successfully received items remain on the queue so will be returned again - * by the next call, or a call to xQueueReceive(). - * - * This macro must not be used in an interrupt service routine. See - * xQueuePeekFromISR() for an alternative that can be called from an interrupt - * service routine. - * - * @param xQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @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 - * 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. - * - * @return pdTRUE if an item was successfully received from the queue, - * 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.
- * }
- *
- * \defgroup xQueuePeek xQueuePeek - * \ingroup QueueManagement - */ - BaseType_t xQueuePeek( QueueHandle_t xQueue, - void * const pvBuffer, - TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
- * BaseType_t xQueuePeekFromISR(
- *                                  QueueHandle_t xQueue,
- *                                  void *pvBuffer,
- *                              );
- * - * A version of xQueuePeek() that can be called from an interrupt service - * routine (ISR). - * - * 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 - * provided. The number of bytes copied into the buffer was defined when - * the queue was created. - * - * Successfully received items remain on the queue so will be returned again - * by the next call, or a call to xQueueReceive(). - * - * @param xQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @return pdTRUE if an item was successfully received from the queue, - * otherwise pdFALSE. - * - * \defgroup xQueuePeekFromISR xQueuePeekFromISR - * \ingroup QueueManagement - */ - BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, - void * const pvBuffer ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
- * BaseType_t xQueueReceive(
- *                               QueueHandle_t xQueue,
- *                               void *pvBuffer,
- *                               TickType_t xTicksToWait
- *                          );
- * - * 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 - * was defined when the queue was created. - * - * Successfully received items are removed from the queue. - * - * This function must not be used in an interrupt service routine. See - * xQueueReceiveFromISR for an alternative that can. - * - * @param xQueue The handle to the queue from which the item is to be - * received. - * - * @param pvBuffer Pointer to the buffer into which the received item will - * be copied. - * - * @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 - * 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. - * - * @return pdTRUE if an item was successfully received from the queue, - * 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.
- * }
- *
- * \defgroup xQueueReceive xQueueReceive - * \ingroup QueueManagement - */ - BaseType_t xQueueReceive( QueueHandle_t xQueue, - void * const pvBuffer, - TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
- * - * Return the number of messages stored in a queue. - * - * @param xQueue A handle to the queue being queried. - * - * @return The number of messages available in the queue. - * - * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting - * \ingroup QueueManagement - */ - UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
- * - * 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 - * if no items are removed. - * - * @param xQueue A handle to the queue being queried. - * - * @return The number of spaces available in the queue. - * - * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting - * \ingroup QueueManagement - */ - UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
void vQueueDelete( QueueHandle_t xQueue );
- * - * Delete a queue - freeing all the memory allocated for storing of items - * placed on the queue. - * - * @param xQueue A handle to the queue to be deleted. - * - * \defgroup vQueueDelete vQueueDelete - * \ingroup QueueManagement - */ - void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - -/** - * queue. h - * 
- * BaseType_t xQueueSendToFrontFromISR(
- *                                       QueueHandle_t xQueue,
- *                                       const void *pvItemToQueue,
- *                                       BaseType_t *pxHigherPriorityTaskWoken
- *                                    );
- *
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the front of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * 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 ();
- *  }
- * }
- *
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ - #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
- *                                    );
- *
- * - * This is a macro that calls xQueueGenericSendFromISR(). - * - * Post an item to the back of a queue. It is safe to use this macro from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * 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 ();
- *  }
- * }
- *
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ - #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
- *                       );
- *
- * - * A version of xQueueOverwrite() that can be used in an interrupt service - * routine (ISR). - * - * Only for use with queues that can hold a single item - so the queue is either - * empty or full. - * - * Post an item on a queue. If the queue is already full then overwrite the - * value held in the queue. The item is queued by copy, not by reference. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return xQueueOverwriteFromISR() is a macro that calls - * xQueueGenericSendFromISR(), and therefore has the same return values as - * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be - * returned because xQueueOverwriteFromISR() will write to the queue even when - * 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.
- *  }
- * }
- *
- * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR - * \ingroup QueueManagement - */ - #define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE ) - -/** - * queue. h - * 
- * BaseType_t xQueueSendFromISR(
- *                                   QueueHandle_t xQueue,
- *                                   const void *pvItemToQueue,
- *                                   BaseType_t *pxHigherPriorityTaskWoken
- *                              );
- *
- * - * This is a macro that calls xQueueGenericSendFromISR(). It is included - * for backward compatibility with versions of FreeRTOS.org that did not - * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() - * macros. - * - * Post an item to the back of a queue. It is safe to use this function from - * within an interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueSendFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * 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 ();
- *  }
- * }
- *
- * - * \defgroup xQueueSendFromISR xQueueSendFromISR - * \ingroup QueueManagement - */ - #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
- *                                     );
- *
- * - * It is preferred that the macros xQueueSendFromISR(), - * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place - * of calling this function directly. xQueueGiveFromISR() is an - * equivalent for use by semaphores that don't actually copy any data. - * - * Post an item on a queue. It is safe to use this function from within an - * interrupt service routine. - * - * Items are queued by copy not reference so it is preferable to only - * queue small items, especially when called from an ISR. In most cases - * it would be preferable to store a pointer to the item being queued. - * - * @param xQueue The handle to the queue on which the item is to be posted. - * - * @param pvItemToQueue A pointer to the item that is to be placed on the - * queue. The size of the items the queue will hold was defined when the - * queue was created, so this many bytes will be copied from pvItemToQueue - * into the queue storage area. - * - * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set - * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task - * to unblock, and the unblocked task has a priority higher than the currently - * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then - * a context switch should be requested before the interrupt is exited. - * - * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the - * item at the back of the queue, or queueSEND_TO_FRONT to place the item - * at the front of the queue (for high priority messages). - * - * @return pdTRUE if the data was successfully sent to the queue, otherwise - * errQUEUE_FULL. - * - * 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();
- *  }
- * }
- *
- * - * \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; - -/** - * queue. h - * 
- * BaseType_t xQueueReceiveFromISR(
- *                                     QueueHandle_t    xQueue,
- *                                     void *pvBuffer,
- *                                     BaseType_t *pxTaskWoken
- *                                 );
- *
- * - * Receive an item from a queue. It is safe to use this function from within an - * interrupt service routine. - * - * @param xQueue The handle to the queue from which the item is to be - * received. - * - * @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 - * 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 ();
- *  }
- * }
- *
- * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR - * \ingroup QueueManagement - */ - 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. - */ - BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - -/* - * The functions defined above are for passing data to and from tasks. The - * functions below are the equivalents for passing data to and from - * co-routines. - * - * These functions are called from the co-routine macro implementation and - * 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 ); - -/* - * For internal use only. Use xSemaphoreCreateMutex(), - * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling - * 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; - TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; - TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; - -/* - * 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 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 ) - -/* - * The registry is provided as a means for kernel aware debuggers to - * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add - * a queue, semaphore or mutex handle to the registry if you want the handle - * to be available to a kernel aware debugger. If you are not using a kernel - * aware debugger then this function can be ignored. - * - * 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 - * created - just the number that the registry can hold. - * - * @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 - * 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. */ - #endif - -/* - * The registry is provided as a means for kernel aware debuggers to - * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add - * a queue, semaphore or mutex handle to the registry if you want the handle - * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to - * remove the queue, semaphore or mutex from the register. If you are not using - * a kernel aware debugger then this function can be ignored. - * - * @param xQueue The handle of the queue being removed from the registry. - */ - #if ( configQUEUE_REGISTRY_SIZE > 0 ) - void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - #endif - -/* - * The queue registry is provided as a means for kernel aware debuggers to - * locate queues, semaphores and mutexes. Call pcQueueGetName() to look - * up and return the name of a queue in the queue registry from the queue's - * handle. - * - * @param xQueue The handle of the queue the name of which will be returned. - * @return If the queue is in the registry then a pointer to the name of the - * 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. */ - #endif - -/* - * Generic version of the function used to creaet 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; - #endif - -/* - * Generic version of the function used to creaet 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; - #endif - -/* - * Queue sets provide a mechanism to allow a task to block (pend) on a read - * operation from multiple queues or semaphores simultaneously. - * - * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this - * function. - * - * A queue set must be explicitly created using a call to xQueueCreateSet() - * before it can be used. Once created, standard FreeRTOS queues and semaphores - * can be added to the set using calls to xQueueAddToSet(). - * xQueueSelectFromSet() is then used to determine which, if any, of the queues - * 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 - * for reasons why queue sets are very rarely needed in practice as there are - * simpler methods of blocking on multiple objects. - * - * Note 2: Blocking on a queue set that contains a mutex will not cause the - * mutex holder to inherit the priority of the blocked task. - * - * Note 3: An additional 4 bytes of RAM is required for each space in a every - * queue added to a queue set. Therefore counting semaphores that have a high - * maximum count value should not be added to a queue set. - * - * Note 4: A receive (in the case of a queue) or take (in the case of a - * semaphore) operation must not be performed on a member of a queue set unless - * a call to xQueueSelectFromSet() has first returned a handle to that set member. - * - * @param uxEventQueueLength Queue sets store events that occur on - * the queues and semaphores contained in the set. uxEventQueueLength specifies - * the maximum number of events that can be queued at once. To be absolutely - * certain that events are not lost uxEventQueueLength should be set to the - * total sum of the length of the queues added to the set, where binary - * semaphores and mutexes have a length of 1, and counting semaphores have a - * length set by their maximum count value. Examples: - * + If a queue set is to hold a queue of length 5, another queue of length 12, - * and a binary semaphore, then uxEventQueueLength should be set to - * (5 + 12 + 1), or 18. - * + If a queue set is to hold three binary semaphores then uxEventQueueLength - * should be set to (1 + 1 + 1 ), or 3. - * + If a queue set is to hold a counting semaphore that has a maximum count of - * 5, and a counting semaphore that has a maximum count of 3, then - * uxEventQueueLength should be set to (5 + 3), or 8. - * - * @return If the queue set is created successfully then a handle to the created - * queue set is returned. Otherwise NULL is returned. - */ - QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION; - -/* - * Adds a queue or semaphore to a queue set that was previously created by a - * call to xQueueCreateSet(). - * - * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this - * function. - * - * Note 1: A receive (in the case of a queue) or take (in the case of a - * semaphore) operation must not be performed on a member of a queue set unless - * a call to xQueueSelectFromSet() has first returned a handle to that set member. - * - * @param xQueueOrSemaphore The handle of the queue or semaphore being added to - * the queue set (cast to an QueueSetMemberHandle_t type). - * - * @param xQueueSet The handle of the queue set to which the queue or semaphore - * is being added. - * - * @return If the queue or semaphore was successfully added to the queue set - * then pdPASS is returned. If the queue could not be successfully added to the - * 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; - -/* - * Removes a queue or semaphore from a queue set. A queue or semaphore can only - * be removed from a set if the queue or semaphore is empty. - * - * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this - * function. - * - * @param xQueueOrSemaphore The handle of the queue or semaphore being removed - * from the queue set (cast to an QueueSetMemberHandle_t type). - * - * @param xQueueSet The handle of the queue set in which the queue or semaphore - * is included. - * - * @return If the queue or semaphore was successfully removed from the queue set - * 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; - -/* - * xQueueSelectFromSet() selects from the members of a queue set a queue or - * semaphore that either contains data (in the case of a queue) or is available - * to take (in the case of a semaphore). xQueueSelectFromSet() effectively - * allows a task to block (pend) on a read operation on all the queues and - * semaphores in a queue set simultaneously. - * - * 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 - * for reasons why queue sets are very rarely needed in practice as there are - * simpler methods of blocking on multiple objects. - * - * Note 2: Blocking on a queue set that contains a mutex will not cause the - * mutex holder to inherit the priority of the blocked task. - * - * Note 3: A receive (in the case of a queue) or take (in the case of a - * semaphore) operation must not be performed on a member of a queue set unless - * a call to xQueueSelectFromSet() has first returned a handle to that set member. - * - * @param xQueueSet The queue set on which the task will (potentially) block. - * - * @param xTicksToWait The maximum time, in ticks, that the calling task will - * remain in the Blocked state (with other tasks executing) to wait for a member - * of the queue set to be ready for a successful queue read or semaphore take - * operation. - * - * @return xQueueSelectFromSet() will return the handle of a queue (cast to - * a QueueSetMemberHandle_t type) contained in the queue set that contains data, - * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained - * 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; - -/* - * A version of xQueueSelectFromSet() that can be used from an ISR. - */ - 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; - UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; - - - #ifdef __cplusplus - } - #endif - -#endif /* QUEUE_H */ +/* + * 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 + * + */ + + +#ifndef QUEUE_H +#define QUEUE_H + +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h" must appear in source files before "include queue.h" +#endif + +/* *INDENT-OFF* */ +#ifdef __cplusplus + extern "C" { +#endif +/* *INDENT-ON* */ + +#include "task.h" + +/** + * Type by which queues are referenced. For example, a call to xQueueCreate() + * returns an QueueHandle_t variable that can then be used as a parameter to + * xQueueSend(), xQueueReceive(), etc. + */ +struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ +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; + +/** + * 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; + +/* For internal use only. */ +#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 ) + +/** + * queue. h + * 
+ * QueueHandle_t xQueueCreate(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize
+ *                        );
+ *
+ * + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * 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 + * 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 + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * 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.
+ * }
+ *
+ * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +#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
+ *                        );
+ *
+ * + * Creates a new queue instance, and returns a handle by which the new queue + * can be referenced. + * + * Internally, within the FreeRTOS implementation, queues use two blocks of + * memory. The first block is used to hold the queue's data structures. The + * 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 + * 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 + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * 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 + * 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. + * + * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which + * will be used to hold the queue's data structure. + * + * @return If the queue is created then a handle to the created queue is + * returned. If pxQueueBuffer is NULL then NULL is returned. + * + * Example usage: + * 
+ * 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.
+ * }
+ *
+ * \defgroup xQueueCreateStatic xQueueCreateStatic + * \ingroup QueueManagement + */ +#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
+ *                             );
+ *
+ * + * 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 + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. 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. + * + * @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.
+ * }
+ *
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#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
+ *                             );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the back of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the queue + * is full. 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. + * + * @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.
+ * }
+ *
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#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
+ *                       );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). It is included for + * backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToFront() and xQueueSendToBack() macros. It is + * equivalent to xQueueSendToBack(). + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. 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. + * + * @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.
+ * }
+ *
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ * BaseType_t xQueueOverwrite(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue
+ *                       );
+ *
+ * + * Only for use with queues that have a length of one - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * This function must not be called from an interrupt service routine. + * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle of the queue to which the data is being sent. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and + * therefore has the same return values as xQueueSendToFront(). However, pdPASS + * is the only value that can be returned because xQueueOverwrite() will write + * 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!
+ *  }
+ *
+ *  // ...
+ * }
+ *
+ * \defgroup xQueueOverwrite xQueueOverwrite + * \ingroup QueueManagement + */ +#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
+ *                              );
+ *
+ * + * It is preferred that the macros xQueueSend(), xQueueSendToFront() and + * xQueueSendToBack() are used in place of calling this function directly. + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0 and the + * queue is full. 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. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @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.
+ * }
+ *
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +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
+ *                       );
+ * + * 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 + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * This macro must not be used in an interrupt service routine. See + * xQueuePeekFromISR() for an alternative that can be called from an interrupt + * service routine. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @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 + * 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. + * + * @return pdTRUE if an item was successfully received from the queue, + * 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.
+ * }
+ *
+ * \defgroup xQueuePeek xQueuePeek + * \ingroup QueueManagement + */ +BaseType_t xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
+ * BaseType_t xQueuePeekFromISR(
+ *                                  QueueHandle_t xQueue,
+ *                                  void *pvBuffer,
+ *                              );
+ * + * A version of xQueuePeek() that can be called from an interrupt service + * routine (ISR). + * + * 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 + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * \defgroup xQueuePeekFromISR xQueuePeekFromISR + * \ingroup QueueManagement + */ +BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, + void * const pvBuffer ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
+ * BaseType_t xQueueReceive(
+ *                               QueueHandle_t xQueue,
+ *                               void *pvBuffer,
+ *                               TickType_t xTicksToWait
+ *                          );
+ * + * 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 + * was defined when the queue was created. + * + * Successfully received items are removed from the queue. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @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 + * 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. + * + * @return pdTRUE if an item was successfully received from the queue, + * 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.
+ * }
+ *
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +BaseType_t xQueueReceive( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
+ * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
+ * + * 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 + * if no items are removed. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of spaces available in the queue. + * + * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
void vQueueDelete( QueueHandle_t xQueue );
+ * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \defgroup vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/** + * queue. h + * 
+ * BaseType_t xQueueSendToFrontFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ *
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the front of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * 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 ();
+ *  }
+ * }
+ *
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#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
+ *                                    );
+ *
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the back of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * 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 ();
+ *  }
+ * }
+ *
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#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
+ *                       );
+ *
+ * + * A version of xQueueOverwrite() that can be used in an interrupt service + * routine (ISR). + * + * Only for use with queues that can hold a single item - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return xQueueOverwriteFromISR() is a macro that calls + * xQueueGenericSendFromISR(), and therefore has the same return values as + * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be + * returned because xQueueOverwriteFromISR() will write to the queue even when + * 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.
+ *  }
+ * }
+ *
+ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR + * \ingroup QueueManagement + */ +#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \ + xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE ) + +/** + * queue. h + * 
+ * BaseType_t xQueueSendFromISR(
+ *                                   QueueHandle_t xQueue,
+ *                                   const void *pvItemToQueue,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken
+ *                              );
+ *
+ * + * This is a macro that calls xQueueGenericSendFromISR(). It is included + * for backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() + * macros. + * + * Post an item to the back of a queue. It is safe to use this function from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * 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 ();
+ *  }
+ * }
+ *
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#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
+ *                                     );
+ *
+ * + * It is preferred that the macros xQueueSendFromISR(), + * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place + * of calling this function directly. xQueueGiveFromISR() is an + * equivalent for use by semaphores that don't actually copy any data. + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set + * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task + * to unblock, and the unblocked task has a priority higher than the currently + * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then + * a context switch should be requested before the interrupt is exited. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the data was successfully sent to the queue, otherwise + * errQUEUE_FULL. + * + * 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();
+ *  }
+ * }
+ *
+ * + * \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; + +/** + * queue. h + * 
+ * BaseType_t xQueueReceiveFromISR(
+ *                                     QueueHandle_t    xQueue,
+ *                                     void             *pvBuffer,
+ *                                     BaseType_t       *pxTaskWoken
+ *                                 );
+ *
+ * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @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 + * 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 ();
+ *  }
+ * }
+ *
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +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. + */ +BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-routines. + * + * These functions are called from the co-routine macro implementation and + * 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 ); + +/* + * For internal use only. Use xSemaphoreCreateMutex(), + * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling + * 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; +TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; +TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION; + +/* + * 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 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 ) + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger. If you are not using a kernel + * aware debugger then this function can be ignored. + * + * 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 + * created - just the number that the registry can hold. + * + * @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 + * 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. */ +#endif + +/* + * The registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add + * a queue, semaphore or mutex handle to the registry if you want the handle + * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to + * remove the queue, semaphore or mutex from the register. If you are not using + * a kernel aware debugger then this function can be ignored. + * + * @param xQueue The handle of the queue being removed from the registry. + */ +#if ( configQUEUE_REGISTRY_SIZE > 0 ) + void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +#endif + +/* + * The queue registry is provided as a means for kernel aware debuggers to + * locate queues, semaphores and mutexes. Call pcQueueGetName() to look + * up and return the name of a queue in the queue registry from the queue's + * handle. + * + * @param xQueue The handle of the queue the name of which will be returned. + * @return If the queue is in the registry then a pointer to the name of the + * 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. */ +#endif + +/* + * Generic version of the function used to creaet 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; +#endif + +/* + * Generic version of the function used to creaet 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; +#endif + +/* + * Queue sets provide a mechanism to allow a task to block (pend) on a read + * operation from multiple queues or semaphores simultaneously. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * A queue set must be explicitly created using a call to xQueueCreateSet() + * before it can be used. Once created, standard FreeRTOS queues and semaphores + * can be added to the set using calls to xQueueAddToSet(). + * xQueueSelectFromSet() is then used to determine which, if any, of the queues + * 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 + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: An additional 4 bytes of RAM is required for each space in a every + * queue added to a queue set. Therefore counting semaphores that have a high + * maximum count value should not be added to a queue set. + * + * Note 4: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param uxEventQueueLength Queue sets store events that occur on + * the queues and semaphores contained in the set. uxEventQueueLength specifies + * the maximum number of events that can be queued at once. To be absolutely + * certain that events are not lost uxEventQueueLength should be set to the + * total sum of the length of the queues added to the set, where binary + * semaphores and mutexes have a length of 1, and counting semaphores have a + * length set by their maximum count value. Examples: + * + If a queue set is to hold a queue of length 5, another queue of length 12, + * and a binary semaphore, then uxEventQueueLength should be set to + * (5 + 12 + 1), or 18. + * + If a queue set is to hold three binary semaphores then uxEventQueueLength + * should be set to (1 + 1 + 1 ), or 3. + * + If a queue set is to hold a counting semaphore that has a maximum count of + * 5, and a counting semaphore that has a maximum count of 3, then + * uxEventQueueLength should be set to (5 + 3), or 8. + * + * @return If the queue set is created successfully then a handle to the created + * queue set is returned. Otherwise NULL is returned. + */ +QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION; + +/* + * Adds a queue or semaphore to a queue set that was previously created by a + * call to xQueueCreateSet(). + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * Note 1: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being added to + * the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set to which the queue or semaphore + * is being added. + * + * @return If the queue or semaphore was successfully added to the queue set + * then pdPASS is returned. If the queue could not be successfully added to the + * 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; + +/* + * Removes a queue or semaphore from a queue set. A queue or semaphore can only + * be removed from a set if the queue or semaphore is empty. + * + * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this + * function. + * + * @param xQueueOrSemaphore The handle of the queue or semaphore being removed + * from the queue set (cast to an QueueSetMemberHandle_t type). + * + * @param xQueueSet The handle of the queue set in which the queue or semaphore + * is included. + * + * @return If the queue or semaphore was successfully removed from the queue set + * 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; + +/* + * xQueueSelectFromSet() selects from the members of a queue set a queue or + * semaphore that either contains data (in the case of a queue) or is available + * to take (in the case of a semaphore). xQueueSelectFromSet() effectively + * allows a task to block (pend) on a read operation on all the queues and + * semaphores in a queue set simultaneously. + * + * 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 + * for reasons why queue sets are very rarely needed in practice as there are + * simpler methods of blocking on multiple objects. + * + * Note 2: Blocking on a queue set that contains a mutex will not cause the + * mutex holder to inherit the priority of the blocked task. + * + * Note 3: A receive (in the case of a queue) or take (in the case of a + * semaphore) operation must not be performed on a member of a queue set unless + * a call to xQueueSelectFromSet() has first returned a handle to that set member. + * + * @param xQueueSet The queue set on which the task will (potentially) block. + * + * @param xTicksToWait The maximum time, in ticks, that the calling task will + * remain in the Blocked state (with other tasks executing) to wait for a member + * of the queue set to be ready for a successful queue read or semaphore take + * operation. + * + * @return xQueueSelectFromSet() will return the handle of a queue (cast to + * a QueueSetMemberHandle_t type) contained in the queue set that contains data, + * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained + * 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; + +/* + * A version of xQueueSelectFromSet() that can be used from an ISR. + */ +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; +UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; +uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; + + +/* *INDENT-OFF* */ +#ifdef __cplusplus + } +#endif +/* *INDENT-ON* */ + +#endif /* QUEUE_H */ diff --git a/include/stream_buffer.h b/include/stream_buffer.h index 8f2f97d8a..8a5e4a8c2 100644 --- a/include/stream_buffer.h +++ b/include/stream_buffer.h @@ -48,15 +48,17 @@ */ #ifndef STREAM_BUFFER_H - #define STREAM_BUFFER_H +#define STREAM_BUFFER_H - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include stream_buffer.h" - #endif +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include stream_buffer.h" +#endif - #if defined( __cplusplus ) - extern "C" { - #endif +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + extern "C" { +#endif +/* *INDENT-ON* */ /** * Type by which stream buffers are referenced. For example, a call to @@ -64,8 +66,8 @@ * then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(), * etc. */ - struct StreamBufferDef_t; - typedef struct StreamBufferDef_t * StreamBufferHandle_t; +struct StreamBufferDef_t; +typedef struct StreamBufferDef_t * StreamBufferHandle_t; /** @@ -133,7 +135,7 @@ * \defgroup xStreamBufferCreate xStreamBufferCreate * \ingroup StreamBufferManagement */ - #define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE ) +#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE ) /** * stream_buffer.h @@ -214,7 +216,8 @@ * \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 ) /** * stream_buffer.h @@ -308,10 +311,10 @@ * \defgroup xStreamBufferSend xStreamBufferSend * \ingroup StreamBufferManagement */ - size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, - const void * pvTxData, - size_t xDataLengthBytes, - TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -409,10 +412,10 @@ * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR * \ingroup StreamBufferManagement */ - size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, - const void * pvTxData, - size_t xDataLengthBytes, - BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer, + const void * pvTxData, + size_t xDataLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -498,10 +501,10 @@ * \defgroup xStreamBufferReceive xStreamBufferReceive * \ingroup StreamBufferManagement */ - size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, - void * pvRxData, - size_t xBufferLengthBytes, - TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -584,10 +587,10 @@ * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR * \ingroup StreamBufferManagement */ - size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, - void * pvRxData, - size_t xBufferLengthBytes, - BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer, + void * pvRxData, + size_t xBufferLengthBytes, + BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -609,7 +612,7 @@ * \defgroup vStreamBufferDelete vStreamBufferDelete * \ingroup StreamBufferManagement */ - void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -629,7 +632,7 @@ * \defgroup xStreamBufferIsFull xStreamBufferIsFull * \ingroup StreamBufferManagement */ - BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -649,7 +652,7 @@ * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty * \ingroup StreamBufferManagement */ - BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -672,7 +675,7 @@ * \defgroup xStreamBufferReset xStreamBufferReset * \ingroup StreamBufferManagement */ - BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -693,7 +696,7 @@ * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable * \ingroup StreamBufferManagement */ - size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -714,7 +717,7 @@ * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable * \ingroup StreamBufferManagement */ - size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; +size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION; /** * stream_buffer.h @@ -751,8 +754,8 @@ * \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 @@ -791,8 +794,8 @@ * \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 @@ -832,31 +835,33 @@ * \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; +StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, + size_t xTriggerLevelBytes, + BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION; - StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, - size_t xTriggerLevelBytes, - BaseType_t xIsMessageBuffer, - uint8_t * const pucStreamBufferStorageArea, - StaticStreamBuffer_t * const pxStaticStreamBuffer ) 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 xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) 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; - #endif +#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 - #if defined( __cplusplus ) - } - #endif +/* *INDENT-OFF* */ +#if defined( __cplusplus ) + } +#endif +/* *INDENT-ON* */ #endif /* !defined( STREAM_BUFFER_H ) */ diff --git a/include/task.h b/include/task.h index 560d62a15..7dd103202 100644 --- a/include/task.h +++ b/include/task.h @@ -1,2904 +1,2928 @@ -/* - * 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 - * - */ - - -#ifndef INC_TASK_H - #define INC_TASK_H - - #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include task.h" - #endif - - #include "list.h" - - #ifdef __cplusplus - extern "C" { - #endif - -/*----------------------------------------------------------- -* 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 - -/* 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 ) - -/* 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 - * - * Type by which tasks are referenced. For example, a call to xTaskCreate - * returns (via a pointer parameter) an TaskHandle_t variable that can then - * be used as a parameter to vTaskDelete to delete the task. - * - * \defgroup TaskHandle_t TaskHandle_t - * \ingroup Tasks - */ - struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */ - typedef struct tskTaskControlBlock * TaskHandle_t; - -/* - * Defines the prototype to which the application task hook function must - * conform. - */ - 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. */ - } 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. */ - } eNotifyAction; - -/* - * Used internally only. - */ - typedef struct xTIME_OUT - { - BaseType_t xOverflowCount; - TickType_t xTimeOnEntering; - } TimeOut_t; - -/* - * Defines the memory ranges allocated to the task when an MPU is used. - */ - typedef struct xMEMORY_REGION - { - void * pvBaseAddress; - uint32_t ulLengthInBytes; - uint32_t ulParameters; - } MemoryRegion_t; - -/* - * Parameters required to create an MPU protected task. - */ - 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 - } TaskParameters_t; - -/* Used with the uxTaskGetSystemState() function to return the state of each task - * 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. */ - } 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. */ - } eSleepModeStatus; - -/** - * Defines the priority used by the idle task. This must not be modified. - * - * \ingroup TaskUtils - */ - #define tskIDLE_PRIORITY ( ( UBaseType_t ) 0U ) - -/** - * task. h - * - * Macro for forcing a context switch. - * - * \defgroup taskYIELD taskYIELD - * \ingroup SchedulerControl - */ - #define taskYIELD() portYIELD() - -/** - * task. h - * - * Macro to mark the start of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL - * \ingroup SchedulerControl - */ - #define taskENTER_CRITICAL() portENTER_CRITICAL() - #define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() - -/** - * task. h - * - * Macro to mark the end of a critical code region. Preemptive context - * switches cannot occur when in a critical region. - * - * NOTE: This may alter the stack (depending on the portable implementation) - * so must be used with care! - * - * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL - * \ingroup SchedulerControl - */ - #define taskEXIT_CRITICAL() portEXIT_CRITICAL() - #define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x ) - -/** - * task. h - * - * Macro to disable all maskable interrupts. - * - * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS - * \ingroup SchedulerControl - */ - #define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() - -/** - * task. h - * - * Macro to enable microcontroller interrupts. - * - * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS - * \ingroup SchedulerControl - */ - #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 ) - - -/*----------------------------------------------------------- -* 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
- *                        );
- * - * Create a new task and add it to the list of tasks that are ready to run. - * - * Internally, within the FreeRTOS implementation, tasks use two blocks of - * memory. The first block is used to hold the task's data structures. The - * 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 - * xTaskCreateStatic() then the application writer must provide the required - * memory. xTaskCreateStatic() therefore allows a task to be created without - * using any dynamic memory allocation. - * - * See xTaskCreateStatic() for a version that does not use any dynamic memory - * allocation. - * - * xTaskCreate() can only be used to create a task that has unrestricted - * access to the entire microcontroller memory map. Systems that include MPU - * support can alternatively create an MPU constrained task using - * xTaskCreateRestricted(). - * - * @param pvTaskCode 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 - * facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default - * is 16. - * - * @param usStackDepth The size of the task stack specified as the number of - * variables the stack can hold - not the number of bytes. For example, if - * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes - * will be allocated for stack storage. - * - * @param pvParameters Pointer that will be used as the parameter for the task - * being created. - * - * @param uxPriority The priority at which the task should run. Systems that - * include MPU support can optionally create tasks in a privileged (system) - * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For - * 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 - * 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 );
- *   }
- * }
- *
- * \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; - #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 );
- * - * Create a new task and add it to the list of tasks that are ready to run. - * - * Internally, within the FreeRTOS implementation, tasks use two blocks of - * memory. The first block is used to hold the task's data structures. The - * 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 - * 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 - * must be implemented to never return (i.e. continuous loop). - * - * @param pcName A descriptive name for the task. This is mainly used to - * facilitate debugging. The maximum length of the string is defined by - * configMAX_TASK_NAME_LEN in FreeRTOSConfig.h. - * - * @param ulStackDepth The size of the task stack specified as the number of - * variables the stack can hold - not the number of bytes. For example, if - * the stack is 32-bits wide and ulStackDepth is defined as 100 then 400 bytes - * will be allocated for stack storage. - * - * @param pvParameters Pointer that will be used as the parameter for the task - * being created. - * - * @param uxPriority The priority at which the task will run. - * - * @param pxStackBuffer 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. - * - * @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will - * 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 - * 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 );
- *  }
- *
- * \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; - #endif /* configSUPPORT_STATIC_ALLOCATION */ - -/** - * task. h - *
- * BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );
- * - * Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1. - * - * xTaskCreateRestricted() should only be used in systems that include an MPU - * implementation. - * - * Create a new task and add it to the list of tasks that are ready to run. - * The function parameters define the memory regions and associated access - * permissions allocated to the task. - * - * See xTaskCreateRestrictedStatic() for a version that does not use any - * dynamic memory allocation. - * - * @param pxTaskDefinition Pointer to a structure that contains a member - * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API - * documentation) plus an optional stack buffer and the memory region - * definitions. - * - * @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: - * 
- * // 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( ;; );
- * }
- *
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted - * \ingroup Tasks - */ - #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 );
- * - * Only available when configSUPPORT_STATIC_ALLOCATION is set to 1. - * - * xTaskCreateRestrictedStatic() should only be used in systems that include an - * MPU implementation. - * - * Internally, within the FreeRTOS implementation, tasks use two blocks of - * memory. The first block is used to hold the task's data structures. The - * second block is used by the task as its stack. If a task is created using - * xTaskCreateRestricted() then the stack is provided by the application writer, - * and the memory used to hold the task's data structure is automatically - * dynamically allocated inside the xTaskCreateRestricted() function. If a task - * is created using xTaskCreateRestrictedStatic() then the application writer - * must provide the memory used to hold the task's data structures too. - * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be - * created without using any dynamic memory allocation. - * - * @param pxTaskDefinition Pointer to a structure that contains a member - * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API - * documentation) plus an optional stack buffer and the memory region - * definitions. If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure - * contains an additional member, which is used to point to a variable of type - * StaticTask_t - which is then used to hold the task's data structure. - * - * @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: - * 
- * // 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( ;; );
- * }
- *
- * \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; - #endif - -/** - * task. h - *
- * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
- * - * Memory regions are assigned to a restricted task when the task is created by - * a call to xTaskCreateRestricted(). These regions can be redefined using - * vTaskAllocateMPURegions(). - * - * @param xTask The handle of the task being updated. - * - * @param xRegions A pointer to an 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 - * \ingroup Tasks - */ - void vTaskAllocateMPURegions( TaskHandle_t xTask, - const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskDelete( TaskHandle_t xTask );
- * - * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Remove a task from the RTOS real time kernel's management. The task being - * deleted will be removed from all ready, blocked, suspended and event lists. - * - * NOTE: The idle task is responsible for freeing the kernel allocated - * memory from tasks that have been deleted. It is therefore important that - * the idle task is not starved of microcontroller processing time if your - * application makes any calls to vTaskDelete (). Memory allocated by the - * task code is not automatically freed, and should be freed before the task - * is deleted. - * - * 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 - * 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 );
- * }
- *
- * \defgroup vTaskDelete vTaskDelete - * \ingroup Tasks - */ - void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- -* TASK CONTROL API -*----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskDelay( const TickType_t xTicksToDelay );
- * - * Delay a task for a given number of ticks. The actual time that the - * task remains blocked depends on the tick rate. The constant - * portTICK_PERIOD_MS can be used to calculate real time from the tick - * rate - with the resolution of one tick period. - * - * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * - * vTaskDelay() specifies a time at which the task wishes to unblock relative to - * the time at which vTaskDelay() is called. For example, specifying a block - * 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 - * at which vTaskDelay() gets called and therefore the time at which the task - * next executes. See vTaskDelayUntil() 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. - * - * @param xTicksToDelay The amount of time, in tick periods, that - * 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 ); - * } - * } - * - * \defgroup vTaskDelay vTaskDelay - * \ingroup TaskCtrl - */ - void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
- * - * INCLUDE_vTaskDelayUntil 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 - * tasks to ensure a constant execution frequency. - * - * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will - * cause a task to block for the specified number of ticks from the time vTaskDelay () is - * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed - * execution frequency as the time between a task starting to execute and that task - * calling vTaskDelay () may not be fixed [the task may take a different path though the - * code between calls, or may get interrupted or preempted a different number of times - * 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 - * unblock. - * - * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick - * rate - with the 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 (). - * - * @param xTimeIncrement The cycle time period. The task will be unblocked at - * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the - * same xTimeIncrement parameter value will cause the task to execute with - * a fixed interface period. - * - * 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 - * \ingroup TaskCtrl - */ - void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, - const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
BaseType_t xTaskAbortDelay( TaskHandle_t xTask );
- * - * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this - * function to be available. - * - * A task will enter the Blocked state when it is waiting for an event. The - * event it is waiting for can be a temporal event (waiting for a time), such - * as when vTaskDelay() is called, or an event on an object, such as when - * xQueueReceive() or ulTaskNotifyTake() is called. If the handle of a task - * that is in the Blocked state is used in a call to xTaskAbortDelay() then the - * task will leave the Blocked state, and return from whichever function call - * placed the task into the Blocked state. - * - * There is no 'FromISR' version of this function as an interrupt would need to - * know which object a task was blocked on in order to know which actions to - * take. For example, if the task was blocked on a queue the interrupt handler - * would then need to know if the queue was locked. - * - * @param xTask The handle of the task to remove from the Blocked state. - * - * @return If the task referenced by xTask was not in the Blocked state then - * pdFAIL is returned. Otherwise pdPASS is returned. - * - * \defgroup xTaskAbortDelay xTaskAbortDelay - * \ingroup TaskCtrl - */ - BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );
- * - * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Obtain the priority of any task. - * - * @param xTask Handle of the task to be queried. Passing a NULL - * handle results in the priority of the calling task being returned. - * - * @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.
- *   }
- * }
- *
- * \defgroup uxTaskPriorityGet uxTaskPriorityGet - * \ingroup TaskCtrl - */ - UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );
- * - * A version of uxTaskPriorityGet() that can be used from an ISR. - */ - UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
eTaskState eTaskGetState( TaskHandle_t xTask );
- * - * INCLUDE_eTaskGetState must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Obtain the state of any task. States are encoded by the eTaskState - * enumerated type. - * - * @param xTask Handle of the task to be queried. - * - * @return The state of xTask at the time the function was called. Note the - * state of the task might change between the function being called, and the - * functions return value being tested by the calling task. - */ - eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
- * - * configUSE_TRACE_FACILITY must be defined as 1 for this function to be - * available. See the configuration section for more information. - * - * Populates a TaskStatus_t structure with information about a task. - * - * @param xTask Handle of the task being queried. If xTask is NULL then - * information will be returned about the calling task. - * - * @param pxTaskStatus A pointer to the TaskStatus_t structure that will be - * 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 - * 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 - * allow the high water mark checking to be skipped. The high watermark value - * will only be written to the TaskStatus_t structure if xGetFreeStackSpace is - * not set to pdFALSE; - * - * @param eState The TaskStatus_t structure contains a member to report the - * state of the task being queried. Obtaining the task state is not as fast as - * a simple assignment - so the eState parameter is provided to allow the state - * information to be omitted from the TaskStatus_t structure. To obtain state - * information then set eState to eInvalid - otherwise the value passed in - * 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.
- * }
- *
- * \defgroup vTaskGetInfo vTaskGetInfo - * \ingroup TaskCtrl - */ - 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 );
- * - * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Set the priority of any task. - * - * A context switch will occur before the function returns if the priority - * being set is higher than the currently executing task. - * - * @param xTask Handle to the task for which the priority is being set. - * Passing a NULL handle results in the priority of the calling task being set. - * - * @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 );
- * }
- *
- * \defgroup vTaskPrioritySet vTaskPrioritySet - * \ingroup TaskCtrl - */ - void vTaskPrioritySet( TaskHandle_t xTask, - UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskSuspend( TaskHandle_t xTaskToSuspend );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Suspend any task. When suspended a task will never get any microcontroller - * processing time, no matter what its priority. - * - * Calls to vTaskSuspend are not accumulative - - * i.e. calling vTaskSuspend () twice on the same task still only requires one - * call to vTaskResume () to ready the suspended task. - * - * @param xTaskToSuspend Handle to the task being suspended. Passing a NULL - * 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.
- * }
- *
- * \defgroup vTaskSuspend vTaskSuspend - * \ingroup TaskCtrl - */ - void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskResume( TaskHandle_t xTaskToResume );
- * - * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. - * See the configuration section for more information. - * - * Resumes a suspended task. - * - * A task that has been suspended by one or more calls to vTaskSuspend () - * will be made available for running again by a single call to - * vTaskResume (). - * - * @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.
- * }
- *
- * \defgroup vTaskResume vTaskResume - * \ingroup TaskCtrl - */ - void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void xTaskResumeFromISR( TaskHandle_t xTaskToResume );
- * - * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be - * available. See the configuration section for more information. - * - * An implementation of vTaskResume() that can be called from within an ISR. - * - * A task that has been suspended by one or more calls to vTaskSuspend () - * will be made available for running again by a single call to - * xTaskResumeFromISR (). - * - * xTaskResumeFromISR() should not be used to synchronise a task with an - * interrupt if there is a chance that the interrupt could arrive prior to the - * task being suspended - as this can lead to interrupts being missed. Use of a - * semaphore as a synchronisation mechanism would avoid this eventuality. - * - * @param xTaskToResume Handle to the task being readied. - * - * @return pdTRUE if resuming the task should result in a context switch, - * otherwise pdFALSE. This is used by the ISR to determine if a context switch - * may be required following the ISR. - * - * \defgroup vTaskResumeFromISR vTaskResumeFromISR - * \ingroup TaskCtrl - */ - BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- -* SCHEDULER CONTROL -*----------------------------------------------------------*/ - -/** - * task. h - * 
void vTaskStartScheduler( void );
- * - * Starts the real time kernel tick processing. After calling the kernel - * has control over which tasks are executed and when. - * - * See the demo application file main.c for an example of creating - * 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 ()
- * }
- *
- * - * \defgroup vTaskStartScheduler vTaskStartScheduler - * \ingroup SchedulerControl - */ - void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskEndScheduler( void );
- * - * NOTE: At the time of writing only the x86 real mode port, which runs on a PC - * in place of DOS, implements this function. - * - * Stops the real time kernel tick. All created tasks will be automatically - * deleted and multitasking (either preemptive or cooperative) will - * stop. Execution then resumes from the point where vTaskStartScheduler () - * was called, as if vTaskStartScheduler () had just returned. - * - * See the demo application file main. c in the demo/PC directory for an - * example that uses vTaskEndScheduler (). - * - * vTaskEndScheduler () requires an exit function to be defined within the - * portable layer (see vPortEndScheduler () in port. c for the PC port). This - * performs hardware specific operations such as stopping the kernel tick. - * - * vTaskEndScheduler () will cause all of the resources allocated by the - * kernel to be freed - but will not free resources allocated by application - * 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.
- * }
- *
- * - * \defgroup vTaskEndScheduler vTaskEndScheduler - * \ingroup SchedulerControl - */ - void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskSuspendAll( void );
- * - * Suspends the scheduler without disabling interrupts. Context switches will - * not occur while the scheduler is suspended. - * - * After calling vTaskSuspendAll () the calling task will continue to execute - * without risk of being swapped out until a call to xTaskResumeAll () has been - * made. - * - * API functions that have the potential to cause a context switch (for example, - * vTaskDelayUntil(), 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 ();
- *   }
- * }
- *
- * \defgroup vTaskSuspendAll vTaskSuspendAll - * \ingroup SchedulerControl - */ - void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
BaseType_t xTaskResumeAll( void );
- * - * Resumes scheduler activity after it was suspended by a call to - * vTaskSuspendAll(). - * - * xTaskResumeAll() only resumes the scheduler. It does not unsuspend tasks - * 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. - * - * 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 ();
- *       }
- *   }
- * }
- *
- * \defgroup xTaskResumeAll xTaskResumeAll - * \ingroup SchedulerControl - */ - BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION; - -/*----------------------------------------------------------- -* TASK UTILITIES -*----------------------------------------------------------*/ - -/** - * task. h - * 
TickType_t xTaskGetTickCount( void );
- * - * @return The count of ticks since vTaskStartScheduler was called. - * - * \defgroup xTaskGetTickCount xTaskGetTickCount - * \ingroup TaskUtils - */ - TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
TickType_t xTaskGetTickCountFromISR( void );
- * - * @return The count of ticks since vTaskStartScheduler was called. - * - * This is a version of xTaskGetTickCount() that is safe to be called from an - * ISR - provided that TickType_t is the natural word size of the - * microcontroller being used or interrupt nesting is either not supported or - * not being used. - * - * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR - * \ingroup TaskUtils - */ - TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
uint16_t uxTaskGetNumberOfTasks( void );
- * - * @return The number of tasks that the real time kernel is currently managing. - * This includes all ready, blocked and suspended tasks. A task that - * has been deleted but not yet freed by the idle task will also be - * included in the count. - * - * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks - * \ingroup TaskUtils - */ - UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
char *pcTaskGetName( TaskHandle_t xTaskToQuery );
- * - * @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 - * handle, or by setting xTaskToQuery to NULL. - * - * \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. */ - -/** - * task. h - * 
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );
- * - * NOTE: This function takes a relatively long time to complete and should be - * used sparingly. - * - * @return The handle of the task that has the human readable name pcNameToQuery. - * NULL is returned if no matching name is found. INCLUDE_xTaskGetHandle - * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available. - * - * \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. */ - -/** - * task.h - * 
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
- * - * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for - * this function to be available. - * - * Returns the high water mark of the stack associated with xTask. That is, - * the minimum free stack space there has been (in words, so on a 32 bit machine - * a value of 1 means 4 bytes) since the task started. The smaller the returned - * number the closer the task has come to overflowing its stack. - * - * 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. - * - * @param xTask Handle of the task associated with the stack to be checked. - * Set xTask to NULL to check the stack of the calling task. - * - * @return The smallest amount of free stack space there has been (in words, so - * actual spaces on the stack rather than bytes) since the task referenced by - * xTask was created. - */ - UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTION; - -/** - * task.h - * 
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );
- * - * INCLUDE_uxTaskGetStackHighWaterMark2 must be set to 1 in FreeRTOSConfig.h for - * this function to be available. - * - * Returns the high water mark of the stack associated with xTask. That is, - * the minimum free stack space there has been (in words, so on a 32 bit machine - * a value of 1 means 4 bytes) since the task started. The smaller the returned - * number the closer the task has come to overflowing its stack. - * - * 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. - * - * @param xTask Handle of the task associated with the stack to be checked. - * Set xTask to NULL to check the stack of the calling task. - * - * @return The smallest amount of free stack space there has been (in words, so - * actual spaces on the stack rather than bytes) since the task referenced by - * xTask was created. - */ - 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. */ - #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; - -/** - * 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 - * 
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 */ - #endif /* ifdef configUSE_APPLICATION_TASK_TAG */ - - #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; - - #endif - -/** - * task.h - * 
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
- * - * Calls the hook function associated with xTask. Passing xTask as NULL has - * the effect of calling the Running tasks (the calling task) hook function. - * - * pvParameter is passed to the hook function for the task to interpret as it - * 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; - -/** - * xTaskGetIdleTaskHandle() is only available if - * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h. - * - * Simply returns the handle of the idle task. It is not valid to call - * xTaskGetIdleTaskHandle() before the scheduler has been started. - */ - TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION; - -/** - * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for - * uxTaskGetSystemState() to be available. - * - * uxTaskGetSystemState() populates an TaskStatus_t structure for each task in - * the system. TaskStatus_t structures contain, among other things, members - * for the task handle, task name, task priority, task state, and total amount - * of run time consumed by the task. See the TaskStatus_t structure - * definition in this file for the full member list. - * - * NOTE: This function is intended for debugging use only as its use results in - * the scheduler remaining suspended for an extended period. - * - * @param pxTaskStatusArray A pointer to an array of TaskStatus_t structures. - * The array must contain at least one TaskStatus_t structure for each task - * that is under the control of the RTOS. The number of tasks under the control - * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function. - * - * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray - * parameter. The size is specified as the number of indexes in the array, or - * the number of TaskStatus_t structures contained in the array, not by the - * number of bytes in the array. - * - * @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. - * pulTotalRunTime can be set to NULL to omit the total run time information. - * - * @return The number of TaskStatus_t structures that were populated by - * uxTaskGetSystemState(). This should equal the number returned by the - * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed - * 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 );
- *      }
- *  }
- *
- */ - UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, - const UBaseType_t uxArraySize, - uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION; - -/** - * task. h - * 
void vTaskList( char *pcWriteBuffer );
- * - * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must - * both be defined as 1 for this function to be available. See the - * configuration section of the FreeRTOS.org website for more information. - * - * NOTE 1: This function will disable interrupts for its duration. It is - * not intended for normal application runtime use but as a debug aid. - * - * Lists all the current tasks, along with their current state and stack - * usage high water mark. - * - * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or - * suspended ('S'). - * - * 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(). - * - * @param pcWriteBuffer A buffer into which the above mentioned details - * will be written, in ASCII form. This buffer is assumed to be large - * enough to contain the generated report. Approximately 40 bytes per - * task should be sufficient. - * - * \defgroup vTaskList vTaskList - * \ingroup TaskUtils - */ - void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */ - -/** - * task. h - * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );
- * - * 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. - * - * NOTE 1: This function will disable interrupts for its duration. It is - * not intended for normal application runtime use but as a debug aid. - * - * 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. - * Calling vTaskGetRunTimeStats() writes the total execution time of each - * task into a buffer, both as an absolute count value and as a percentage - * of the total system execution time. - * - * NOTE 2: - * - * 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(). - * - * @param pcWriteBuffer A buffer into which the execution times will be - * written, in ASCII form. This buffer is assumed to be large enough to - * contain the generated report. Approximately 40 bytes per task should - * be sufficient. - * - * \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; - -/** - * task. h - * 
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 );
- * - * See http://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 - * are a method of sending an event directly to a task without the need for such - * an intermediary object. - * - * A notification sent to a task can optionally perform an action, such as - * 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 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. - * - * 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. - * - * @param eAction Specifies how the notification updates the task's notification - * value, if at all. Valid values for eAction are as follows: - * - * eSetBits - - * The target notification value is bitwise ORed with ulValue. - * xTaskNofifyIndexed() always returns pdPASS in this case. - * - * eIncrement - - * The target notification value is incremented. ulValue is not used and - * xTaskNotifyIndexed() always returns pdPASS in this case. - * - * eSetValueWithOverwrite - - * 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 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 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. - * - * @return Dependent on the value of eAction. See the description of the - * eAction parameter. - * - * \defgroup xTaskNotifyIndexed xTaskNotifyIndexed - * \ingroup TaskNotifications - */ - 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 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 );
- * - * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details. - * - * 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. - * - * 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 - * 
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 );
- * - * See http://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 - * are a method of sending an event directly to a task without the need for such - * an intermediary object. - * - * A notification sent to a task can optionally perform an action, such as - * 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 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. - * - * 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 - * task, and the handle of the currently running task can be obtained by calling - * xTaskGetCurrentTaskHandle(). - * - * @param ulValue Data that can be sent with the notification. How the data is - * used depends on the value of the eAction parameter. - * - * @param eAction Specifies how the notification updates the task's notification - * 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. - * - * eIncrement - - * The task's notification value is incremented. ulValue is not used and - * xTaskNotify() 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. - * - * 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. - * - * eNoAction - - * The task receives a notification without its notification value being - * updated. ulValue is not used and xTaskNotify() always returns pdPASS in - * this case. - * - * @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() 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 - * unblocked task has a priority higher than the currently running task. If - * xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should - * be requested before the interrupt is exited. How a context switch is - * requested from an ISR is dependent on the port - see the documentation page - * for the port in use. - * - * @return Dependent on the value of eAction. See the description of the - * eAction parameter. - * - * \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR - * \ingroup TaskNotifications - */ - 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 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 );
- * - * See http://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 - * 
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 );
- * - * Waits for a direct to task notification to be pending at a given index within - * an array of direct to task notifications. - * - * See http://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. - * - * 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 - * are a method of sending an event directly to a task without the need for such - * an intermediary object. - * - * A notification sent to a task can optionally perform an action, such as - * 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 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 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. - * - * **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 - * checks to see if any notifications are pending, and optionally blocks if no - * notifications are pending. Setting ulBitsToClearOnEntry to ULONG_MAX (if - * limits.h is included) or 0xffffffffUL (if limits.h is not included) will have - * the effect of resetting the task's notification value to 0. Setting - * ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged. - * - * @param ulBitsToClearOnExit If a notification is pending or received before - * the calling task exits the xTaskNotifyWait() function then the task's - * notification value (see the xTaskNotify() API function) is passed out using - * the pulNotificationValue parameter. Then any bits that are set in - * ulBitsToClearOnExit will be cleared in the task's notification value (note - * *pulNotificationValue is set before any bits are cleared). Setting - * ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL - * (if limits.h is not included) will have the effect of resetting the task's - * notification value to 0 before the function exits. Setting - * ulBitsToClearOnExit to 0 will leave the task's notification value unchanged - * when the function exits (in which case the value passed out in - * pulNotificationValue will match the task's notification value). - * - * @param pulNotificationValue Used to pass the task's notification value out - * of the function. Note the value passed out will not be effected by the - * clearing of any bits caused by ulBitsToClearOnExit being non-zero. - * - * @param xTicksToWait The maximum amount of time that the task should wait in - * 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 - * used to convert a time specified in milliseconds to a time specified in - * ticks. - * - * @return If a notification was received (including notifications that were - * already pending when xTaskNotifyWait was called) then pdPASS is - * returned. Otherwise pdFAIL is returned. - * - * \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed - * \ingroup TaskNotifications - */ - 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 xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );
- * 
BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );
- * - * 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. - * - * See http://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 - * are a method of sending an event directly to a task without the need for such - * an intermediary object. - * - * A notification sent to a task can optionally perform an action, such as - * 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. - * - * 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 ulTaskNotificationTakeIndexed() API function rather than the - * xTaskNotifyWaitIndexed() API function. - * - * **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 xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed - * \ingroup TaskNotifications - */ - #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 vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );
- * 
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTaskNotifyGiveIndexed() that can be called from an interrupt
- * service routine (ISR).
- *
- * See http://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.
- *
- * 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
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * 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.
- *
- * 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 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 ulTaskNotificationTakeIndexed() API function rather than the
- * xTaskNotifyWaitIndexed() API function.
- *
- * **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
- * unblocked task has a priority higher than the currently running task.  If
- * vTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch
- * should be requested before the interrupt is exited.  How a context switch is
- * requested from an ISR is dependent on the port - see the documentation page
- * for the port in use.
- *
- * \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR
- * \ingroup TaskNotifications
- */
-    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 ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );

- * 
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );

- *
- * 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 http://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.
- *
- * 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
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * 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.
- *
- * 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 xTaskNotifyGiveIndexed()
- * macro, or xTaskNotifyIndex() function with the eAction parameter set to
- * eIncrement.
- *
- * 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 ulTaskNotifyTakeIndexed() to [optionally] block to wait for
- * the task's notification value to be non-zero.  The task does not consume any
- * CPU time while it is in the Blocked state.
- *
- * Where as xTaskNotifyWaitIndexed() will return when a notification is pending,
- * ulTaskNotifyTakeIndexed() will return when the task's notification value is
- * not zero.
- *
- * **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
- * notification value acts like a counting semaphore.  If xClearCountOnExit is
- * not pdFALSE then the task's notification value is cleared to zero when the
- * function exits.  In this way the notification value acts like a binary
- * semaphore.
- *
- * @param xTicksToWait The maximum amount of time that the task should wait in
- * the Blocked state for the task's notification value to be greater than zero,
- * 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
- * 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 ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed
- * \ingroup TaskNotifications
- */
-    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( ( uxIndexToNotify ), ( xClearCountOnExit ), ( xTicksToWait ) )
-
-/**
- * task. h
- * 
BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );

- * 
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );

- *
- * See http://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 xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed
- * \ingroup TaskNotifications
- */
-    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 ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );

- * 
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );

- *
- * See http://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 )

- *
- * Capture the current time for future use with xTaskCheckForTimeOut().
- *
- * @param pxTimeOut Pointer to a timeout object into which the current time
- * is to be captured.  The captured time includes the tick count and the number
- * of times the tick count has overflowed since the system first booted.
- * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
- * \ingroup TaskCtrl
- */
-    void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );

- *
- * Determines if pxTicksToWait ticks has passed since a time was captured
- * using a call to vTaskSetTimeOutState().  The captured time includes the tick
- * count and the number of times the tick count has overflowed.
- *
- * @param pxTimeOut The time status as captured previously using
- * vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated
- * to reflect the current time status.
- * @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
- * 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
- *
- * 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;
- *  }
- * 

- * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
- * \ingroup TaskCtrl
- */
-    BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
-                                     TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp );

- *
- * 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
-*----------------------------------------------------------*/
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Called from the real time kernel tick (either preemptive or cooperative),
- * this increments the tick count and checks if any tasks that are blocked
- * for a finite period required removing from a blocked list and placing on
- * a ready list.  If a non-zero value is returned then a context switch is
- * required because either:
- *   + A task was removed from a blocked list because its timeout had expired,
- *     or
- *   + Time slicing is in use and there is a task of equal priority to the
- *     currently running task.
- */
-    BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes the calling task from the ready list and places it both
- * on the list of tasks waiting for a particular event, and the
- * list of delayed tasks.  The task will be removed from both lists
- * and replaced on the ready list should either the event occur (and
- * there be no higher priority tasks waiting on the same event) or
- * the delay period expires.
- *
- * The 'unordered' version replaces the event list item value with the
- * 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
- * priority order.
- *
- * @param pxEventList The list containing tasks that are blocked waiting
- * for the event to occur.
- *
- * @param xItemValue The item value to use for the event list item when the
- * 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
- * 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;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * This function performs nearly the same function as vTaskPlaceOnEventList().
- * The difference being that this function does not permit tasks to block
- * indefinitely, whereas vTaskPlaceOnEventList() does.
- *
- */
-    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
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes a task from both the specified event list and the list of blocked
- * tasks, and places it on a ready queue.
- *
- * xTaskRemoveFromEventList()/vTaskRemoveFromUnorderedEventList() will be called
- * if either an event occurs to unblock a task, or the block timeout period
- * expires.
- *
- * xTaskRemoveFromEventList() is used when the event list is in task priority
- * order.  It removes the list item from the head of the event list as that will
- * have the highest priority owning task of all the tasks on the event list.
- * vTaskRemoveFromUnorderedEventList() is used when the event list is not
- * ordered and the event list items hold something other than the owning tasks
- * priority.  In this case the event list item value is updated to the value
- * passed in the xItemValue parameter.
- *
- * @return pdTRUE if the task being removed has a higher priority than the task
- * 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;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Sets the pointer to the current TCB to the TCB of the highest priority task
- * that is ready to run.
- */
-    portDONT_DISCARD void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THESE FUNCTIONS MUST NOT BE USED FROM APPLICATION CODE.  THEY ARE USED BY
- * THE EVENT BITS MODULE.
- */
-    TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Return the handle of the calling task.
- */
-    TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Shortcut used by the queue implementation to prevent unnecessary call to
- * taskYIELD();
- */
-    void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Returns the scheduler state as taskSCHEDULER_RUNNING,
- * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
- */
-    BaseType_t xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Raises the priority of the mutex holder to that of the calling task should
- * the mutex holder have a priority less than the calling task.
- */
-    BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * Set the priority of a task back to its proper priority in the case that it
- * inherited a higher priority while it was holding a semaphore.
- */
-    BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * If a higher priority task attempting to obtain a mutex caused a lower
- * priority task to inherit the higher priority task's priority - but the higher
- * priority task then timed out without obtaining the mutex, then the lower
- * priority task will disinherit the priority again - but only down as far as
- * 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;
-
-/*
- * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
- */
-    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;
-
-/*
- * Only available when configUSE_TICKLESS_IDLE is set to 1.
- * If tickless mode is being used, or a low power mode is implemented, then
- * the tick interrupt will not execute during idle periods.  When this is the
- * case, the tick count value maintained by the scheduler needs to be kept up
- * 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;
-
-/*
- * Only available when configUSE_TICKLESS_IDLE is set to 1.
- * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
- * specific sleep function to determine if it is ok to proceed with the sleep,
- * and if it is ok to proceed, if it is ok to sleep indefinitely.
- *
- * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
- * called with the scheduler suspended, not from within a critical section.  It
- * is therefore possible for an interrupt to request a context switch between
- * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
- * entered.  eTaskConfirmSleepModeStatus() should be called from a short
- * critical section between the timer being stopped and the sleep mode being
- * entered to ensure it is ok to proceed into the sleep mode.
- */
-    eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
-
-/*
- * For internal use only.  Increment the mutex held count when a mutex is
- * taken and return the handle of the task that has taken the mutex.
- */
-    TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
-
-/*
- * For internal use only.  Same as vTaskSetTimeOutState(), but without a critial
- * section.
- */
-    void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-
-    #ifdef __cplusplus
-        }
-    #endif
-#endif /* INC_TASK_H */
+/*
+ * 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
+ *
+ */
+
+
+#ifndef INC_TASK_H
+#define INC_TASK_H
+
+#ifndef INC_FREERTOS_H
+    #error "include FreeRTOS.h must appear in source files before include task.h"
+#endif
+
+#include "list.h"
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
+/*-----------------------------------------------------------
+* 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
+
+/* 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 )
+
+/* 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
+ *
+ * Type by which tasks are referenced.  For example, a call to xTaskCreate
+ * returns (via a pointer parameter) an TaskHandle_t variable that can then
+ * be used as a parameter to vTaskDelete to delete the task.
+ *
+ * \defgroup TaskHandle_t TaskHandle_t
+ * \ingroup Tasks
+ */
+struct tskTaskControlBlock;     /* The old naming convention is used to prevent breaking kernel aware debuggers. */
+typedef struct tskTaskControlBlock * TaskHandle_t;
+
+/*
+ * Defines the prototype to which the application task hook function must
+ * conform.
+ */
+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. */
+} 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. */
+} eNotifyAction;
+
+/*
+ * Used internally only.
+ */
+typedef struct xTIME_OUT
+{
+    BaseType_t xOverflowCount;
+    TickType_t xTimeOnEntering;
+} TimeOut_t;
+
+/*
+ * Defines the memory ranges allocated to the task when an MPU is used.
+ */
+typedef struct xMEMORY_REGION
+{
+    void * pvBaseAddress;
+    uint32_t ulLengthInBytes;
+    uint32_t ulParameters;
+} MemoryRegion_t;
+
+/*
+ * Parameters required to create an MPU protected task.
+ */
+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
+} TaskParameters_t;
+
+/* Used with the uxTaskGetSystemState() function to return the state of each task
+ * 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. */
+} 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. */
+} eSleepModeStatus;
+
+/**
+ * Defines the priority used by the idle task.  This must not be modified.
+ *
+ * \ingroup TaskUtils
+ */
+#define tskIDLE_PRIORITY    ( ( UBaseType_t ) 0U )
+
+/**
+ * task. h
+ *
+ * Macro for forcing a context switch.
+ *
+ * \defgroup taskYIELD taskYIELD
+ * \ingroup SchedulerControl
+ */
+#define taskYIELD()                        portYIELD()
+
+/**
+ * task. h
+ *
+ * Macro to mark the start of a critical code region.  Preemptive context
+ * switches cannot occur when in a critical region.
+ *
+ * NOTE: This may alter the stack (depending on the portable implementation)
+ * so must be used with care!
+ *
+ * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
+ * \ingroup SchedulerControl
+ */
+#define taskENTER_CRITICAL()               portENTER_CRITICAL()
+#define taskENTER_CRITICAL_FROM_ISR()      portSET_INTERRUPT_MASK_FROM_ISR()
+
+/**
+ * task. h
+ *
+ * Macro to mark the end of a critical code region.  Preemptive context
+ * switches cannot occur when in a critical region.
+ *
+ * NOTE: This may alter the stack (depending on the portable implementation)
+ * so must be used with care!
+ *
+ * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
+ * \ingroup SchedulerControl
+ */
+#define taskEXIT_CRITICAL()                portEXIT_CRITICAL()
+#define taskEXIT_CRITICAL_FROM_ISR( x )    portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
+
+/**
+ * task. h
+ *
+ * Macro to disable all maskable interrupts.
+ *
+ * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
+ * \ingroup SchedulerControl
+ */
+#define taskDISABLE_INTERRUPTS()           portDISABLE_INTERRUPTS()
+
+/**
+ * task. h
+ *
+ * Macro to enable microcontroller interrupts.
+ *
+ * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
+ * \ingroup SchedulerControl
+ */
+#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 )
+
+
+/*-----------------------------------------------------------
+* 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
+ *                        );

+ *
+ * Create a new task and add it to the list of tasks that are ready to run.
+ *
+ * Internally, within the FreeRTOS implementation, tasks use two blocks of
+ * memory.  The first block is used to hold the task's data structures.  The
+ * 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
+ * xTaskCreateStatic() then the application writer must provide the required
+ * memory.  xTaskCreateStatic() therefore allows a task to be created without
+ * using any dynamic memory allocation.
+ *
+ * See xTaskCreateStatic() for a version that does not use any dynamic memory
+ * allocation.
+ *
+ * xTaskCreate() can only be used to create a task that has unrestricted
+ * access to the entire microcontroller memory map.  Systems that include MPU
+ * support can alternatively create an MPU constrained task using
+ * xTaskCreateRestricted().
+ *
+ * @param pvTaskCode 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
+ * facilitate debugging.  Max length defined by configMAX_TASK_NAME_LEN - default
+ * is 16.
+ *
+ * @param usStackDepth The size of the task stack specified as the number of
+ * variables the stack can hold - not the number of bytes.  For example, if
+ * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
+ * will be allocated for stack storage.
+ *
+ * @param pvParameters Pointer that will be used as the parameter for the task
+ * being created.
+ *
+ * @param uxPriority The priority at which the task should run.  Systems that
+ * include MPU support can optionally create tasks in a privileged (system)
+ * mode by setting bit portPRIVILEGE_BIT of the priority parameter.  For
+ * 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
+ * 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 );
+ *   }
+ * }
+ * 

+ * \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;
+#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 );

+ *
+ * Create a new task and add it to the list of tasks that are ready to run.
+ *
+ * Internally, within the FreeRTOS implementation, tasks use two blocks of
+ * memory.  The first block is used to hold the task's data structures.  The
+ * 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
+ * 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
+ * must be implemented to never return (i.e. continuous loop).
+ *
+ * @param pcName A descriptive name for the task.  This is mainly used to
+ * facilitate debugging.  The maximum length of the string is defined by
+ * configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
+ *
+ * @param ulStackDepth The size of the task stack specified as the number of
+ * variables the stack can hold - not the number of bytes.  For example, if
+ * the stack is 32-bits wide and ulStackDepth is defined as 100 then 400 bytes
+ * will be allocated for stack storage.
+ *
+ * @param pvParameters Pointer that will be used as the parameter for the task
+ * being created.
+ *
+ * @param uxPriority The priority at which the task will run.
+ *
+ * @param pxStackBuffer 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.
+ *
+ * @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will
+ * 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
+ * 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 );
+ *  }
+ * 

+ * \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;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * task. h
+ *
+ * BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );

+ *
+ * Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1.
+ *
+ * xTaskCreateRestricted() should only be used in systems that include an MPU
+ * implementation.
+ *
+ * Create a new task and add it to the list of tasks that are ready to run.
+ * The function parameters define the memory regions and associated access
+ * permissions allocated to the task.
+ *
+ * See xTaskCreateRestrictedStatic() for a version that does not use any
+ * dynamic memory allocation.
+ *
+ * @param pxTaskDefinition Pointer to a structure that contains a member
+ * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
+ * documentation) plus an optional stack buffer and the memory region
+ * definitions.
+ *
+ * @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:
+ * 
+ * // 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( ;; );
+ * }
+ * 

+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * \ingroup Tasks
+ */
+#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 );

+ *
+ * Only available when configSUPPORT_STATIC_ALLOCATION is set to 1.
+ *
+ * xTaskCreateRestrictedStatic() should only be used in systems that include an
+ * MPU implementation.
+ *
+ * Internally, within the FreeRTOS implementation, tasks use two blocks of
+ * memory.  The first block is used to hold the task's data structures.  The
+ * second block is used by the task as its stack.  If a task is created using
+ * xTaskCreateRestricted() then the stack is provided by the application writer,
+ * and the memory used to hold the task's data structure is automatically
+ * dynamically allocated inside the xTaskCreateRestricted() function.  If a task
+ * is created using xTaskCreateRestrictedStatic() then the application writer
+ * must provide the memory used to hold the task's data structures too.
+ * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
+ * created without using any dynamic memory allocation.
+ *
+ * @param pxTaskDefinition Pointer to a structure that contains a member
+ * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
+ * documentation) plus an optional stack buffer and the memory region
+ * definitions.  If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure
+ * contains an additional member, which is used to point to a variable of type
+ * StaticTask_t - which is then used to hold the task's data structure.
+ *
+ * @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:
+ * 
+ * // 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( ;; );
+ * }
+ * 

+ * \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;
+#endif
+
+/**
+ * task. h
+ *
+ * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );

+ *
+ * Memory regions are assigned to a restricted task when the task is created by
+ * a call to xTaskCreateRestricted().  These regions can be redefined using
+ * vTaskAllocateMPURegions().
+ *
+ * @param xTask The handle of the task being updated.
+ *
+ * @param xRegions A pointer to an 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
+ * \ingroup Tasks
+ */
+void vTaskAllocateMPURegions( TaskHandle_t xTask,
+                              const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskDelete( TaskHandle_t xTask );

+ *
+ * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Remove a task from the RTOS real time kernel's management.  The task being
+ * deleted will be removed from all ready, blocked, suspended and event lists.
+ *
+ * NOTE:  The idle task is responsible for freeing the kernel allocated
+ * memory from tasks that have been deleted.  It is therefore important that
+ * the idle task is not starved of microcontroller processing time if your
+ * application makes any calls to vTaskDelete ().  Memory allocated by the
+ * task code is not automatically freed, and should be freed before the task
+ * is deleted.
+ *
+ * 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
+ * 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 );
+ * }
+ * 

+ * \defgroup vTaskDelete vTaskDelete
+ * \ingroup Tasks
+ */
+void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
+
+/*-----------------------------------------------------------
+* TASK CONTROL API
+*----------------------------------------------------------*/
+
+/**
+ * task. h
+ * 
void vTaskDelay( const TickType_t xTicksToDelay );

+ *
+ * Delay a task for a given number of ticks.  The actual time that the
+ * task remains blocked depends on the tick rate.  The constant
+ * portTICK_PERIOD_MS can be used to calculate real time from the tick
+ * rate - with the resolution of one tick period.
+ *
+ * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ *
+ * vTaskDelay() specifies a time at which the task wishes to unblock relative to
+ * the time at which vTaskDelay() is called.  For example, specifying a block
+ * 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
+ * at which vTaskDelay() gets called and therefore the time at which the task
+ * next executes.  See vTaskDelayUntil() 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.
+ *
+ * @param xTicksToDelay The amount of time, in tick periods, that
+ * 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 );
+ *   }
+ * }
+ *
+ * \defgroup vTaskDelay vTaskDelay
+ * \ingroup TaskCtrl
+ */
+void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );

+ *
+ * INCLUDE_vTaskDelayUntil 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
+ * tasks to ensure a constant execution frequency.
+ *
+ * This function differs from vTaskDelay () in one important aspect:  vTaskDelay () will
+ * cause a task to block for the specified number of ticks from the time vTaskDelay () is
+ * called.  It is therefore difficult to use vTaskDelay () by itself to generate a fixed
+ * execution frequency as the time between a task starting to execute and that task
+ * calling vTaskDelay () may not be fixed [the task may take a different path though the
+ * code between calls, or may get interrupted or preempted a different number of times
+ * 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
+ * unblock.
+ *
+ * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
+ * rate - with the 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 ().
+ *
+ * @param xTimeIncrement The cycle time period.  The task will be unblocked at
+ * time *pxPreviousWakeTime + xTimeIncrement.  Calling vTaskDelayUntil with the
+ * same xTimeIncrement parameter value will cause the task to execute with
+ * a fixed interface period.
+ *
+ * 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
+ * \ingroup TaskCtrl
+ */
+void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                      const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
BaseType_t xTaskAbortDelay( TaskHandle_t xTask );

+ *
+ * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this
+ * function to be available.
+ *
+ * A task will enter the Blocked state when it is waiting for an event.  The
+ * event it is waiting for can be a temporal event (waiting for a time), such
+ * as when vTaskDelay() is called, or an event on an object, such as when
+ * xQueueReceive() or ulTaskNotifyTake() is called.  If the handle of a task
+ * that is in the Blocked state is used in a call to xTaskAbortDelay() then the
+ * task will leave the Blocked state, and return from whichever function call
+ * placed the task into the Blocked state.
+ *
+ * There is no 'FromISR' version of this function as an interrupt would need to
+ * know which object a task was blocked on in order to know which actions to
+ * take.  For example, if the task was blocked on a queue the interrupt handler
+ * would then need to know if the queue was locked.
+ *
+ * @param xTask The handle of the task to remove from the Blocked state.
+ *
+ * @return If the task referenced by xTask was not in the Blocked state then
+ * pdFAIL is returned.  Otherwise pdPASS is returned.
+ *
+ * \defgroup xTaskAbortDelay xTaskAbortDelay
+ * \ingroup TaskCtrl
+ */
+BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );

+ *
+ * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Obtain the priority of any task.
+ *
+ * @param xTask Handle of the task to be queried.  Passing a NULL
+ * handle results in the priority of the calling task being returned.
+ *
+ * @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.
+ *   }
+ * }
+ * 

+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet
+ * \ingroup TaskCtrl
+ */
+UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );

+ *
+ * A version of uxTaskPriorityGet() that can be used from an ISR.
+ */
+UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
eTaskState eTaskGetState( TaskHandle_t xTask );

+ *
+ * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Obtain the state of any task.  States are encoded by the eTaskState
+ * enumerated type.
+ *
+ * @param xTask Handle of the task to be queried.
+ *
+ * @return The state of xTask at the time the function was called.  Note the
+ * state of the task might change between the function being called, and the
+ * functions return value being tested by the calling task.
+ */
+eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );

+ *
+ * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
+ * available.  See the configuration section for more information.
+ *
+ * Populates a TaskStatus_t structure with information about a task.
+ *
+ * @param xTask Handle of the task being queried.  If xTask is NULL then
+ * information will be returned about the calling task.
+ *
+ * @param pxTaskStatus A pointer to the TaskStatus_t structure that will be
+ * 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
+ * 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
+ * allow the high water mark checking to be skipped.  The high watermark value
+ * will only be written to the TaskStatus_t structure if xGetFreeStackSpace is
+ * not set to pdFALSE;
+ *
+ * @param eState The TaskStatus_t structure contains a member to report the
+ * state of the task being queried.  Obtaining the task state is not as fast as
+ * a simple assignment - so the eState parameter is provided to allow the state
+ * information to be omitted from the TaskStatus_t structure.  To obtain state
+ * information then set eState to eInvalid - otherwise the value passed in
+ * 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.
+ * }
+ * 

+ * \defgroup vTaskGetInfo vTaskGetInfo
+ * \ingroup TaskCtrl
+ */
+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 );

+ *
+ * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Set the priority of any task.
+ *
+ * A context switch will occur before the function returns if the priority
+ * being set is higher than the currently executing task.
+ *
+ * @param xTask Handle to the task for which the priority is being set.
+ * Passing a NULL handle results in the priority of the calling task being set.
+ *
+ * @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 );
+ * }
+ * 

+ * \defgroup vTaskPrioritySet vTaskPrioritySet
+ * \ingroup TaskCtrl
+ */
+void vTaskPrioritySet( TaskHandle_t xTask,
+                       UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskSuspend( TaskHandle_t xTaskToSuspend );

+ *
+ * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Suspend any task.  When suspended a task will never get any microcontroller
+ * processing time, no matter what its priority.
+ *
+ * Calls to vTaskSuspend are not accumulative -
+ * i.e. calling vTaskSuspend () twice on the same task still only requires one
+ * call to vTaskResume () to ready the suspended task.
+ *
+ * @param xTaskToSuspend Handle to the task being suspended.  Passing a NULL
+ * 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.
+ * }
+ * 

+ * \defgroup vTaskSuspend vTaskSuspend
+ * \ingroup TaskCtrl
+ */
+void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskResume( TaskHandle_t xTaskToResume );

+ *
+ * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
+ * See the configuration section for more information.
+ *
+ * Resumes a suspended task.
+ *
+ * A task that has been suspended by one or more calls to vTaskSuspend ()
+ * will be made available for running again by a single call to
+ * vTaskResume ().
+ *
+ * @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.
+ * }
+ * 

+ * \defgroup vTaskResume vTaskResume
+ * \ingroup TaskCtrl
+ */
+void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void xTaskResumeFromISR( TaskHandle_t xTaskToResume );

+ *
+ * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
+ * available.  See the configuration section for more information.
+ *
+ * An implementation of vTaskResume() that can be called from within an ISR.
+ *
+ * A task that has been suspended by one or more calls to vTaskSuspend ()
+ * will be made available for running again by a single call to
+ * xTaskResumeFromISR ().
+ *
+ * xTaskResumeFromISR() should not be used to synchronise a task with an
+ * interrupt if there is a chance that the interrupt could arrive prior to the
+ * task being suspended - as this can lead to interrupts being missed. Use of a
+ * semaphore as a synchronisation mechanism would avoid this eventuality.
+ *
+ * @param xTaskToResume Handle to the task being readied.
+ *
+ * @return pdTRUE if resuming the task should result in a context switch,
+ * otherwise pdFALSE. This is used by the ISR to determine if a context switch
+ * may be required following the ISR.
+ *
+ * \defgroup vTaskResumeFromISR vTaskResumeFromISR
+ * \ingroup TaskCtrl
+ */
+BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
+
+/*-----------------------------------------------------------
+* SCHEDULER CONTROL
+*----------------------------------------------------------*/
+
+/**
+ * task. h
+ * 
void vTaskStartScheduler( void );

+ *
+ * Starts the real time kernel tick processing.  After calling the kernel
+ * has control over which tasks are executed and when.
+ *
+ * See the demo application file main.c for an example of creating
+ * 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 ()
+ * }
+ * 

+ *
+ * \defgroup vTaskStartScheduler vTaskStartScheduler
+ * \ingroup SchedulerControl
+ */
+void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskEndScheduler( void );

+ *
+ * NOTE:  At the time of writing only the x86 real mode port, which runs on a PC
+ * in place of DOS, implements this function.
+ *
+ * Stops the real time kernel tick.  All created tasks will be automatically
+ * deleted and multitasking (either preemptive or cooperative) will
+ * stop.  Execution then resumes from the point where vTaskStartScheduler ()
+ * was called, as if vTaskStartScheduler () had just returned.
+ *
+ * See the demo application file main. c in the demo/PC directory for an
+ * example that uses vTaskEndScheduler ().
+ *
+ * vTaskEndScheduler () requires an exit function to be defined within the
+ * portable layer (see vPortEndScheduler () in port. c for the PC port).  This
+ * performs hardware specific operations such as stopping the kernel tick.
+ *
+ * vTaskEndScheduler () will cause all of the resources allocated by the
+ * kernel to be freed - but will not free resources allocated by application
+ * 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.
+ * }
+ * 

+ *
+ * \defgroup vTaskEndScheduler vTaskEndScheduler
+ * \ingroup SchedulerControl
+ */
+void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskSuspendAll( void );

+ *
+ * Suspends the scheduler without disabling interrupts.  Context switches will
+ * not occur while the scheduler is suspended.
+ *
+ * After calling vTaskSuspendAll () the calling task will continue to execute
+ * without risk of being swapped out until a call to xTaskResumeAll () has been
+ * made.
+ *
+ * API functions that have the potential to cause a context switch (for example,
+ * vTaskDelayUntil(), 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 ();
+ *   }
+ * }
+ * 

+ * \defgroup vTaskSuspendAll vTaskSuspendAll
+ * \ingroup SchedulerControl
+ */
+void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
BaseType_t xTaskResumeAll( void );

+ *
+ * Resumes scheduler activity after it was suspended by a call to
+ * vTaskSuspendAll().
+ *
+ * xTaskResumeAll() only resumes the scheduler.  It does not unsuspend tasks
+ * 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.
+ *
+ * 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 ();
+ *       }
+ *   }
+ * }
+ * 

+ * \defgroup xTaskResumeAll xTaskResumeAll
+ * \ingroup SchedulerControl
+ */
+BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
+
+/*-----------------------------------------------------------
+* TASK UTILITIES
+*----------------------------------------------------------*/
+
+/**
+ * task. h
+ * 
TickType_t xTaskGetTickCount( void );

+ *
+ * @return The count of ticks since vTaskStartScheduler was called.
+ *
+ * \defgroup xTaskGetTickCount xTaskGetTickCount
+ * \ingroup TaskUtils
+ */
+TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
TickType_t xTaskGetTickCountFromISR( void );

+ *
+ * @return The count of ticks since vTaskStartScheduler was called.
+ *
+ * This is a version of xTaskGetTickCount() that is safe to be called from an
+ * ISR - provided that TickType_t is the natural word size of the
+ * microcontroller being used or interrupt nesting is either not supported or
+ * not being used.
+ *
+ * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR
+ * \ingroup TaskUtils
+ */
+TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
uint16_t uxTaskGetNumberOfTasks( void );

+ *
+ * @return The number of tasks that the real time kernel is currently managing.
+ * This includes all ready, blocked and suspended tasks.  A task that
+ * has been deleted but not yet freed by the idle task will also be
+ * included in the count.
+ *
+ * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
+ * \ingroup TaskUtils
+ */
+UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
char *pcTaskGetName( TaskHandle_t xTaskToQuery );

+ *
+ * @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
+ * handle, or by setting xTaskToQuery to NULL.
+ *
+ * \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. */
+
+/**
+ * task. h
+ * 
TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );

+ *
+ * NOTE:  This function takes a relatively long time to complete and should be
+ * used sparingly.
+ *
+ * @return The handle of the task that has the human readable name pcNameToQuery.
+ * NULL is returned if no matching name is found.  INCLUDE_xTaskGetHandle
+ * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available.
+ *
+ * \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. */
+
+/**
+ * task.h
+ * 
UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );

+ *
+ * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
+ * this function to be available.
+ *
+ * Returns the high water mark of the stack associated with xTask.  That is,
+ * the minimum free stack space there has been (in words, so on a 32 bit machine
+ * a value of 1 means 4 bytes) since the task started.  The smaller the returned
+ * number the closer the task has come to overflowing its stack.
+ *
+ * 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.
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The smallest amount of free stack space there has been (in words, so
+ * actual spaces on the stack rather than bytes) since the task referenced by
+ * xTask was created.
+ */
+UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * 
configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );

+ *
+ * INCLUDE_uxTaskGetStackHighWaterMark2 must be set to 1 in FreeRTOSConfig.h for
+ * this function to be available.
+ *
+ * Returns the high water mark of the stack associated with xTask.  That is,
+ * the minimum free stack space there has been (in words, so on a 32 bit machine
+ * a value of 1 means 4 bytes) since the task started.  The smaller the returned
+ * number the closer the task has come to overflowing its stack.
+ *
+ * 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.
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The smallest amount of free stack space there has been (in words, so
+ * actual spaces on the stack rather than bytes) since the task referenced by
+ * xTask was created.
+ */
+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. */
+#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;
+
+/**
+ * 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
+ * 
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 */
+#endif /* ifdef configUSE_APPLICATION_TASK_TAG */
+
+#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;
+
+#endif
+
+/**
+ * task.h
+ * 
BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );

+ *
+ * Calls the hook function associated with xTask.  Passing xTask as NULL has
+ * the effect of calling the Running tasks (the calling task) hook function.
+ *
+ * pvParameter is passed to the hook function for the task to interpret as it
+ * 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;
+
+/**
+ * xTaskGetIdleTaskHandle() is only available if
+ * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
+ *
+ * Simply returns the handle of the idle task.  It is not valid to call
+ * xTaskGetIdleTaskHandle() before the scheduler has been started.
+ */
+TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for
+ * uxTaskGetSystemState() to be available.
+ *
+ * uxTaskGetSystemState() populates an TaskStatus_t structure for each task in
+ * the system.  TaskStatus_t structures contain, among other things, members
+ * for the task handle, task name, task priority, task state, and total amount
+ * of run time consumed by the task.  See the TaskStatus_t structure
+ * definition in this file for the full member list.
+ *
+ * NOTE:  This function is intended for debugging use only as its use results in
+ * the scheduler remaining suspended for an extended period.
+ *
+ * @param pxTaskStatusArray A pointer to an array of TaskStatus_t structures.
+ * The array must contain at least one TaskStatus_t structure for each task
+ * that is under the control of the RTOS.  The number of tasks under the control
+ * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function.
+ *
+ * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray
+ * parameter.  The size is specified as the number of indexes in the array, or
+ * the number of TaskStatus_t structures contained in the array, not by the
+ * number of bytes in the array.
+ *
+ * @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.
+ * pulTotalRunTime can be set to NULL to omit the total run time information.
+ *
+ * @return The number of TaskStatus_t structures that were populated by
+ * uxTaskGetSystemState().  This should equal the number returned by the
+ * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed
+ * 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 );
+ *      }
+ *  }
+ *  

+ */
+UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                  const UBaseType_t uxArraySize,
+                                  uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskList( char *pcWriteBuffer );

+ *
+ * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must
+ * both be defined as 1 for this function to be available.  See the
+ * configuration section of the FreeRTOS.org website for more information.
+ *
+ * NOTE 1: This function will disable interrupts for its duration.  It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * Lists all the current tasks, along with their current state and stack
+ * usage high water mark.
+ *
+ * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
+ * suspended ('S').
+ *
+ * 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().
+ *
+ * @param pcWriteBuffer A buffer into which the above mentioned details
+ * will be written, in ASCII form.  This buffer is assumed to be large
+ * enough to contain the generated report.  Approximately 40 bytes per
+ * task should be sufficient.
+ *
+ * \defgroup vTaskList vTaskList
+ * \ingroup TaskUtils
+ */
+void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+
+/**
+ * task. h
+ * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );

+ *
+ * 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.
+ *
+ * NOTE 1: This function will disable interrupts for its duration.  It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * 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.
+ * Calling vTaskGetRunTimeStats() writes the total execution time of each
+ * task into a buffer, both as an absolute count value and as a percentage
+ * of the total system execution time.
+ *
+ * NOTE 2:
+ *
+ * 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().
+ *
+ * @param pcWriteBuffer A buffer into which the execution times will be
+ * written, in ASCII form.  This buffer is assumed to be large enough to
+ * contain the generated report.  Approximately 40 bytes per task should
+ * be sufficient.
+ *
+ * \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;
+
+/**
+ * task. h
+ * 
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 );

+ *
+ * See http://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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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 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.
+ *
+ * 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.
+ *
+ * @param eAction Specifies how the notification updates the task's notification
+ * value, if at all.  Valid values for eAction are as follows:
+ *
+ * eSetBits -
+ * The target notification value is bitwise ORed with ulValue.
+ * xTaskNofifyIndexed() always returns pdPASS in this case.
+ *
+ * eIncrement -
+ * The target notification value is incremented.  ulValue is not used and
+ * xTaskNotifyIndexed() always returns pdPASS in this case.
+ *
+ * eSetValueWithOverwrite -
+ * 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 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 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.
+ *
+ * @return Dependent on the value of eAction.  See the description of the
+ * eAction parameter.
+ *
+ * \defgroup xTaskNotifyIndexed xTaskNotifyIndexed
+ * \ingroup TaskNotifications
+ */
+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 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 );

+ *
+ * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
+ *
+ * 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.
+ *
+ * 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
+ * 
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 );

+ *
+ * See http://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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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 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.
+ *
+ * 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
+ * task, and the handle of the currently running task can be obtained by calling
+ * xTaskGetCurrentTaskHandle().
+ *
+ * @param ulValue Data that can be sent with the notification.  How the data is
+ * used depends on the value of the eAction parameter.
+ *
+ * @param eAction Specifies how the notification updates the task's notification
+ * 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.
+ *
+ * eIncrement -
+ * The task's notification value is incremented.  ulValue is not used and
+ * xTaskNotify() 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.
+ *
+ * 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.
+ *
+ * eNoAction -
+ * The task receives a notification without its notification value being
+ * updated.  ulValue is not used and xTaskNotify() always returns pdPASS in
+ * this case.
+ *
+ * @param pxHigherPriorityTaskWoken  xTaskNotifyFromISR() 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
+ * unblocked task has a priority higher than the currently running task.  If
+ * xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should
+ * be requested before the interrupt is exited.  How a context switch is
+ * requested from an ISR is dependent on the port - see the documentation page
+ * for the port in use.
+ *
+ * @return Dependent on the value of eAction.  See the description of the
+ * eAction parameter.
+ *
+ * \defgroup xTaskNotifyIndexedFromISR xTaskNotifyIndexedFromISR
+ * \ingroup TaskNotifications
+ */
+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 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 );

+ *
+ * See http://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
+ * 
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 );

+ *
+ * Waits for a direct to task notification to be pending at a given index within
+ * an array of direct to task notifications.
+ *
+ * See http://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.
+ *
+ * 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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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 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 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.
+ *
+ * **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
+ * checks to see if any notifications are pending, and optionally blocks if no
+ * notifications are pending.  Setting ulBitsToClearOnEntry to ULONG_MAX (if
+ * limits.h is included) or 0xffffffffUL (if limits.h is not included) will have
+ * the effect of resetting the task's notification value to 0.  Setting
+ * ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged.
+ *
+ * @param ulBitsToClearOnExit If a notification is pending or received before
+ * the calling task exits the xTaskNotifyWait() function then the task's
+ * notification value (see the xTaskNotify() API function) is passed out using
+ * the pulNotificationValue parameter.  Then any bits that are set in
+ * ulBitsToClearOnExit will be cleared in the task's notification value (note
+ * *pulNotificationValue is set before any bits are cleared).  Setting
+ * ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL
+ * (if limits.h is not included) will have the effect of resetting the task's
+ * notification value to 0 before the function exits.  Setting
+ * ulBitsToClearOnExit to 0 will leave the task's notification value unchanged
+ * when the function exits (in which case the value passed out in
+ * pulNotificationValue will match the task's notification value).
+ *
+ * @param pulNotificationValue Used to pass the task's notification value out
+ * of the function.  Note the value passed out will not be effected by the
+ * clearing of any bits caused by ulBitsToClearOnExit being non-zero.
+ *
+ * @param xTicksToWait The maximum amount of time that the task should wait in
+ * 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
+ * used to convert a time specified in milliseconds to a time specified in
+ * ticks.
+ *
+ * @return If a notification was received (including notifications that were
+ * already pending when xTaskNotifyWait was called) then pdPASS is
+ * returned.  Otherwise pdFAIL is returned.
+ *
+ * \defgroup xTaskNotifyWaitIndexed xTaskNotifyWaitIndexed
+ * \ingroup TaskNotifications
+ */
+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 xTaskNotifyGiveIndexed( TaskHandle_t xTaskToNotify, UBaseType_t uxIndexToNotify );

+ * 
BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );

+ *
+ * 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.
+ *
+ * See http://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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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.
+ *
+ * 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 ulTaskNotificationTakeIndexed() API function rather than the
+ * xTaskNotifyWaitIndexed() API function.
+ *
+ * **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 xTaskNotifyGiveIndexed xTaskNotifyGiveIndexed
+ * \ingroup TaskNotifications
+ */
+#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 vTaskNotifyGiveIndexedFromISR( TaskHandle_t xTaskHandle, UBaseType_t uxIndexToNotify, BaseType_t *pxHigherPriorityTaskWoken );
+ * 
void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTaskNotifyGiveIndexed() that can be called from an interrupt
+ * service routine (ISR).
+ *
+ * See http://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.
+ *
+ * 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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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.
+ *
+ * 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 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 ulTaskNotificationTakeIndexed() API function rather than the
+ * xTaskNotifyWaitIndexed() API function.
+ *
+ * **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
+ * unblocked task has a priority higher than the currently running task.  If
+ * vTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch
+ * should be requested before the interrupt is exited.  How a context switch is
+ * requested from an ISR is dependent on the port - see the documentation page
+ * for the port in use.
+ *
+ * \defgroup vTaskNotifyGiveIndexedFromISR vTaskNotifyGiveIndexedFromISR
+ * \ingroup TaskNotifications
+ */
+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 ulTaskNotifyTakeIndexed( UBaseType_t uxIndexToWaitOn, BaseType_t xClearCountOnExit, TickType_t xTicksToWait );

+ * 
uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );

+ *
+ * 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 http://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.
+ *
+ * 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
+ * are a method of sending an event directly to a task without the need for such
+ * an intermediary object.
+ *
+ * A notification sent to a task can optionally perform an action, such as
+ * 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.
+ *
+ * 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 xTaskNotifyGiveIndexed()
+ * macro, or xTaskNotifyIndex() function with the eAction parameter set to
+ * eIncrement.
+ *
+ * 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 ulTaskNotifyTakeIndexed() to [optionally] block to wait for
+ * the task's notification value to be non-zero.  The task does not consume any
+ * CPU time while it is in the Blocked state.
+ *
+ * Where as xTaskNotifyWaitIndexed() will return when a notification is pending,
+ * ulTaskNotifyTakeIndexed() will return when the task's notification value is
+ * not zero.
+ *
+ * **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
+ * notification value acts like a counting semaphore.  If xClearCountOnExit is
+ * not pdFALSE then the task's notification value is cleared to zero when the
+ * function exits.  In this way the notification value acts like a binary
+ * semaphore.
+ *
+ * @param xTicksToWait The maximum amount of time that the task should wait in
+ * the Blocked state for the task's notification value to be greater than zero,
+ * 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
+ * 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 ulTaskNotifyTakeIndexed ulTaskNotifyTakeIndexed
+ * \ingroup TaskNotifications
+ */
+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( ( uxIndexToNotify ), ( xClearCountOnExit ), ( xTicksToWait ) )
+
+/**
+ * task. h
+ * 
BaseType_t xTaskNotifyStateClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToCLear );

+ * 
BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );

+ *
+ * See http://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 xTaskNotifyStateClearIndexed xTaskNotifyStateClearIndexed
+ * \ingroup TaskNotifications
+ */
+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 ulTaskNotifyValueClearIndexed( TaskHandle_t xTask, UBaseType_t uxIndexToClear, uint32_t ulBitsToClear );

+ * 
uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );

+ *
+ * See http://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 )

+ *
+ * Capture the current time for future use with xTaskCheckForTimeOut().
+ *
+ * @param pxTimeOut Pointer to a timeout object into which the current time
+ * is to be captured.  The captured time includes the tick count and the number
+ * of times the tick count has overflowed since the system first booted.
+ * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
+ * \ingroup TaskCtrl
+ */
+void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * 
BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );

+ *
+ * Determines if pxTicksToWait ticks has passed since a time was captured
+ * using a call to vTaskSetTimeOutState().  The captured time includes the tick
+ * count and the number of times the tick count has overflowed.
+ *
+ * @param pxTimeOut The time status as captured previously using
+ * vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated
+ * to reflect the current time status.
+ * @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
+ * 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
+ *
+ * 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;
+ *  }
+ * 

+ * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
+ * \ingroup TaskCtrl
+ */
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
+                                 TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * 
BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp );

+ *
+ * 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
+*----------------------------------------------------------*/
+
+/*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * Called from the real time kernel tick (either preemptive or cooperative),
+ * this increments the tick count and checks if any tasks that are blocked
+ * for a finite period required removing from a blocked list and placing on
+ * a ready list.  If a non-zero value is returned then a context switch is
+ * required because either:
+ *   + A task was removed from a blocked list because its timeout had expired,
+ *     or
+ *   + Time slicing is in use and there is a task of equal priority to the
+ *     currently running task.
+ */
+BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * Removes the calling task from the ready list and places it both
+ * on the list of tasks waiting for a particular event, and the
+ * list of delayed tasks.  The task will be removed from both lists
+ * and replaced on the ready list should either the event occur (and
+ * there be no higher priority tasks waiting on the same event) or
+ * the delay period expires.
+ *
+ * The 'unordered' version replaces the event list item value with the
+ * 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
+ * priority order.
+ *
+ * @param pxEventList The list containing tasks that are blocked waiting
+ * for the event to occur.
+ *
+ * @param xItemValue The item value to use for the event list item when the
+ * 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
+ * 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;
+
+/*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * This function performs nearly the same function as vTaskPlaceOnEventList().
+ * The difference being that this function does not permit tasks to block
+ * indefinitely, whereas vTaskPlaceOnEventList() does.
+ *
+ */
+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
+ * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * Removes a task from both the specified event list and the list of blocked
+ * tasks, and places it on a ready queue.
+ *
+ * xTaskRemoveFromEventList()/vTaskRemoveFromUnorderedEventList() will be called
+ * if either an event occurs to unblock a task, or the block timeout period
+ * expires.
+ *
+ * xTaskRemoveFromEventList() is used when the event list is in task priority
+ * order.  It removes the list item from the head of the event list as that will
+ * have the highest priority owning task of all the tasks on the event list.
+ * vTaskRemoveFromUnorderedEventList() is used when the event list is not
+ * ordered and the event list items hold something other than the owning tasks
+ * priority.  In this case the event list item value is updated to the value
+ * passed in the xItemValue parameter.
+ *
+ * @return pdTRUE if the task being removed has a higher priority than the task
+ * 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;
+
+/*
+ * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
+ * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
+ * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
+ *
+ * Sets the pointer to the current TCB to the TCB of the highest priority task
+ * that is ready to run.
+ */
+portDONT_DISCARD void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * THESE FUNCTIONS MUST NOT BE USED FROM APPLICATION CODE.  THEY ARE USED BY
+ * THE EVENT BITS MODULE.
+ */
+TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Return the handle of the calling task.
+ */
+TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Shortcut used by the queue implementation to prevent unnecessary call to
+ * taskYIELD();
+ */
+void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Returns the scheduler state as taskSCHEDULER_RUNNING,
+ * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
+ */
+BaseType_t xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Raises the priority of the mutex holder to that of the calling task should
+ * the mutex holder have a priority less than the calling task.
+ */
+BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
+
+/*
+ * Set the priority of a task back to its proper priority in the case that it
+ * inherited a higher priority while it was holding a semaphore.
+ */
+BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
+
+/*
+ * If a higher priority task attempting to obtain a mutex caused a lower
+ * priority task to inherit the higher priority task's priority - but the higher
+ * priority task then timed out without obtaining the mutex, then the lower
+ * priority task will disinherit the priority again - but only down as far as
+ * 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;
+
+/*
+ * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
+ */
+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;
+
+/*
+ * Only available when configUSE_TICKLESS_IDLE is set to 1.
+ * If tickless mode is being used, or a low power mode is implemented, then
+ * the tick interrupt will not execute during idle periods.  When this is the
+ * case, the tick count value maintained by the scheduler needs to be kept up
+ * 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;
+
+/*
+ * Only available when configUSE_TICKLESS_IDLE is set to 1.
+ * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
+ * specific sleep function to determine if it is ok to proceed with the sleep,
+ * and if it is ok to proceed, if it is ok to sleep indefinitely.
+ *
+ * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
+ * called with the scheduler suspended, not from within a critical section.  It
+ * is therefore possible for an interrupt to request a context switch between
+ * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
+ * entered.  eTaskConfirmSleepModeStatus() should be called from a short
+ * critical section between the timer being stopped and the sleep mode being
+ * entered to ensure it is ok to proceed into the sleep mode.
+ */
+eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * For internal use only.  Increment the mutex held count when a mutex is
+ * taken and return the handle of the task that has taken the mutex.
+ */
+TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * For internal use only.  Same as vTaskSetTimeOutState(), but without a critial
+ * section.
+ */
+void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
+
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+#endif /* INC_TASK_H */
diff --git a/include/timers.h b/include/timers.h
index cb99942a2..834dc40b7 100644
--- a/include/timers.h
+++ b/include/timers.h
@@ -1,1319 +1,1332 @@
-/*
- * 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
- *
- */
-
-
-#ifndef TIMERS_H
-    #define TIMERS_H
-
-    #ifndef INC_FREERTOS_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. */
-    #include "task.h"
-/*lint -restore */
-
-    #ifdef __cplusplus
-        extern "C" {
-    #endif
-
-/*-----------------------------------------------------------
-* 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 )
-
-    #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 )
-
-
-/**
- * Type by which software timers are referenced.  For example, a call to
- * xTimerCreate() returns an TimerHandle_t variable that can then be used to
- * reference the subject timer in calls to other software timer API functions
- * (for example, xTimerStart(), xTimerReset(), etc.).
- */
-    struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-    typedef struct tmrTimerControl * TimerHandle_t;
-
-/*
- * Defines the prototype to which timer callback functions must conform.
- */
-    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 );
-
-/**
- * TimerHandle_t xTimerCreate(  const char * const pcTimerName,
- *                              TickType_t xTimerPeriodInTicks,
- *                              UBaseType_t uxAutoReload,
- *                              void * pvTimerID,
- *                              TimerCallbackFunction_t pxCallbackFunction );
- *
- * Creates a new software timer instance, and returns a handle by which the
- * created software timer can be referenced.
- *
- * Internally, within the FreeRTOS implementation, software timers use a block
- * 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
- * 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.
- *
- * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a
- * timer into the active state.
- *
- * @param pcTimerName A text name that is assigned to the timer.  This is done
- * purely to assist debugging.  The kernel itself only ever references a timer
- * by its handle, and never by its name.
- *
- * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
- * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
- * has been specified in milliseconds.  For example, if the timer must expire
- * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
- * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
- * 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
- * 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
- * enter the dormant state after it expires.
- *
- * @param pvTimerID An identifier that is assigned to the timer being created.
- * Typically this would be used in the timer callback function to identify which
- * timer expired when the same callback function is assigned to more than one
- * timer.
- *
- * @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 );".
- *
- * @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
- * insufficient FreeRTOS heap remaining to allocate the timer
- * structures then NULL is returned.
- *
- * Example usage:
- * @verbatim
- * #define NUM_TIMERS 5
- *
- * // An array to hold handles to the created timers.
- * TimerHandle_t xTimers[ NUM_TIMERS ];
- *
- * // An array to hold a count of the number of times each timer expires.
- * int32_t lExpireCounters[ NUM_TIMERS ] = { 0 };
- *
- * // Define a callback function that will be used by multiple timer instances.
- * // The callback function does nothing but count the number of times the
- * // associated timer expires, and stop the timer once the timer has expired
- * // 10 times.
- * void vTimerCallback( TimerHandle_t pxTimer )
- * {
- * int32_t lArrayIndex;
- * const int32_t xMaxExpiryCountBeforeStopping = 10;
- *
- *     // Optionally do something if the pxTimer parameter is NULL.
- *     configASSERT( pxTimer );
- *
- *     // Which timer expired?
- *     lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
- *
- *     // Increment the number of times that pxTimer has expired.
- *     lExpireCounters[ lArrayIndex ] += 1;
- *
- *     // If the timer has expired 10 times then stop it from running.
- *     if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping )
- *     {
- *         // Do not use a block time if calling a timer API function from a
- *         // timer callback function, as doing so could cause a deadlock!
- *         xTimerStop( pxTimer, 0 );
- *     }
- * }
- *
- * void main( void )
- * {
- * int32_t x;
- *
- *     // Create then start some timers.  Starting the timers before the scheduler
- *     // has been started means the timers will start running immediately that
- *     // 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.
- *                                     );
- *
- *         if( xTimers[ x ] == NULL )
- *         {
- *             // The timer was not created.
- *         }
- *         else
- *         {
- *             // Start the timer.  No block time is specified, and even if one was
- *             // it would be ignored because the scheduler has not yet been
- *             // started.
- *             if( xTimerStart( xTimers[ x ], 0 ) != pdPASS )
- *             {
- *                 // The timer could not be set into the Active state.
- *             }
- *         }
- *     }
- *
- *     // ...
- *     // Create tasks here.
- *     // ...
- *
- *     // Starting the scheduler will start the timers running as they have already
- *     // been set into the active state.
- *     vTaskStartScheduler();
- *
- *     // Should not reach here.
- *     for( ;; );
- * }
- * @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;
-    #endif
-
-/**
- * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
- *                                  TickType_t xTimerPeriodInTicks,
- *                                  UBaseType_t uxAutoReload,
- *                                  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.
- *
- * Internally, within the FreeRTOS implementation, software timers use a block
- * 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
- * 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.
- *
- * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a
- * timer into the active state.
- *
- * @param pcTimerName A text name that is assigned to the timer.  This is done
- * purely to assist debugging.  The kernel itself only ever references a timer
- * by its handle, and never by its name.
- *
- * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
- * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
- * has been specified in milliseconds.  For example, if the timer must expire
- * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
- * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
- * 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
- * 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
- * enter the dormant state after it expires.
- *
- * @param pvTimerID An identifier that is assigned to the timer being created.
- * Typically this would be used in the timer callback function to identify which
- * timer expired when the same callback function is assigned to more than one
- * timer.
- *
- * @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 );".
- *
- * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which
- * will be then be used to hold the software timer's data structures, removing
- * the need for the memory to be allocated dynamically.
- *
- * @return If the timer is created then a handle to the created timer is
- * returned.  If pxTimerBuffer was NULL then NULL is returned.
- *
- * Example usage:
- * @verbatim
- *
- * // The buffer used to hold the software timer's data structure.
- * static StaticTimer_t xTimerBuffer;
- *
- * // A variable that will be incremented by the software timer's callback
- * // function.
- * UBaseType_t uxVariableToIncrement = 0;
- *
- * // A software timer callback function that increments a variable passed to
- * // it when the software timer was created.  After the 5th increment the
- * // callback function stops the software timer.
- * static void prvTimerCallback( TimerHandle_t xExpiredTimer )
- * {
- * UBaseType_t *puxVariableToIncrement;
- * BaseType_t xReturned;
- *
- *     // Obtain the address of the variable to increment from the timer ID.
- *     puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer );
- *
- *     // Increment the variable to show the timer callback has executed.
- *     ( *puxVariableToIncrement )++;
- *
- *     // If this callback has executed the required number of times, stop the
- *     // timer.
- *     if( *puxVariableToIncrement == 5 )
- *     {
- *         // This is called from a timer callback so must not block.
- *         xTimerStop( xExpiredTimer, staticDONT_BLOCK );
- *     }
- * }
- *
- *
- * void main( void )
- * {
- *     // Create the software time.  xTimerCreateStatic() has an extra parameter
- *     // than the normal xTimerCreate() API function.  The parameter is a pointer
- *     // to the StaticTimer_t structure that will hold the software timer
- *     // structure.  If the parameter is passed as NULL then the structure will be
- *     // allocated dynamically, just as if xTimerCreate() had been called.
- *     xTimer = xTimerCreateStatic( "T1",             // Text name for the task.  Helps debugging only.  Not used by FreeRTOS.
- *                                  xTimerPeriod,     // The period of the timer in ticks.
- *                                  pdTRUE,           // This is an auto-reload timer.
- *                                  ( void * ) &uxVariableToIncrement,    // A variable incremented by the software timer's callback function
- *                                  prvTimerCallback, // The function to execute when the timer expires.
- *                                  &xTimerBuffer );  // The buffer that will hold the software timer structure.
- *
- *     // The scheduler has not started yet so a block time is not used.
- *     xReturned = xTimerStart( xTimer, 0 );
- *
- *     // ...
- *     // Create tasks here.
- *     // ...
- *
- *     // Starting the scheduler will start the timers running as they have already
- *     // been set into the active state.
- *     vTaskStartScheduler();
- *
- *     // Should not reach here.
- *     for( ;; );
- * }
- * @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;
-    #endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * void *pvTimerGetTimerID( TimerHandle_t xTimer );
- *
- * Returns the ID assigned to the timer.
- *
- * IDs are assigned to timers using the pvTimerID parameter of the call to
- * xTimerCreated() that was used to create the timer, and by calling the
- * vTimerSetTimerID() API function.
- *
- * If the same callback function is assigned to multiple timers then the timer
- * ID can be used as time specific (timer local) storage.
- *
- * @param xTimer The timer being queried.
- *
- * @return The ID assigned to the timer being queried.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- */
-    void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
- * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
- *
- * Sets the ID assigned to the timer.
- *
- * IDs are assigned to timers using the pvTimerID parameter of the call to
- * xTimerCreated() that was used to create the timer.
- *
- * If the same callback function is assigned to multiple timers then the timer
- * ID can be used as time specific (timer local) storage.
- *
- * @param xTimer The timer being updated.
- *
- * @param pvNewID The ID to assign to the timer.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- */
-    void vTimerSetTimerID( TimerHandle_t xTimer,
-                           void * pvNewID ) PRIVILEGED_FUNCTION;
-
-/**
- * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
- *
- * Queries a timer to see if it is active or dormant.
- *
- * A timer will be dormant if:
- *     1) It has been created but not started, or
- *     2) It is an expired one-shot timer that has not been restarted.
- *
- * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
- * active state.
- *
- * @param xTimer The timer being queried.
- *
- * @return pdFALSE will be returned if the timer is dormant.  A value other than
- * pdFALSE will be returned if the timer is active.
- *
- * Example usage:
- * @verbatim
- * // This function assumes xTimer has already been created.
- * void vAFunction( TimerHandle_t xTimer )
- * {
- *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
- *     {
- *         // xTimer is active, do something.
- *     }
- *     else
- *     {
- *         // xTimer is not active, do something else.
- *     }
- * }
- * @endverbatim
- */
-    BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
- * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
- *
- * Simply returns the handle of the timer service/daemon task.  It it not valid
- * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started.
- */
-    TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/**
- * BaseType_t xTimerStart( TimerHandle_t xTimer, 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
- * through a queue called the timer command queue.  The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code.  The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerStart() starts a timer that was previously created using the
- * xTimerCreate() API function.  If the timer had already been started and was
- * already in the active state, then xTimerStart() has equivalent functionality
- * to the xTimerReset() API function.
- *
- * Starting a timer ensures the timer is in the active state.  If the timer
- * is not stopped, deleted, or reset in the mean time, the callback function
- * associated with the timer will get called 'n' ticks after xTimerStart() was
- * called, where 'n' is the timers defined period.
- *
- * It is valid to call xTimerStart() before the scheduler has been started, but
- * when this is done the timer will not actually start until the scheduler is
- * started, and the timers expiry time will be relative to when the scheduler is
- * started, not relative to when xTimerStart() was called.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart()
- * to be available.
- *
- * @param xTimer The handle of the timer being started/restarted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the start command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerStart() was called.  xTicksToWait is ignored if xTimerStart() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the start command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system, although the
- * timers expiry time is relative to when xTimerStart() is actually called.  The
- * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- *
- */
-    #define xTimerStart( xTimer, xTicksToWait )                                           xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerStop( TimerHandle_t xTimer, 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
- * through a queue called the timer command queue.  The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code.  The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerStop() stops a timer that was previously started using either of the
- * The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(),
- * xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions.
- *
- * Stopping a timer ensures the timer is not in the active state.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop()
- * to be available.
- *
- * @param xTimer The handle of the timer being stopped.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the stop command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerStop() was called.  xTicksToWait is ignored if xTimerStop() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the stop command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system.  The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- *
- */
-    #define xTimerStop( xTimer, xTicksToWait )                                            xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( 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
- * through a queue called the timer command queue.  The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code.  The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerChangePeriod() changes the period of a timer that was previously
- * created using the xTimerCreate() API function.
- *
- * xTimerChangePeriod() can be called to change the period of an active or
- * dormant state timer.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for
- * xTimerChangePeriod() to be available.
- *
- * @param xTimer The handle of the timer that is having its period changed.
- *
- * @param xNewPeriod The new period for xTimer. Timer periods are specified in
- * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
- * that has been specified in milliseconds.  For example, if the timer must
- * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
- * if the timer must expire after 500ms, then xNewPeriod can be set to
- * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
- * or equal to 1000.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the change period command to be
- * successfully sent to the timer command queue, should the queue already be
- * full when xTimerChangePeriod() was called.  xTicksToWait is ignored if
- * xTimerChangePeriod() is called before the scheduler is started.
- *
- * @return pdFAIL will be returned if the change period command could not be
- * sent to the timer command queue even after xTicksToWait ticks had passed.
- * pdPASS will be returned if the command was successfully sent to the timer
- * command queue.  When the command is actually processed will depend on the
- * priority of the timer service/daemon task relative to other tasks in the
- * system.  The timer service/daemon task priority is set by the
- * configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This function assumes xTimer has already been created.  If the timer
- * // referenced by xTimer is already active when it is called, then the timer
- * // is deleted.  If the timer referenced by xTimer is not active when it is
- * // called, then the period of the timer is set to 500ms and the timer is
- * // started.
- * void vAFunction( TimerHandle_t xTimer )
- * {
- *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
- *     {
- *         // xTimer is already active - delete it.
- *         xTimerDelete( xTimer );
- *     }
- *     else
- *     {
- *         // xTimer is not active, change its period to 500ms.  This will also
- *         // cause the timer to start.  Block for a maximum of 100 ticks if the
- *         // change period command cannot immediately be sent to the timer
- *         // command queue.
- *         if( xTimerChangePeriod( xTimer, 500 / portTICK_PERIOD_MS, 100 ) == pdPASS )
- *         {
- *             // The command was successfully sent.
- *         }
- *         else
- *         {
- *             // The command could not be sent, even after waiting for 100 ticks
- *             // to pass.  Take appropriate action here.
- *         }
- *     }
- * }
- * @endverbatim
- */
-    #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait )                        xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerDelete( TimerHandle_t xTimer, 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
- * through a queue called the timer command queue.  The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code.  The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerDelete() deletes a timer that was previously created using the
- * xTimerCreate() API function.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for
- * xTimerDelete() to be available.
- *
- * @param xTimer The handle of the timer being deleted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the delete command to be
- * successfully sent to the timer command queue, should the queue already be
- * full when xTimerDelete() was called.  xTicksToWait is ignored if xTimerDelete()
- * is called before the scheduler is started.
- *
- * @return pdFAIL will be returned if the delete command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system.  The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerChangePeriod() API function example usage scenario.
- */
-    #define xTimerDelete( xTimer, xTicksToWait )                                          xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerReset( TimerHandle_t xTimer, 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
- * through a queue called the timer command queue.  The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code.  The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerReset() re-starts a timer that was previously created using the
- * xTimerCreate() API function.  If the timer had already been started and was
- * already in the active state, then xTimerReset() will cause the timer to
- * re-evaluate its expiry time so that it is relative to when xTimerReset() was
- * called.  If the timer was in the dormant state then xTimerReset() has
- * equivalent functionality to the xTimerStart() API function.
- *
- * Resetting a timer ensures the timer is in the active state.  If the timer
- * is not stopped, deleted, or reset in the mean time, the callback function
- * associated with the timer will get called 'n' ticks after xTimerReset() was
- * called, where 'n' is the timers defined period.
- *
- * It is valid to call xTimerReset() before the scheduler has been started, but
- * when this is done the timer will not actually start until the scheduler is
- * started, and the timers expiry time will be relative to when the scheduler is
- * started, not relative to when xTimerReset() was called.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset()
- * to be available.
- *
- * @param xTimer The handle of the timer being reset/started/restarted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the reset command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerReset() was called.  xTicksToWait is ignored if xTimerReset() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the reset command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system, although the
- * timers expiry time is relative to when xTimerStart() is actually called.  The
- * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- * @verbatim
- * // When a key is pressed, an LCD back-light is switched on.  If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off.  In
- * // this case, the timer is a one-shot timer.
- *
- * TimerHandle_t xBacklightTimer = NULL;
- *
- * // The callback function assigned to the one-shot timer.  In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- *     // The timer expired, therefore 5 seconds must have passed since a key
- *     // was pressed.  Switch off the LCD back-light.
- *     vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press event handler.
- * void vKeyPressEventHandler( char cKey )
- * {
- *     // Ensure the LCD back-light is on, then reset the timer that is
- *     // responsible for turning the back-light off after 5 seconds of
- *     // key inactivity.  Wait 10 ticks for the command to be successfully sent
- *     // if it cannot be sent immediately.
- *     vSetBacklightState( BACKLIGHT_ON );
- *     if( xTimerReset( xBacklightTimer, 100 ) != pdPASS )
- *     {
- *         // The reset command was not executed successfully.  Take appropriate
- *         // action here.
- *     }
- *
- *     // Perform the rest of the key processing here.
- * }
- *
- * void main( void )
- * {
- * int32_t x;
- *
- *     // Create then start the one-shot timer that is responsible for turning
- *     // the back-light off if no keys are pressed within a 5 second period.
- *     xBacklightTimer = xTimerCreate( "BacklightTimer",           // Just a text name, not used by the kernel.
- *                                     ( 5000 / portTICK_PERIOD_MS), // The timer period in ticks.
- *                                     pdFALSE,                    // The timer is a one-shot timer.
- *                                     0,                          // The id is not used by the callback so can take any value.
- *                                     vBacklightTimerCallback     // The callback function that switches the LCD back-light off.
- *                                   );
- *
- *     if( xBacklightTimer == NULL )
- *     {
- *         // The timer was not created.
- *     }
- *     else
- *     {
- *         // Start the timer.  No block time is specified, and even if one was
- *         // it would be ignored because the scheduler has not yet been
- *         // started.
- *         if( xTimerStart( xBacklightTimer, 0 ) != pdPASS )
- *         {
- *             // The timer could not be set into the Active state.
- *         }
- *     }
- *
- *     // ...
- *     // Create tasks here.
- *     // ...
- *
- *     // Starting the scheduler will start the timer running as it has already
- *     // been set into the active state.
- *     vTaskStartScheduler();
- *
- *     // Should not reach here.
- *     for( ;; );
- * }
- * @endverbatim
- */
-    #define xTimerReset( xTimer, xTicksToWait )                                           xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerStartFromISR(   TimerHandle_t xTimer,
- *                                  BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerStart() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer being started/restarted.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue.  Calling xTimerStartFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state.  If calling xTimerStartFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerStartFromISR() function.  If
- * xTimerStartFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the start command could not be sent to
- * the timer command queue.  pdPASS will be returned if the command was
- * successfully sent to the timer command queue.  When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system, although the timers expiry time is
- * relative to when xTimerStartFromISR() is actually called.  The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xBacklightTimer has already been created.  When a
- * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off.  In
- * // this case, the timer is a one-shot timer, and unlike the example given for
- * // the xTimerReset() function, the key press event handler is an interrupt
- * // service routine.
- *
- * // The callback function assigned to the one-shot timer.  In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- *     // The timer expired, therefore 5 seconds must have passed since a key
- *     // was pressed.  Switch off the LCD back-light.
- *     vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press interrupt service routine.
- * void vKeyPressEventInterruptHandler( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- *     // Ensure the LCD back-light is on, then restart the timer that is
- *     // responsible for turning the back-light off after 5 seconds of
- *     // key inactivity.  This is an interrupt service routine so can only
- *     // call FreeRTOS API functions that end in "FromISR".
- *     vSetBacklightState( BACKLIGHT_ON );
- *
- *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
- *     // as both cause the timer to re-calculate its expiry time.
- *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
- *     // declared (in this function).
- *     if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- *     {
- *         // The start command was not executed successfully.  Take appropriate
- *         // action here.
- *     }
- *
- *     // Perform the rest of the key processing here.
- *
- *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- *     // should be performed.  The syntax required to perform a context switch
- *     // from inside an ISR varies from port to port, and from compiler to
- *     // compiler.  Inspect the demos for the port you are using to find the
- *     // actual syntax required.
- *     if( xHigherPriorityTaskWoken != pdFALSE )
- *     {
- *         // Call the interrupt safe yield function here (actual function
- *         // depends on the FreeRTOS port being used).
- *     }
- * }
- * @endverbatim
- */
-    #define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken )                       xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
-
-/**
- * BaseType_t xTimerStopFromISR(    TimerHandle_t xTimer,
- *                                  BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerStop() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer being stopped.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue.  Calling xTimerStopFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state.  If calling xTimerStopFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerStopFromISR() function.  If
- * xTimerStopFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the stop command could not be sent to
- * the timer command queue.  pdPASS will be returned if the command was
- * successfully sent to the timer command queue.  When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system.  The timer service/daemon task
- * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xTimer has already been created and started.  When
- * // an interrupt occurs, the timer should be simply stopped.
- *
- * // The interrupt service routine that stops the timer.
- * void vAnExampleInterruptServiceRoutine( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- *     // The interrupt has occurred - simply stop the timer.
- *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
- *     // (within this function).  As this is an interrupt service routine, only
- *     // FreeRTOS API functions that end in "FromISR" can be used.
- *     if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- *     {
- *         // The stop command was not executed successfully.  Take appropriate
- *         // action here.
- *     }
- *
- *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- *     // should be performed.  The syntax required to perform a context switch
- *     // from inside an ISR varies from port to port, and from compiler to
- *     // compiler.  Inspect the demos for the port you are using to find the
- *     // actual syntax required.
- *     if( xHigherPriorityTaskWoken != pdFALSE )
- *     {
- *         // Call the interrupt safe yield function here (actual function
- *         // depends on the FreeRTOS port being used).
- *     }
- * }
- * @endverbatim
- */
-    #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 );
- *
- * A version of xTimerChangePeriod() that can be called from an interrupt
- * service routine.
- *
- * @param xTimer The handle of the timer that is having its period changed.
- *
- * @param xNewPeriod The new period for xTimer. Timer periods are specified in
- * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
- * that has been specified in milliseconds.  For example, if the timer must
- * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
- * if the timer must expire after 500ms, then xNewPeriod can be set to
- * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
- * or equal to 1000.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue.  Calling xTimerChangePeriodFromISR() writes a message to the
- * timer command queue, so has the potential to transition the timer service/
- * daemon task out of the Blocked state.  If calling xTimerChangePeriodFromISR()
- * causes the timer service/daemon task to leave the Blocked state, and the
- * timer service/daemon task has a priority equal to or greater than the
- * currently executing task (the task that was interrupted), then
- * *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the
- * xTimerChangePeriodFromISR() function.  If xTimerChangePeriodFromISR() sets
- * this value to pdTRUE then a context switch should be performed before the
- * interrupt exits.
- *
- * @return pdFAIL will be returned if the command to change the timers period
- * could not be sent to the timer command queue.  pdPASS will be returned if the
- * command was successfully sent to the timer command queue.  When the command
- * is actually processed will depend on the priority of the timer service/daemon
- * task relative to other tasks in the system.  The timer service/daemon task
- * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xTimer has already been created and started.  When
- * // an interrupt occurs, the period of xTimer should be changed to 500ms.
- *
- * // The interrupt service routine that changes the period of xTimer.
- * void vAnExampleInterruptServiceRoutine( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- *     // The interrupt has occurred - change the period of xTimer to 500ms.
- *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
- *     // (within this function).  As this is an interrupt service routine, only
- *     // FreeRTOS API functions that end in "FromISR" can be used.
- *     if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- *     {
- *         // The command to change the timers period was not executed
- *         // successfully.  Take appropriate action here.
- *     }
- *
- *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- *     // should be performed.  The syntax required to perform a context switch
- *     // from inside an ISR varies from port to port, and from compiler to
- *     // compiler.  Inspect the demos for the port you are using to find the
- *     // actual syntax required.
- *     if( xHigherPriorityTaskWoken != pdFALSE )
- *     {
- *         // Call the interrupt safe yield function here (actual function
- *         // depends on the FreeRTOS port being used).
- *     }
- * }
- * @endverbatim
- */
-    #define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken )    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
-
-/**
- * BaseType_t xTimerResetFromISR(   TimerHandle_t xTimer,
- *                                  BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerReset() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer that is to be started, reset, or
- * restarted.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue.  Calling xTimerResetFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state.  If calling xTimerResetFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerResetFromISR() function.  If
- * xTimerResetFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the reset command could not be sent to
- * the timer command queue.  pdPASS will be returned if the command was
- * successfully sent to the timer command queue.  When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system, although the timers expiry time is
- * relative to when xTimerResetFromISR() is actually called.  The timer service/daemon
- * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xBacklightTimer has already been created.  When a
- * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off.  In
- * // this case, the timer is a one-shot timer, and unlike the example given for
- * // the xTimerReset() function, the key press event handler is an interrupt
- * // service routine.
- *
- * // The callback function assigned to the one-shot timer.  In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- *     // The timer expired, therefore 5 seconds must have passed since a key
- *     // was pressed.  Switch off the LCD back-light.
- *     vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press interrupt service routine.
- * void vKeyPressEventInterruptHandler( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- *     // Ensure the LCD back-light is on, then reset the timer that is
- *     // responsible for turning the back-light off after 5 seconds of
- *     // key inactivity.  This is an interrupt service routine so can only
- *     // call FreeRTOS API functions that end in "FromISR".
- *     vSetBacklightState( BACKLIGHT_ON );
- *
- *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
- *     // as both cause the timer to re-calculate its expiry time.
- *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
- *     // declared (in this function).
- *     if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- *     {
- *         // The reset command was not executed successfully.  Take appropriate
- *         // action here.
- *     }
- *
- *     // Perform the rest of the key processing here.
- *
- *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- *     // should be performed.  The syntax required to perform a context switch
- *     // from inside an ISR varies from port to port, and from compiler to
- *     // compiler.  Inspect the demos for the port you are using to find the
- *     // actual syntax required.
- *     if( xHigherPriorityTaskWoken != pdFALSE )
- *     {
- *         // Call the interrupt safe yield function here (actual function
- *         // depends on the FreeRTOS port being used).
- *     }
- * }
- * @endverbatim
- */
-    #define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken )                       xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
-
-
-/**
- * BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
- *                                          void *pvParameter1,
- *                                          uint32_t ulParameter2,
- *                                          BaseType_t *pxHigherPriorityTaskWoken );
- *
- *
- * Used from application interrupt service routines 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').
- *
- * Ideally an interrupt service routine (ISR) is kept as short as possible, but
- * sometimes an ISR either has a lot of processing to do, or needs to perform
- * processing that is not deterministic.  In these cases
- * xTimerPendFunctionCallFromISR() can be used to defer processing of a function
- * to the RTOS daemon task.
- *
- * A mechanism is provided that allows the interrupt to return directly to the
- * task that will subsequently execute the pended callback function.  This
- * allows the callback function to execute contiguously in time with the
- * interrupt - just as if the callback had executed in the interrupt itself.
- *
- * @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 pxHigherPriorityTaskWoken As mentioned above, calling this function
- * will result in a message being sent to the timer daemon task.  If the
- * priority of the timer daemon task (which is set using
- * configTIMER_TASK_PRIORITY in FreeRTOSConfig.h) is higher than the priority of
- * the currently running task (the task the interrupt interrupted) then
- * *pxHigherPriorityTaskWoken will be set to pdTRUE within
- * xTimerPendFunctionCallFromISR(), indicating that a context switch should be
- * requested before the interrupt exits.  For that reason
- * *pxHigherPriorityTaskWoken must be initialised to pdFALSE.  See the
- * example code below.
- *
- * @return pdPASS is returned if the message was successfully sent to the
- * timer daemon task, otherwise pdFALSE is returned.
- *
- * Example usage:
- * @verbatim
- *
- *  // 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;
- *
- *      // The interface that requires servicing is passed in the second
- *      // parameter.  The first parameter is not used in this case.
- *      xInterfaceToService = ( BaseType_t ) ulParameter2;
- *
- *      // ...Perform the processing here...
- *  }
- *
- *  // An ISR that receives data packets from multiple interfaces
- *  void vAnISR( void )
- *  {
- *      BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
- *
- *      // 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 );
- *
- *      // 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 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 );
- *
- * Returns the name that was assigned to a timer when the timer was created.
- *
- * @param xTimer The handle of the timer being queried.
- *
- * @return The name assigned to the timer specified by the xTimer parameter.
- */
-    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 );
- *
- * 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
- * which case the timer will only expire once unless it is manually restarted.
- *
- * @param xTimer The handle of the timer being updated.
- *
- * @param uxAutoReload If uxAutoReload 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
- * enter the dormant state after it expires.
- */
-    void vTimerSetReloadMode( TimerHandle_t xTimer,
-                              const UBaseType_t uxAutoReload ) 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;
-
-/**
- * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
- *
- * Returns the period of a timer.
- *
- * @param xTimer The handle of the timer being queried.
- *
- * @return The period of the timer in ticks.
- */
-    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 ) PRIVILEGED_FUNCTION;
-
-/*
- * 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;
-
-    #if ( configUSE_TRACE_FACILITY == 1 )
-        void vTimerSetTimerNumber( TimerHandle_t xTimer,
-                                   UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
-        UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-    #endif
-
-    #ifdef __cplusplus
-        }
-    #endif
-#endif /* TIMERS_H */
+/*
+ * 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
+ *
+ */
+
+
+#ifndef TIMERS_H
+#define TIMERS_H
+
+#ifndef INC_FREERTOS_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. */
+#include "task.h"
+/*lint -restore */
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
+/*-----------------------------------------------------------
+* 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 )
+
+#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 )
+
+
+/**
+ * Type by which software timers are referenced.  For example, a call to
+ * xTimerCreate() returns an TimerHandle_t variable that can then be used to
+ * reference the subject timer in calls to other software timer API functions
+ * (for example, xTimerStart(), xTimerReset(), etc.).
+ */
+struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
+typedef struct tmrTimerControl * TimerHandle_t;
+
+/*
+ * Defines the prototype to which timer callback functions must conform.
+ */
+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 );
+
+/**
+ * TimerHandle_t xTimerCreate(  const char * const pcTimerName,
+ *                              TickType_t xTimerPeriodInTicks,
+ *                              UBaseType_t uxAutoReload,
+ *                              void * pvTimerID,
+ *                              TimerCallbackFunction_t pxCallbackFunction );
+ *
+ * Creates a new software timer instance, and returns a handle by which the
+ * created software timer can be referenced.
+ *
+ * Internally, within the FreeRTOS implementation, software timers use a block
+ * 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
+ * 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.
+ *
+ * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
+ * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
+ * xTimerChangePeriodFromISR() API functions can all be used to transition a
+ * timer into the active state.
+ *
+ * @param pcTimerName A text name that is assigned to the timer.  This is done
+ * purely to assist debugging.  The kernel itself only ever references a timer
+ * by its handle, and never by its name.
+ *
+ * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
+ * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
+ * has been specified in milliseconds.  For example, if the timer must expire
+ * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
+ * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
+ * 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
+ * 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
+ * enter the dormant state after it expires.
+ *
+ * @param pvTimerID An identifier that is assigned to the timer being created.
+ * Typically this would be used in the timer callback function to identify which
+ * timer expired when the same callback function is assigned to more than one
+ * timer.
+ *
+ * @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 );".
+ *
+ * @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
+ * insufficient FreeRTOS heap remaining to allocate the timer
+ * structures then NULL is returned.
+ *
+ * Example usage:
+ * @verbatim
+ * #define NUM_TIMERS 5
+ *
+ * // An array to hold handles to the created timers.
+ * TimerHandle_t xTimers[ NUM_TIMERS ];
+ *
+ * // An array to hold a count of the number of times each timer expires.
+ * int32_t lExpireCounters[ NUM_TIMERS ] = { 0 };
+ *
+ * // Define a callback function that will be used by multiple timer instances.
+ * // The callback function does nothing but count the number of times the
+ * // associated timer expires, and stop the timer once the timer has expired
+ * // 10 times.
+ * void vTimerCallback( TimerHandle_t pxTimer )
+ * {
+ * int32_t lArrayIndex;
+ * const int32_t xMaxExpiryCountBeforeStopping = 10;
+ *
+ *     // Optionally do something if the pxTimer parameter is NULL.
+ *     configASSERT( pxTimer );
+ *
+ *     // Which timer expired?
+ *     lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
+ *
+ *     // Increment the number of times that pxTimer has expired.
+ *     lExpireCounters[ lArrayIndex ] += 1;
+ *
+ *     // If the timer has expired 10 times then stop it from running.
+ *     if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping )
+ *     {
+ *         // Do not use a block time if calling a timer API function from a
+ *         // timer callback function, as doing so could cause a deadlock!
+ *         xTimerStop( pxTimer, 0 );
+ *     }
+ * }
+ *
+ * void main( void )
+ * {
+ * int32_t x;
+ *
+ *     // Create then start some timers.  Starting the timers before the scheduler
+ *     // has been started means the timers will start running immediately that
+ *     // 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.
+ *                                     );
+ *
+ *         if( xTimers[ x ] == NULL )
+ *         {
+ *             // The timer was not created.
+ *         }
+ *         else
+ *         {
+ *             // Start the timer.  No block time is specified, and even if one was
+ *             // it would be ignored because the scheduler has not yet been
+ *             // started.
+ *             if( xTimerStart( xTimers[ x ], 0 ) != pdPASS )
+ *             {
+ *                 // The timer could not be set into the Active state.
+ *             }
+ *         }
+ *     }
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timers running as they have already
+ *     // been set into the active state.
+ *     vTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @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;
+#endif
+
+/**
+ * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
+ *                                  TickType_t xTimerPeriodInTicks,
+ *                                  UBaseType_t uxAutoReload,
+ *                                  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.
+ *
+ * Internally, within the FreeRTOS implementation, software timers use a block
+ * 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
+ * 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.
+ *
+ * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
+ * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
+ * xTimerChangePeriodFromISR() API functions can all be used to transition a
+ * timer into the active state.
+ *
+ * @param pcTimerName A text name that is assigned to the timer.  This is done
+ * purely to assist debugging.  The kernel itself only ever references a timer
+ * by its handle, and never by its name.
+ *
+ * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
+ * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
+ * has been specified in milliseconds.  For example, if the timer must expire
+ * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
+ * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
+ * 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
+ * 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
+ * enter the dormant state after it expires.
+ *
+ * @param pvTimerID An identifier that is assigned to the timer being created.
+ * Typically this would be used in the timer callback function to identify which
+ * timer expired when the same callback function is assigned to more than one
+ * timer.
+ *
+ * @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 );".
+ *
+ * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which
+ * will be then be used to hold the software timer's data structures, removing
+ * the need for the memory to be allocated dynamically.
+ *
+ * @return If the timer is created then a handle to the created timer is
+ * returned.  If pxTimerBuffer was NULL then NULL is returned.
+ *
+ * Example usage:
+ * @verbatim
+ *
+ * // The buffer used to hold the software timer's data structure.
+ * static StaticTimer_t xTimerBuffer;
+ *
+ * // A variable that will be incremented by the software timer's callback
+ * // function.
+ * UBaseType_t uxVariableToIncrement = 0;
+ *
+ * // A software timer callback function that increments a variable passed to
+ * // it when the software timer was created.  After the 5th increment the
+ * // callback function stops the software timer.
+ * static void prvTimerCallback( TimerHandle_t xExpiredTimer )
+ * {
+ * UBaseType_t *puxVariableToIncrement;
+ * BaseType_t xReturned;
+ *
+ *     // Obtain the address of the variable to increment from the timer ID.
+ *     puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer );
+ *
+ *     // Increment the variable to show the timer callback has executed.
+ *     ( *puxVariableToIncrement )++;
+ *
+ *     // If this callback has executed the required number of times, stop the
+ *     // timer.
+ *     if( *puxVariableToIncrement == 5 )
+ *     {
+ *         // This is called from a timer callback so must not block.
+ *         xTimerStop( xExpiredTimer, staticDONT_BLOCK );
+ *     }
+ * }
+ *
+ *
+ * void main( void )
+ * {
+ *     // Create the software time.  xTimerCreateStatic() has an extra parameter
+ *     // than the normal xTimerCreate() API function.  The parameter is a pointer
+ *     // to the StaticTimer_t structure that will hold the software timer
+ *     // structure.  If the parameter is passed as NULL then the structure will be
+ *     // allocated dynamically, just as if xTimerCreate() had been called.
+ *     xTimer = xTimerCreateStatic( "T1",             // Text name for the task.  Helps debugging only.  Not used by FreeRTOS.
+ *                                  xTimerPeriod,     // The period of the timer in ticks.
+ *                                  pdTRUE,           // This is an auto-reload timer.
+ *                                  ( void * ) &uxVariableToIncrement,    // A variable incremented by the software timer's callback function
+ *                                  prvTimerCallback, // The function to execute when the timer expires.
+ *                                  &xTimerBuffer );  // The buffer that will hold the software timer structure.
+ *
+ *     // The scheduler has not started yet so a block time is not used.
+ *     xReturned = xTimerStart( xTimer, 0 );
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timers running as they have already
+ *     // been set into the active state.
+ *     vTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @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;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * void *pvTimerGetTimerID( TimerHandle_t xTimer );
+ *
+ * Returns the ID assigned to the timer.
+ *
+ * IDs are assigned to timers using the pvTimerID parameter of the call to
+ * xTimerCreated() that was used to create the timer, and by calling the
+ * vTimerSetTimerID() API function.
+ *
+ * If the same callback function is assigned to multiple timers then the timer
+ * ID can be used as time specific (timer local) storage.
+ *
+ * @param xTimer The timer being queried.
+ *
+ * @return The ID assigned to the timer being queried.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ */
+void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
+ *
+ * Sets the ID assigned to the timer.
+ *
+ * IDs are assigned to timers using the pvTimerID parameter of the call to
+ * xTimerCreated() that was used to create the timer.
+ *
+ * If the same callback function is assigned to multiple timers then the timer
+ * ID can be used as time specific (timer local) storage.
+ *
+ * @param xTimer The timer being updated.
+ *
+ * @param pvNewID The ID to assign to the timer.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ */
+void vTimerSetTimerID( TimerHandle_t xTimer,
+                       void * pvNewID ) PRIVILEGED_FUNCTION;
+
+/**
+ * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
+ *
+ * Queries a timer to see if it is active or dormant.
+ *
+ * A timer will be dormant if:
+ *     1) It has been created but not started, or
+ *     2) It is an expired one-shot timer that has not been restarted.
+ *
+ * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
+ * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
+ * xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
+ * active state.
+ *
+ * @param xTimer The timer being queried.
+ *
+ * @return pdFALSE will be returned if the timer is dormant.  A value other than
+ * pdFALSE will be returned if the timer is active.
+ *
+ * Example usage:
+ * @verbatim
+ * // This function assumes xTimer has already been created.
+ * void vAFunction( TimerHandle_t xTimer )
+ * {
+ *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
+ *     {
+ *         // xTimer is active, do something.
+ *     }
+ *     else
+ *     {
+ *         // xTimer is not active, do something else.
+ *     }
+ * }
+ * @endverbatim
+ */
+BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
+ *
+ * Simply returns the handle of the timer service/daemon task.  It it not valid
+ * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started.
+ */
+TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
+
+/**
+ * BaseType_t xTimerStart( TimerHandle_t xTimer, 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
+ * through a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerStart() starts a timer that was previously created using the
+ * xTimerCreate() API function.  If the timer had already been started and was
+ * already in the active state, then xTimerStart() has equivalent functionality
+ * to the xTimerReset() API function.
+ *
+ * Starting a timer ensures the timer is in the active state.  If the timer
+ * is not stopped, deleted, or reset in the mean time, the callback function
+ * associated with the timer will get called 'n' ticks after xTimerStart() was
+ * called, where 'n' is the timers defined period.
+ *
+ * It is valid to call xTimerStart() before the scheduler has been started, but
+ * when this is done the timer will not actually start until the scheduler is
+ * started, and the timers expiry time will be relative to when the scheduler is
+ * started, not relative to when xTimerStart() was called.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being started/restarted.
+ *
+ * @param xTicksToWait Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the start command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerStart() was called.  xTicksToWait is ignored if xTimerStart() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the start command could not be sent to
+ * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system, although the
+ * timers expiry time is relative to when xTimerStart() is actually called.  The
+ * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ *
+ */
+#define xTimerStart( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+
+/**
+ * BaseType_t xTimerStop( TimerHandle_t xTimer, 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
+ * through a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerStop() stops a timer that was previously started using either of the
+ * The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(),
+ * xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions.
+ *
+ * Stopping a timer ensures the timer is not in the active state.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being stopped.
+ *
+ * @param xTicksToWait Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the stop command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerStop() was called.  xTicksToWait is ignored if xTimerStop() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the stop command could not be sent to
+ * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system.  The timer
+ * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ *
+ */
+#define xTimerStop( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( 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
+ * through a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerChangePeriod() changes the period of a timer that was previously
+ * created using the xTimerCreate() API function.
+ *
+ * xTimerChangePeriod() can be called to change the period of an active or
+ * dormant state timer.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for
+ * xTimerChangePeriod() to be available.
+ *
+ * @param xTimer The handle of the timer that is having its period changed.
+ *
+ * @param xNewPeriod The new period for xTimer. Timer periods are specified in
+ * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
+ * that has been specified in milliseconds.  For example, if the timer must
+ * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
+ * if the timer must expire after 500ms, then xNewPeriod can be set to
+ * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
+ * or equal to 1000.
+ *
+ * @param xTicksToWait Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the change period command to be
+ * successfully sent to the timer command queue, should the queue already be
+ * full when xTimerChangePeriod() was called.  xTicksToWait is ignored if
+ * xTimerChangePeriod() is called before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the change period command could not be
+ * sent to the timer command queue even after xTicksToWait ticks had passed.
+ * pdPASS will be returned if the command was successfully sent to the timer
+ * command queue.  When the command is actually processed will depend on the
+ * priority of the timer service/daemon task relative to other tasks in the
+ * system.  The timer service/daemon task priority is set by the
+ * configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This function assumes xTimer has already been created.  If the timer
+ * // referenced by xTimer is already active when it is called, then the timer
+ * // is deleted.  If the timer referenced by xTimer is not active when it is
+ * // called, then the period of the timer is set to 500ms and the timer is
+ * // started.
+ * void vAFunction( TimerHandle_t xTimer )
+ * {
+ *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
+ *     {
+ *         // xTimer is already active - delete it.
+ *         xTimerDelete( xTimer );
+ *     }
+ *     else
+ *     {
+ *         // xTimer is not active, change its period to 500ms.  This will also
+ *         // cause the timer to start.  Block for a maximum of 100 ticks if the
+ *         // change period command cannot immediately be sent to the timer
+ *         // command queue.
+ *         if( xTimerChangePeriod( xTimer, 500 / portTICK_PERIOD_MS, 100 ) == pdPASS )
+ *         {
+ *             // The command was successfully sent.
+ *         }
+ *         else
+ *         {
+ *             // The command could not be sent, even after waiting for 100 ticks
+ *             // to pass.  Take appropriate action here.
+ *         }
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
+
+/**
+ * BaseType_t xTimerDelete( TimerHandle_t xTimer, 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
+ * through a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerDelete() deletes a timer that was previously created using the
+ * xTimerCreate() API function.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for
+ * xTimerDelete() to be available.
+ *
+ * @param xTimer The handle of the timer being deleted.
+ *
+ * @param xTicksToWait Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the delete command to be
+ * successfully sent to the timer command queue, should the queue already be
+ * full when xTimerDelete() was called.  xTicksToWait is ignored if xTimerDelete()
+ * is called before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the delete command could not be sent to
+ * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system.  The timer
+ * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerChangePeriod() API function example usage scenario.
+ */
+#define xTimerDelete( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+
+/**
+ * BaseType_t xTimerReset( TimerHandle_t xTimer, 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
+ * through a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerReset() re-starts a timer that was previously created using the
+ * xTimerCreate() API function.  If the timer had already been started and was
+ * already in the active state, then xTimerReset() will cause the timer to
+ * re-evaluate its expiry time so that it is relative to when xTimerReset() was
+ * called.  If the timer was in the dormant state then xTimerReset() has
+ * equivalent functionality to the xTimerStart() API function.
+ *
+ * Resetting a timer ensures the timer is in the active state.  If the timer
+ * is not stopped, deleted, or reset in the mean time, the callback function
+ * associated with the timer will get called 'n' ticks after xTimerReset() was
+ * called, where 'n' is the timers defined period.
+ *
+ * It is valid to call xTimerReset() before the scheduler has been started, but
+ * when this is done the timer will not actually start until the scheduler is
+ * started, and the timers expiry time will be relative to when the scheduler is
+ * started, not relative to when xTimerReset() was called.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being reset/started/restarted.
+ *
+ * @param xTicksToWait Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the reset command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerReset() was called.  xTicksToWait is ignored if xTimerReset() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the reset command could not be sent to
+ * the timer command queue even after xTicksToWait ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system, although the
+ * timers expiry time is relative to when xTimerStart() is actually called.  The
+ * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // When a key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer.
+ *
+ * TimerHandle_t xBacklightTimer = NULL;
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( TimerHandle_t pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press event handler.
+ * void vKeyPressEventHandler( char cKey )
+ * {
+ *     // Ensure the LCD back-light is on, then reset the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  Wait 10 ticks for the command to be successfully sent
+ *     // if it cannot be sent immediately.
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *     if( xTimerReset( xBacklightTimer, 100 ) != pdPASS )
+ *     {
+ *         // The reset command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ * }
+ *
+ * void main( void )
+ * {
+ * int32_t x;
+ *
+ *     // Create then start the one-shot timer that is responsible for turning
+ *     // the back-light off if no keys are pressed within a 5 second period.
+ *     xBacklightTimer = xTimerCreate( "BacklightTimer",           // Just a text name, not used by the kernel.
+ *                                     ( 5000 / portTICK_PERIOD_MS), // The timer period in ticks.
+ *                                     pdFALSE,                    // The timer is a one-shot timer.
+ *                                     0,                          // The id is not used by the callback so can take any value.
+ *                                     vBacklightTimerCallback     // The callback function that switches the LCD back-light off.
+ *                                   );
+ *
+ *     if( xBacklightTimer == NULL )
+ *     {
+ *         // The timer was not created.
+ *     }
+ *     else
+ *     {
+ *         // Start the timer.  No block time is specified, and even if one was
+ *         // it would be ignored because the scheduler has not yet been
+ *         // started.
+ *         if( xTimerStart( xBacklightTimer, 0 ) != pdPASS )
+ *         {
+ *             // The timer could not be set into the Active state.
+ *         }
+ *     }
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timer running as it has already
+ *     // been set into the active state.
+ *     vTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @endverbatim
+ */
+#define xTimerReset( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+
+/**
+ * BaseType_t xTimerStartFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerStart() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer being started/restarted.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerStartFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerStartFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerStartFromISR() function.  If
+ * xTimerStartFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the start command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system, although the timers expiry time is
+ * relative to when xTimerStartFromISR() is actually called.  The timer
+ * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xBacklightTimer has already been created.  When a
+ * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer, and unlike the example given for
+ * // the xTimerReset() function, the key press event handler is an interrupt
+ * // service routine.
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( TimerHandle_t pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press interrupt service routine.
+ * void vKeyPressEventInterruptHandler( void )
+ * {
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // Ensure the LCD back-light is on, then restart the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  This is an interrupt service routine so can only
+ *     // call FreeRTOS API functions that end in "FromISR".
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *
+ *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
+ *     // as both cause the timer to re-calculate its expiry time.
+ *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
+ *     // declared (in this function).
+ *     if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The start command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used).
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+
+/**
+ * BaseType_t xTimerStopFromISR(    TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerStop() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer being stopped.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerStopFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerStopFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerStopFromISR() function.  If
+ * xTimerStopFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the stop command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system.  The timer service/daemon task
+ * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xTimer has already been created and started.  When
+ * // an interrupt occurs, the timer should be simply stopped.
+ *
+ * // The interrupt service routine that stops the timer.
+ * void vAnExampleInterruptServiceRoutine( void )
+ * {
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // The interrupt has occurred - simply stop the timer.
+ *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
+ *     // (within this function).  As this is an interrupt service routine, only
+ *     // FreeRTOS API functions that end in "FromISR" can be used.
+ *     if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The stop command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used).
+ *     }
+ * }
+ * @endverbatim
+ */
+#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 );
+ *
+ * A version of xTimerChangePeriod() that can be called from an interrupt
+ * service routine.
+ *
+ * @param xTimer The handle of the timer that is having its period changed.
+ *
+ * @param xNewPeriod The new period for xTimer. Timer periods are specified in
+ * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
+ * that has been specified in milliseconds.  For example, if the timer must
+ * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
+ * if the timer must expire after 500ms, then xNewPeriod can be set to
+ * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
+ * or equal to 1000.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerChangePeriodFromISR() writes a message to the
+ * timer command queue, so has the potential to transition the timer service/
+ * daemon task out of the Blocked state.  If calling xTimerChangePeriodFromISR()
+ * causes the timer service/daemon task to leave the Blocked state, and the
+ * timer service/daemon task has a priority equal to or greater than the
+ * currently executing task (the task that was interrupted), then
+ * *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the
+ * xTimerChangePeriodFromISR() function.  If xTimerChangePeriodFromISR() sets
+ * this value to pdTRUE then a context switch should be performed before the
+ * interrupt exits.
+ *
+ * @return pdFAIL will be returned if the command to change the timers period
+ * could not be sent to the timer command queue.  pdPASS will be returned if the
+ * command was successfully sent to the timer command queue.  When the command
+ * is actually processed will depend on the priority of the timer service/daemon
+ * task relative to other tasks in the system.  The timer service/daemon task
+ * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xTimer has already been created and started.  When
+ * // an interrupt occurs, the period of xTimer should be changed to 500ms.
+ *
+ * // The interrupt service routine that changes the period of xTimer.
+ * void vAnExampleInterruptServiceRoutine( void )
+ * {
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // The interrupt has occurred - change the period of xTimer to 500ms.
+ *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
+ *     // (within this function).  As this is an interrupt service routine, only
+ *     // FreeRTOS API functions that end in "FromISR" can be used.
+ *     if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The command to change the timers period was not executed
+ *         // successfully.  Take appropriate action here.
+ *     }
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used).
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
+
+/**
+ * BaseType_t xTimerResetFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerReset() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer that is to be started, reset, or
+ * restarted.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerResetFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerResetFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerResetFromISR() function.  If
+ * xTimerResetFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the reset command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system, although the timers expiry time is
+ * relative to when xTimerResetFromISR() is actually called.  The timer service/daemon
+ * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xBacklightTimer has already been created.  When a
+ * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer, and unlike the example given for
+ * // the xTimerReset() function, the key press event handler is an interrupt
+ * // service routine.
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( TimerHandle_t pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press interrupt service routine.
+ * void vKeyPressEventInterruptHandler( void )
+ * {
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // Ensure the LCD back-light is on, then reset the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  This is an interrupt service routine so can only
+ *     // call FreeRTOS API functions that end in "FromISR".
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *
+ *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
+ *     // as both cause the timer to re-calculate its expiry time.
+ *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
+ *     // declared (in this function).
+ *     if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The reset command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used).
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+
+
+/**
+ * BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+ *                                          void *pvParameter1,
+ *                                          uint32_t ulParameter2,
+ *                                          BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ *
+ * Used from application interrupt service routines 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').
+ *
+ * Ideally an interrupt service routine (ISR) is kept as short as possible, but
+ * sometimes an ISR either has a lot of processing to do, or needs to perform
+ * processing that is not deterministic.  In these cases
+ * xTimerPendFunctionCallFromISR() can be used to defer processing of a function
+ * to the RTOS daemon task.
+ *
+ * A mechanism is provided that allows the interrupt to return directly to the
+ * task that will subsequently execute the pended callback function.  This
+ * allows the callback function to execute contiguously in time with the
+ * interrupt - just as if the callback had executed in the interrupt itself.
+ *
+ * @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 pxHigherPriorityTaskWoken As mentioned above, calling this function
+ * will result in a message being sent to the timer daemon task.  If the
+ * priority of the timer daemon task (which is set using
+ * configTIMER_TASK_PRIORITY in FreeRTOSConfig.h) is higher than the priority of
+ * the currently running task (the task the interrupt interrupted) then
+ * *pxHigherPriorityTaskWoken will be set to pdTRUE within
+ * xTimerPendFunctionCallFromISR(), indicating that a context switch should be
+ * requested before the interrupt exits.  For that reason
+ * *pxHigherPriorityTaskWoken must be initialised to pdFALSE.  See the
+ * example code below.
+ *
+ * @return pdPASS is returned if the message was successfully sent to the
+ * timer daemon task, otherwise pdFALSE is returned.
+ *
+ * Example usage:
+ * @verbatim
+ *
+ *  // 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;
+ *
+ *      // The interface that requires servicing is passed in the second
+ *      // parameter.  The first parameter is not used in this case.
+ *      xInterfaceToService = ( BaseType_t ) ulParameter2;
+ *
+ *      // ...Perform the processing here...
+ *  }
+ *
+ *  // An ISR that receives data packets from multiple interfaces
+ *  void vAnISR( void )
+ *  {
+ *      BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
+ *
+ *      // 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 );
+ *
+ *      // 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 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 );
+ *
+ * Returns the name that was assigned to a timer when the timer was created.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return The name assigned to the timer specified by the xTimer parameter.
+ */
+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 );
+ *
+ * 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
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being updated.
+ *
+ * @param uxAutoReload If uxAutoReload 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
+ * enter the dormant state after it expires.
+ */
+void vTimerSetReloadMode( TimerHandle_t xTimer,
+                          const UBaseType_t uxAutoReload ) 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;
+
+/**
+ * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
+ *
+ * Returns the period of a timer.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return The period of the timer in ticks.
+ */
+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 ) PRIVILEGED_FUNCTION;
+
+/*
+ * 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;
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vTimerSetTimerNumber( TimerHandle_t xTimer,
+                               UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+#endif
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+#endif /* TIMERS_H */
diff --git a/queue.c b/queue.c
index 27f76ae1a..c519c7bb0 100644
--- a/queue.c
+++ b/queue.c
@@ -1000,7 +1000,7 @@ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
      * 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
+     * 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 */
@@ -1096,7 +1096,7 @@ BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
                             if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
                             {
                                 /* The task waiting has a higher priority so record that a
-                                 * context	switch is required. */
+                                 * context switch is required. */
                                 if( pxHigherPriorityTaskWoken != NULL )
                                 {
                                     *pxHigherPriorityTaskWoken = pdTRUE;
@@ -1178,7 +1178,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
      * 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
+     * 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 */
@@ -1216,8 +1216,8 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
                             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. */
+                                 * posting to the queue set caused a higher priority
+                                 * task to unblock.  A context switch is required. */
                                 if( pxHigherPriorityTaskWoken != NULL )
                                 {
                                     *pxHigherPriorityTaskWoken = pdTRUE;
@@ -1267,7 +1267,7 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
                             if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
                             {
                                 /* The task waiting has a higher priority so record that a
-                                 * context	switch is required. */
+                                 * context switch is required. */
                                 if( pxHigherPriorityTaskWoken != NULL )
                                 {
                                     *pxHigherPriorityTaskWoken = pdTRUE;
@@ -1846,7 +1846,7 @@ BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
      * 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
+     * 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 */
@@ -1942,7 +1942,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue,
      * 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
+     * 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 */
@@ -2267,7 +2267,7 @@ static void prvUnlockQueue( Queue_t * const pxQueue )
                             if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
                             {
                                 /* The task waiting has a higher priority so record that a
-                                 * context	switch is required. */
+                                 * context switch is required. */
                                 vTaskMissedYield();
                             }
                             else
diff --git a/stream_buffer.c b/stream_buffer.c
index b22800e4e..79ef8f6a9 100644
--- a/stream_buffer.c
+++ b/stream_buffer.c
@@ -517,11 +517,11 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
     size_t xReturn, xSpace = 0;
     size_t xRequiredSpace = xDataLengthBytes;
     TimeOut_t xTimeOut;
-    
+
     /* Having a 'isFeasible' variable allows to respect the convention that there is only a return statement at the end. Othewise, return
      * could be done as soon as we realise the send cannot happen. We will let the call to 'prvWriteMessageToBuffer' dealing with this scenario. */
     BaseType_t xIsFeasible;
-    
+
     configASSERT( pvTxData );
     configASSERT( pxStreamBuffer );
 
@@ -535,56 +535,56 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
 
         /* Overflow? */
         configASSERT( xRequiredSpace > xDataLengthBytes );
-        
+
         /* In the case of the message buffer, one has to be able to write the complete message as opposed to
-		 * a stream buffer for semantic reasons. Check if it is physically possible to write the message given
+         * a stream buffer for semantic reasons. Check if it is physically possible to write the message given
          * the length of the buffer. */
-		if(xRequiredSpace > pxStreamBuffer->xLength)
-		{
-			/* The message could never be written because it is greater than the buffer length.
-			 * By setting xIsFeasable to FALSE, we skip over the following do..while loop, thus avoiding
-			 * a deadlock. The call to 'prvWriteMessageToBuffer' toward the end of this function with
-			 * xRequiredSpace greater than xSpace will suffice in not writing anything to the internal buffer.
-			 * Now, the function will return 0 because the message could not be written. Should an error code be
-			 * returned instead ??? In my opinion, probably.. But the return type doesn't allow for negative
-			 * values to be returned. A confusion could exist to the caller. Returning 0 because a timeout occurred
-			 * and a subsequent send attempts could eventually succeed, and returning 0 because a write could never
-			 * happen because of the size are two scenarios to me :/ */
-			xIsFeasible = pdFALSE;
-		}
-		else
-		{
-			/* It is possible to write the message completely in the buffer. This is the intended route.
-			 * Let's continue with the regular timeout logic. */
-			xIsFeasible = pdTRUE;
-		}
+        if( xRequiredSpace > pxStreamBuffer->xLength )
+        {
+            /* The message could never be written because it is greater than the buffer length.
+             * By setting xIsFeasable to FALSE, we skip over the following do..while loop, thus avoiding
+             * a deadlock. The call to 'prvWriteMessageToBuffer' toward the end of this function with
+             * xRequiredSpace greater than xSpace will suffice in not writing anything to the internal buffer.
+             * Now, the function will return 0 because the message could not be written. Should an error code be
+             * returned instead ??? In my opinion, probably.. But the return type doesn't allow for negative
+             * values to be returned. A confusion could exist to the caller. Returning 0 because a timeout occurred
+             * and a subsequent send attempts could eventually succeed, and returning 0 because a write could never
+             * happen because of the size are two scenarios to me :/ */
+            xIsFeasible = pdFALSE;
+        }
+        else
+        {
+            /* It is possible to write the message completely in the buffer. This is the intended route.
+             * Let's continue with the regular timeout logic. */
+            xIsFeasible = pdTRUE;
+        }
     }
     else
     {
         /* In the case of the stream buffer, not being able to completely write the message in the buffer
-		 * is an acceptable scenario, but it has to be dealt with properly */
-		if(xRequiredSpace > pxStreamBuffer->xLength)
-		{
-			/* Not enough buffer space. We will attempt to write as much as we can in this run
-			 * so that the caller can send the remaining in subsequent calls. We avoid a deadlock by
-			 * offering the possibility to take the 'else' branch in the  'if( xSpace < xRequiredSpace )'
-			 * condition inside the following do..while loop */
-			xRequiredSpace = pxStreamBuffer->xLength;
-			
-			/* TODO FIXME: Is there a check we should do with the xTriggerLevelBytes value ? */
+         * is an acceptable scenario, but it has to be dealt with properly */
+        if( xRequiredSpace > pxStreamBuffer->xLength )
+        {
+            /* Not enough buffer space. We will attempt to write as much as we can in this run
+             * so that the caller can send the remaining in subsequent calls. We avoid a deadlock by
+             * offering the possibility to take the 'else' branch in the  'if( xSpace < xRequiredSpace )'
+             * condition inside the following do..while loop */
+            xRequiredSpace = pxStreamBuffer->xLength;
 
-			/* With the adjustment to 'xRequiredSpace', the deadlock is avoided, thus it's now feasible. */
-			xIsFeasible = pdTRUE;
-		}
-		else
-		{
-			/* It is possible to write the message completely in the buffer. */
-			xIsFeasible = pdTRUE;
-		}
+            /* TODO FIXME: Is there a check we should do with the xTriggerLevelBytes value ? */
+
+            /* With the adjustment to 'xRequiredSpace', the deadlock is avoided, thus it's now feasible. */
+            xIsFeasible = pdTRUE;
+        }
+        else
+        {
+            /* It is possible to write the message completely in the buffer. */
+            xIsFeasible = pdTRUE;
+        }
     }
 
     /* Added check against xIsFeasible. If it's not feasible, don't even wait for notification, let the call to 'prvWriteMessageToBuffer' do nothing and return 0 */
-    if( xTicksToWait != ( TickType_t ) 0 && xIsFeasible == pdTRUE )
+    if( ( xTicksToWait != ( TickType_t ) 0 ) && ( xIsFeasible == pdTRUE ) )
     {
         vTaskSetTimeOutState( &xTimeOut );
 
diff --git a/tasks.c b/tasks.c
index 939c117e4..2029fbe31 100644
--- a/tasks.c
+++ b/tasks.c
@@ -3308,7 +3308,7 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
 BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
                                  TickType_t * const pxTicksToWait )
 {
-BaseType_t xReturn;
+    BaseType_t xReturn;
 
     configASSERT( pxTimeOut );
     configASSERT( pxTicksToWait );
@@ -3319,7 +3319,7 @@ BaseType_t xReturn;
         const TickType_t xConstTickCount = xTickCount;
         const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
 
-        #if( INCLUDE_xTaskAbortDelay == 1 )
+        #if ( INCLUDE_xTaskAbortDelay == 1 )
             if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
             {
                 /* The delay was aborted, which is not the same as a time out,