FreeRTOS + C++17 + std:: :)

.gdb_history

@@ -1,19 +1,3 @@
-    withExternalMhartid = false,
-    mhartidWidth = 0,
-    pipelineCsrRead = false,
-    pipelinedInterrupt = false,
-    csrOhDecoder = false,
-    deterministicInteruptionEntry = false,
-    wfiOutput = false,
-    exportPrivilege = false,
-    withPrivilegedDebug = false,
-    debugTriggers = 0
-  )
-),
-load
-c
-load
-si
 load
 load
 load
@@ -254,3 +238,19 @@ load
 c
 n
 n
+target extended-remote :3333
+dashboard -layout registers stack memory expressions variables 
+file Demo/Common/bin/freeRTOS_demo.elf
+load
+si
+si
+si
+del
+b main
+c
+n
+n
+c
+c
+c
+:q!

1

@@ -0,0 +1,156 @@
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "timers.h"
+#include "murax.h"
+
+#include <cstddef>
+#include <cstdio>
+
+
+#define mainTIMER_PERIOD_MS (1 / portTICK_PERIOD_MS) // Ustawienie okresu timera na 1 sekundę
+#define QUEUE_LENGTH 5
+#define QUEUE_ITEM_SIZE sizeof(uint32_t)
+
+extern "C" {
+    void vApplicationMallocFailedHook(void);
+    void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName);
+}
+
+/*-----------------------------------------------------------*/
+
+// Deklaracja funkcji dla zadania i callbacku timera
+static void hungryTask(void *pvParameters);
+static void timerCallback(TimerHandle_t xTimer);
+
+// Globalna kolejka
+static QueueHandle_t xQueue;
+
+/*-----------------------------------------------------------*/
+
+/*
+#include <include/FreeRTOS/Task.hpp>
+ 
+class MyTask : public FreeRTOS::Task {
+ public:
+  MyTask(const UBaseType_t priority, const char* name)
+      : FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
+  void taskFunction() final;
+};
+ 
+// Task to be created.
+void MyTask::taskFunction() {
+  for (;;) {
+    // Task code goes here.
+  }
+}
+// Function that creates a task.
+void aFunction() {
+  // Create the task.
+  MyTask task((tskIDLE_PRIORITY + 1), "NAME");
+ 
+  // Check that the task was created successfully.
+  if (task.isValid()) {
+    // Start the scheduler.
+    FreeRTOS::Kernel::startScheduler();
+  }
+ 
+  // Task will be destroyed when the scheduler is stopped and this function
+  // returns.
+}
+*/
+#include "include/Timer.hpp"
+
+const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040);
+
+void print(const char*str){
+	while(*str){
+		uart_write(UART,*str);
+		str++;
+	}
+}
+void println(const char*str){
+	print(str);
+	uart_write(UART,'\n');
+}
+
+#include "X.hpp"
+
+#include "SimpleOStream.hpp"
+
+int main(void) {
+
+		// Definicja globalnego obiektu strumienia wyjściowego
+SimpleOStream simpleCout;
+
+
+    X var {7};
+
+	//afunction();
+
+	println("hello world arty a7 v1");
+
+
+	xQueue = xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE); // Tworzenie kolejki
+    if (xQueue == NULL) {
+        return -1; // Błąd podczas tworzenia kolejki
+    }
+
+    TimerHandle_t xCheckTimer = NULL;
+
+   /*
+    // Inicjalizacja timera
+    xCheckTimer = xTimerCreate("CheckTimer",
+                               mainTIMER_PERIOD_MS,
+                               pdTRUE,
+                               (void *)0,
+                               timerCallback);
+    */
+
+    // Start timera
+    if (xCheckTimer != NULL) {
+        xTimerStart(xCheckTimer, 0);
+    }
+
+    // Tworzenie zadania hungryTask
+    xTaskCreate(hungryTask, "Hungry Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
+
+    // Uruchomienie planisty
+    vTaskStartScheduler();
+
+    // Teoretycznie nigdy nie powinniśmy tu dotrzeć
+    for (;;);
+    return 0;
+}
+
+/*-----------------------------------------------------------*/
+
+// Definicja funkcji callback timera
+static void timerCallback(TimerHandle_t xTimer) {
+    uint32_t ulValueToSend = 1; // Przykładowa wartość do wysłania
+    xQueueSendFromISR(xQueue, &ulValueToSend, NULL);
+}
+
+// Definicja zadania
+static void hungryTask(void *pvParameters) {
+    uint32_t ulReceivedValue;
+    for (;;) {
+    //    if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
+            //printf("hungry\n"); // Drukowanie, gdy odbierzemy wartość z kolejki
+    //    }
+    }
+}
+
+/*-----------------------------------------------------------*/
+
+void vApplicationMallocFailedHook(void) {
+    for (;;);
+}
+
+void vApplicationIdleHook(void) {
+    // Można tu umieścić kod wykonywany w stanie bezczynności
+}
+
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
+    for (;;);
+}

Demo/Common/FreeRTOSStreamBuf.hpp

@@ -0,0 +1,28 @@
+#ifndef FREERTOSSTREAMBUF_HPP
+#define FREERTOSSTREAMBUF_HPP
+
+#include <iostream>
+#include <streambuf>
+#include "murax.h"
+
+// Klasa dziedzicząca z std::streambuf, przesyłająca dane do putchar
+class FreeRTOSStreamBuf : public std::streambuf {
+protected:
+    // Ta funkcja jest wywoływana, gdy bufor jest pełny lub napotkano std::endl
+    virtual int overflow(int c) override {
+        if (c != EOF) {
+            //putchar(c); // Wysyłanie znaku do putchar
+		uart_write(UART,c);
+	}
+        return c;
+    }
+};
+
+// Funkcja konfiguracyjna przekierowująca std::cout do FreeRTOSStreamBuf
+void redirectCoutToPutchar() {
+    static FreeRTOSStreamBuf freertos_streambuf; // Globalny obiekt bufora
+    std::cout.rdbuf(&freertos_streambuf);        // Ustawienie bufora jako wyjściowego dla std::cout
+}
+
+#endif // FREERTOSSTREAMBUF_HPP
+

Demo/Common/Makefile

@@ -10,10 +10,10 @@ PRINT_ENABLE ?= yes
 
 TARGET=riscv32-unknown-${RISCV_LIB}
 GCC_PACK ?= yes
-RISCV_NAME ?= riscv32-unknown-elf
+RISCV_NAME ?= riscv64-unknown-elf
 
 ifeq ($(GCC_PACK),yes)
-	RISCV_PATH ?= /home/user/riscv/opt/rv32im/
+	RISCV_PATH ?= /home/user/riscv/opt/rv32i_zicsr/
 endif
 
 MABI = ilp32
@@ -33,13 +33,14 @@ INCLUDES = \
 	-I./include \
 	-I$(FREERTOS_SOURCE_DIR)/include \
 	-I../Common/include \
+	-I../Common/include/FreeRTOS \
 	-I$(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV
 
 CFLAGS = \
 	$(WARNINGS) $(INCLUDES) \
 	-fomit-frame-pointer -fno-strict-aliasing -fno-builtin \
 	-D__gracefulExit -mcmodel=medany \
-    	-march=$(ARCH)  -mabi=$(MABI) -ggdb3 -${OPT} 
+    	-march=$(ARCH)  -mabi=$(MABI) -ggdb3 -gdwarf-3 -${OPT} 
 
 CXXFLAGS += -march=$(ARCH) \
             -mabi=$(MABI) \
@@ -48,7 +49,8 @@ CXXFLAGS += -march=$(ARCH) \
             -MD \
             -fstrict-volatile-bitfields \
             -fno-strict-aliasing \
-            -std=c++11 \
+	    -fno-exceptions \
+            -std=c++17 \
 	    -ggdb3 -gdwarf-3 \
             $(INCLUDES)
 
@@ -57,11 +59,16 @@ ifeq ($(PRINT_ENABLE),yes)
 	CXXFLAGS += -DPRINT_ENABLE
 endif
 
-LDFLAGS	 = -g -T ../arch/link.ld -nostartfiles -static -march=$(ARCH) 
+LDFLAGS	 = -g -T ../arch/link.ld \
+	-nostartfiles \
+	-static \
+	-fno-exceptions \
+	-march=$(ARCH) -mabi=$(MABI) -ggdb3 -gdwarf-3
+
 LIBS	 = -L$(RISCV_PATH)/lib/gcc/$(TARGET)/$(GCCVER) \
 		   -L$(RISCV_PATH)/$(TARGET)/lib \
-		   -lc -lgcc -lstdc++\
-		   -I/home/user/opt/include
+		   -fno-exceptions \
+		   -lc -lgcc -lstdc++
 
 RISCV_OBJCOPY = $(RISCV_PATH)/bin/$(RISCV_NAME)-objcopy
 RISCV_OBJDUMP = $(RISCV_PATH)/bin/$(RISCV_NAME)-objdump
@@ -74,13 +81,14 @@ SRCS = $(wildcard ../arch/*.c) \
        $(wildcard ../Common/*.c) \
        $(wildcard ../Common/*.cpp) \
        $(wildcard ../Common/*.S) \
+       $(wildcard ../Common/lib/*.c) \
        $(FREERTOS_SOURCE_DIR)/croutine.c \
 	   $(FREERTOS_SOURCE_DIR)/list.c \
 	   $(FREERTOS_SOURCE_DIR)/queue.c \
 	   $(FREERTOS_SOURCE_DIR)/tasks.c \
 	   $(FREERTOS_SOURCE_DIR)/timers.c \
 	   $(FREERTOS_SOURCE_DIR)/event_groups.c \
-	   $(FREERTOS_SOURCE_DIR)/portable/MemMang/heap_2.c \
+	   $(FREERTOS_SOURCE_DIR)/portable/MemMang/heap_3.c \
 	   $(FREERTOS_SOURCE_DIR)/string.c \
 	   $(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/port.c \
 	   $(FREERTOS_SOURCE_DIR)/portable/GCC/RISCV/portasm.S \

Demo/Common/SimpleOStream.hpp

@@ -0,0 +1,73 @@
+#ifndef SIMPLEOSTREAM_HPP
+#define SIMPLEOSTREAM_HPP
+
+#include <cstdio> // dla putchar
+
+class SimpleOStream {
+public:
+    SimpleOStream& operator<<(const char* str) {
+        while (*str) {
+            putchar(*str++);
+        }
+        return *this;
+    }
+
+    SimpleOStream& operator<<(char c) {
+        putchar(c);
+        return *this;
+    }
+
+    SimpleOStream& operator<<(int num) {
+        char buffer[12]; // wystarczająco duży, aby pomieścić liczbę int
+        snprintf(buffer, sizeof(buffer), "%d", num);
+        return *this << buffer;
+    }
+
+    SimpleOStream& operator<<(unsigned int num) {
+        char buffer[12];
+        snprintf(buffer, sizeof(buffer), "%u", num);
+        return *this << buffer;
+    }
+
+    SimpleOStream& operator<<(long num) {
+        char buffer[20]; // wystarczająco duży, aby pomieścić liczbę long
+        snprintf(buffer, sizeof(buffer), "%ld", num);
+        return *this << buffer;
+    }
+
+    SimpleOStream& operator<<(unsigned long num) {
+        char buffer[20];
+        snprintf(buffer, sizeof(buffer), "%lu", num);
+        return *this << buffer;
+    }
+
+    SimpleOStream& operator<<(double num) {
+        char buffer[64]; // wystarczająco duży, aby pomieścić liczbę double
+        snprintf(buffer, sizeof(buffer), "%f", num);
+        return *this << buffer;
+    }
+
+    SimpleOStream& operator<<(void* ptr) {
+        char buffer[20];
+        snprintf(buffer, sizeof(buffer), "%p", ptr);
+        return *this << buffer;
+    }
+
+    // Użyj tego operatora do manipulacji takimi jak std::endl
+    SimpleOStream& operator<<(SimpleOStream& (*manip)(SimpleOStream&)) {
+        return manip(*this);
+    }
+};
+
+// Manipulator std::endl
+SimpleOStream& endl(SimpleOStream& os) {
+    os << '\n';
+    fflush(stdout);
+    return os;
+}
+
+// Globalny obiekt dla strumienia wyjściowego
+extern SimpleOStream simpleCout;
+
+#endif // SIMPLEOSTREAM_HPP
+

Demo/Common/X.cpp

@@ -0,0 +1,12 @@
+#include "X.hpp"
+
+X::X(int i) : m{i} {
+    // constructor body (if needed)
+}
+
+int X::mf(int i) {
+    int old = m;
+    m = i; // set a new value
+    return old; // return the old value
+}
+

Demo/Common/X.hpp

@@ -0,0 +1,16 @@
+#ifndef X_HPP
+#define X_HPP
+
+class X {
+private:
+    int m; // the representation (implementation) is private
+
+public:
+    // the user interface is public
+    X(int i = 0); // constructor (initialize the data member m)
+
+    int mf(int i); // a member function
+};
+
+#endif // X_HPP
+

Demo/Common/include/FreeRTOS/EventGroups.hpp

@@ -0,0 +1,503 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_EVENTGROUPS_HPP
+#define FREERTOS_EVENTGROUPS_HPP
+
+#include <bitset>
+
+#include "FreeRTOS.h"
+#include "event_groups.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class EventGroupBase EventGroupBase.hpp <FreeRTOS/EventGroups.hpp>
+ *
+ * @brief Base class that provides the standard event group interface to
+ * FreeRTOS::EventGroup and FreeRTOS::StaticEventGroup.
+ *
+ * @note This class is not intended to be instantiated by the user.  Use
+ * FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
+ */
+class EventGroupBase {
+ public:
+  friend class EventGroup;
+  friend class StaticEventGroup;
+
+  EventGroupBase(const EventGroupBase&) = delete;
+  EventGroupBase& operator=(const EventGroupBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  // NOLINTNEXTLINE
+  using EventBits = std::bitset<((configUSE_16_BIT_TICKS == 1) ? 8 : 24)>;
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that checks if the underlying event group handle is not
+   * NULL.  This should be used to ensure an event group has been created
+   * correctly.
+   *
+   * @retval true the handle is not NULL.
+   * @retval false the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupWaitBits( const
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const
+   * BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t
+   * xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupWaitBits.html>
+   *
+   * Read bits within an RTOS event group, optionally entering the Blocked state
+   * (with a timeout) to wait for a bit or group of bits to become set.
+   *
+   * @warning This function cannot be called from an interrupt.
+   *
+   * @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
+   * inside the event group.  bitsToWaitFor must not be set to 0.
+   * @param clearOnExit If clearOnExit is set to true then any bits set in the
+   * value passed as the bitsToWaitFor parameter will be cleared in the event
+   * group before wait() returns if wait() returns for any reason other than a
+   * timeout. The timeout value is set by the ticksToWait parameter. If
+   * clearOnExit is set to false then the bits set in the event group are not
+   * altered when the call to wait() returns.
+   * @param waitForAllBits waitForAllBits is used to create either a logical AND
+   * test (where all bits must be set) or a logical OR test (where one or more
+   * bits must be set) as follows: If waitForAllBits is set to true then wait()
+   * will return when either all the bits set in the value passed as the
+   * bitsToWaitFor parameter are set in the event group or the specified block
+   * time expires. If waitForAllBits is set to false then wait() will return
+   * when any of the bits set in the value passed as the bitsToWaitFor parameter
+   * are set in the event group or the specified block time expires.
+   * @param ticksToWait	The maximum amount of time (specified in 'ticks') to
+   * wait for one/all (depending on the waitForAllBits value) of the bits
+   * specified by bitsToWaitFor to become set.
+   * @return EventBits The value of the event group at the time either the event
+   * bits being waited for became set, or the block time expired. The current
+   * value of the event bits in an event group will be different to the returned
+   * value if a higher priority task or interrupt changed the value of an event
+   * bit between the calling task leaving the Blocked state and exiting the
+   * wait() function. Test the return value to know which bits were set. If
+   * wait() returned because its timeout expired then not all the bits being
+   * waited for will be set. If wait() 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 because the clearOnExit parameter was set
+   * to true.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/wait.cpp
+   */
+  inline EventBits wait(const EventBits& bitsToWaitFor = 0,
+                        const bool clearOnExit = false,
+                        const bool waitForAllBits = false,
+                        const TickType_t ticksToWait = portMAX_DELAY) const {
+    return EventBits(xEventGroupWaitBits(
+        handle, bitsToWaitFor.to_ulong(), (clearOnExit ? pdTRUE : pdFALSE),
+        (waitForAllBits ? pdTRUE : pdFALSE), ticksToWait));
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupSetBits(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupSetBits.html>
+   *
+   * Set bits (flags) within an RTOS event group. This function cannot be called
+   * from an interrupt. setFromISR() 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 bitsToSet A bitwise value that indicates the bit or bits to set in
+   * the event group.
+   * @return EventBits The value of the event group at the time the call to
+   * set() returns. There are two reasons why the returned value might have the
+   * bits specified by the uxBitsToSet parameter cleared:
+   *  1. 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 have been cleared
+   * automatically (see the clearOnExit parameter of wait()).
+   *  2. Any unblocked (or otherwise Ready state) task that has a priority above
+   * that of the task that called set() will execute and may change the event
+   * group value before the call to set() returns.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/set.cpp
+   */
+  inline EventBits set(const EventBits& bitsToSet) const {
+    return EventBits(xEventGroupSetBits(handle, bitsToSet.to_ulong()));
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
+   *
+   * Set bits (flags) within an RTOS event group. A version of set() that can be
+   * called from an interrupt service routine (ISR).
+   *
+   * Setting bits in an event group will automatically unblock tasks that are
+   * blocked waiting for the bits.
+   *
+   * 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 non-deterministic operations to be
+   * performed in interrupts or from critical sections. Therefore
+   * xEventGroupSetBitFromISR() sends a message to the RTOS daemon task to have
+   * the set operation performed in the context of the daemon task - where a
+   * scheduler lock is used in place of a critical section.
+   *
+   * @note As mentioned in the paragraph above, setting bits from an ISR will
+   * defer the set operation to the RTOS daemon task (also known as the timer
+   * service task). The RTOS daemon task is scheduled according to its priority,
+   * just like any other RTOS task. Therefore, if it is essential the set
+   * operation completes immediately (before a task created by the application
+   * executes) then the priority of the RTOS daemon task must be higher than the
+   * priority of any application task that uses the event group. The priority of
+   * the RTOS daemon task is set by the configTIMER_TASK_PRIORITY definition in
+   * FreeRTOSConfig.h.
+   *
+   * @param higherPriorityTaskWoken As mentioned above, calling this function
+   * will result in a message being sent to the RTOS daemon task. If the
+   * priority of the daemon task is higher than the priority of the currently
+   * running task (the task the interrupt interrupted) then
+   * higherPriorityTaskWoken will be set to true by setFromISR(), indicating
+   * that a context switch should be requested before the interrupt exits. For
+   * that reason higherPriorityTaskWoken must be initialised to false. See the
+   * example code below.
+   * @param bitsToSet A bitwise value that indicates the bit or bits to set in
+   * the event group.
+   * @retval true If the message was sent to the RTOS daemon task.
+   * @retval false Otherwise or if the timer service queue was full
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/setFromISR.cpp
+   */
+  inline bool setFromISR(bool& higherPriorityTaskWoken,
+                         const EventBits& bitsToSet) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(),
+                                             &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xEventGroupSetBitsFromISR(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupSetBitsFromISR.html>
+   *
+   * @overload
+   */
+  inline bool setFromISR(const EventBits& bitsToSet) const {
+    return (xEventGroupSetBitsFromISR(handle, bitsToSet.to_ulong(), NULL) ==
+            pdPASS);
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupClearBits(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupClearBits.html>
+   *
+   * Clear bits (flags) within an RTOS event group. This function cannot be
+   * called from an interrupt. See clearFromISR() for a version that can be
+   * called from an interrupt.
+   *
+   * @param bitsToClear A bitwise value that indicates the bit or bits to clear
+   * in the event group.
+   * @return EventBits The value of the event group before the specified bits
+   * were cleared.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/clear.cpp
+   */
+  inline EventBits clear(const EventBits& bitsToClear) const {
+    return EventBits(xEventGroupClearBits(handle, bitsToClear.to_ulong()));
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xEventGroupClearBitsFromISR(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupClearBitsFromISR.html>
+   *
+   * A version of clear() that can be called from an interrupt. The clear
+   * operation is deferred to the RTOS daemon task which is also known as the
+   * timer service task. The priority of the daemon task is set by the
+   * configTIMER_TASK_PRIORITY setting in FreeRTOSConfig.h.
+   *
+   * @param bitsToClear A bitwise value that indicates the bit or bits to clear
+   * in the event group.
+   * @return true If the operation was successfully deferred to the RTOS daemon
+   * task.
+   * @return false If the timer command queue is full.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/clearFromISR.cpp
+   */
+  inline bool clearFromISR(const EventBits& bitsToClear) const {
+    return (xEventGroupClearBitsFromISR(handle, bitsToClear.to_ulong()) ==
+            pdPASS);
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupGetBits(
+   * EventGroupHandle_t xEventGroup )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupGetBits.html>
+   *
+   * Returns the current value of the event bits (event flags) in an RTOS event
+   * group. This function cannot be used from an interrupt. See getFromISR() for
+   * a version that can be used in an interrupt.
+   *
+   * @return EventBits The value of the event bits in the event group at the
+   * time get() was called.
+   */
+  inline EventBits get() const { return EventBits(xEventGroupGetBits(handle)); }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupGetBitsFromISR(
+   * EventGroupHandle_t xEventGroup )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupGetBitsFromISR.html>
+   *
+   * A version of get() that can be called from an interrupt.
+   *
+   * @return EventBits The value of the event bits in the event group at the
+   * time getFromISR() was called.
+   */
+  inline EventBits getFromISR() const {
+    return EventBits(xEventGroupGetBitsFromISR(handle));
+  }
+
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Function that calls <tt>EventBits_t xEventGroupSync(
+   * EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const
+   * EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupSync.html>
+   *
+   * Atomically set bits (flags) within an RTOS event group, then wait for a
+   * combination of bits to be set within the same event group. This
+   * functionality is typically used to synchronize multiple tasks (often called
+   * a task rendezvous), where each task has to wait for the other tasks to
+   * reach a synchronization 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 bitsToWait parameter are set, or become set within that
+   * time. In this case all the bits specified by bitsToWait will be
+   * automatically cleared before the function returns.
+   *
+   * @param bitsToSet The bit or bits to set in the event group before
+   * determining if (and possibly waiting for), all the bits specified by the
+   * bitsToWait parameter are set.
+   * @param bitsToWaitFor A bitwise value that indicates the bit or bits to test
+   * inside the event group.
+   * @param ticksToWait The maximum amount of time (specified in 'ticks') to
+   * wait for all the bits specified by the uxBitsToWaitFor parameter value to
+   * become set.
+   * @return EventBits
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/sync.cpp
+   */
+  inline EventBits sync(const EventBits& bitsToSet = 0,
+                        const EventBits& bitsToWaitFor = 0,
+                        const TickType_t ticksToWait = portMAX_DELAY) const {
+    return EventBits(xEventGroupSync(handle, bitsToSet.to_ulong(),
+                                     bitsToWaitFor.to_ulong(), ticksToWait));
+  }
+
+ private:
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Construct a new EventGroupBase object.
+   *
+   * @note Default constructor is deliberately private as this class is not
+   * intended to be instantiated or derived from by the user. Use
+   * FreeRTOS::EventGroup or FreeRTOS::StaticEventGroup.
+   */
+  EventGroupBase() = default;
+
+  /**
+   * EventGroup.hpp
+   *
+   * @brief Destroy the EventGroupBase object by calling <tt>void
+   * vEventGroupDelete( EventGroupHandle_t xEventGroup )</tt>
+   *
+   * @see <https://www.freertos.org/vEventGroupDelete.html>
+   *
+   * Delete an event group.
+   *
+   * Tasks that are blocked on the event group being deleted will be unblocked,
+   * and report an event group value of 0.
+   */
+  ~EventGroupBase() { vEventGroupDelete(this->handle); };
+
+  EventGroupBase(EventGroupBase&&) noexcept = default;
+  EventGroupBase& operator=(EventGroupBase&&) noexcept = default;
+
+  /**
+   * @brief Handle used to refer to the event group when using the FreeRTOS
+   * interface.
+   */
+  EventGroupHandle_t handle = NULL;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class EventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS event group.
+ *
+ * Each event group requires a [very] small amount of RAM that is used to hold
+ * the event group's state. If an event group is created using this class then
+ * the required RAM is automatically allocated from the FreeRTOS heap. If an
+ * event group is created using FreeRTOS::StaticEventGroup then the RAM is
+ * provided by the application writer, which requires an additional parameter,
+ * but allows the RAM to be statically allocated at compile time. See the Static
+ * Vs Dynamic allocation page for more information.
+ */
+class EventGroup : public EventGroupBase {
+ public:
+  /**
+   * EventGroup.hpp
+   *
+   * @brief Construct a new EventGroup object by calling <tt>EventGroupHandle_t
+   * xEventGroupCreate( void )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupCreate.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * queue was created successfully in case the memory required to create the
+   * queue could not be allocated.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/eventGroup.cpp
+   */
+  EventGroup() { this->handle = xEventGroupCreate(); }
+  ~EventGroup() = default;
+
+  EventGroup(const EventGroup&) = delete;
+  EventGroup& operator=(const EventGroup&) = delete;
+
+  EventGroup(EventGroup&&) noexcept = default;
+  EventGroup& operator=(EventGroup&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticEventGroup EventGroups.hpp <FreeRTOS/EventGroups.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS event group.
+ *
+ * Each event group requires a [very] small amount of RAM that is used to hold
+ * the event group's state. If an event group is created using
+ * FreeRTOS::EventGroup then the required RAM is automatically allocated from
+ * the FreeRTOS heap. If an event group is created using this class then the RAM
+ * is provided by the application writer, which requires an additional
+ * parameter, but allows the RAM to be statically allocated at compile time. See
+ * the Static Vs Dynamic allocation page for more information.
+ */
+class StaticEventGroup : public EventGroupBase {
+ public:
+  /**
+   * EventGroups.hpp
+   *
+   * @brief Construct a new StaticEventGroup object by calling
+   * <tt>EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t
+   * *pxEventGroupBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xEventGroupCreateStatic.html>
+   *
+   * @warning This class contains the storage buffer for the event group, so the
+   * user should create this object as a global object or with the static
+   * storage specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include EventGroups/staticEventGroup.cpp
+   */
+  StaticEventGroup() {
+    this->handle = xEventGroupCreateStatic(&staticEventGroup);
+  }
+  ~StaticEventGroup() = default;
+
+  StaticEventGroup(const StaticEventGroup&) = delete;
+  StaticEventGroup& operator=(const StaticEventGroup&) = delete;
+
+  StaticEventGroup(StaticEventGroup&&) noexcept = default;
+  StaticEventGroup& operator=(StaticEventGroup&&) noexcept = default;
+
+ private:
+  StaticEventGroup_t staticEventGroup;
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_EVENTGROUPS_HPP

Demo/Common/include/FreeRTOS/Kernel.hpp

@@ -0,0 +1,409 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_KERNEL_HPP
+#define FREERTOS_KERNEL_HPP
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+namespace FreeRTOS {
+
+/**
+ * @brief Kernel namespace that provides an interface to kernel functions.
+ *
+ */
+namespace Kernel {
+enum class SchedulerState : BaseType_t {
+  Suspended = taskSCHEDULER_SUSPENDED,
+  NotStarted = taskSCHEDULER_NOT_STARTED,
+  Running = taskSCHEDULER_RUNNING,
+};
+
+/**
+ * @brief If versionNumber ends with + it represents the version in development
+ * after the numbered release.
+ */
+inline constexpr char versionNumber[] = tskKERNEL_VERSION_NUMBER;
+inline constexpr BaseType_t versionMajor = tskKERNEL_VERSION_MAJOR;
+inline constexpr BaseType_t versionMinor = tskKERNEL_VERSION_MINOR;
+inline constexpr BaseType_t versionBuild = tskKERNEL_VERSION_BUILD;
+
+#if (INCLUDE_xTaskGetSchedulerState == 1)
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskGetSchedulerState()</tt>
+ *
+ * @see <https://www.freertos.org/a00021.html#xTaskGetSchedulerState>
+ *
+ * @retval SchedulerState Returns the scheduler state as Running, NotStarted, or
+ * Suspended.
+ */
+inline SchedulerState getSchedulerState() {
+  return static_cast<SchedulerState>(xTaskGetSchedulerState());
+}
+#endif /* INCLUDE_xTaskGetSchedulerState */
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>uxTaskGetNumberOfTasks()</tt>
+ *
+ * @see <https://www.freertos.org/a00021.html#usTaskGetNumberOfTasks>
+ *
+ * @retval UBaseType_t 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.
+ */
+inline UBaseType_t getNumberOfTasks() { return uxTaskGetNumberOfTasks(); }
+
+#if (INCLUDE_xTaskGetIdleTaskHandle == 1 && configGENERATE_RUN_TIME_STATS == 1)
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskGetIdleRunTimeCounter()</tt>
+ *
+ * @see <https://www.freertos.org/a00021.html#vTaskGetIdleRunTimeCounter>
+ *
+ * @retval TickType_t The run-time counter for the Idle task.
+ *
+ * This function can be used to determine how much CPU time the idle task
+ * receives.  See the Run Time Stats page for a full description of the
+ * run-time-stats feature.
+ *
+ * configGENERATE_RUN_TIME_STATS and INCLUDE_xTaskGetIdleTaskHandle 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 timer's current count value respectively.  It is recommended to
+ * make the timer at least 10 times the frequency of the tick count.
+ */
+inline TickType_t getIdleRunTimeCounter() {
+  return xTaskGetIdleRunTimeCounter();
+}
+#endif /* INCLUDE_xTaskGetIdleTaskHandle && configGENERATE_RUN_TIME_STATS*/
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskGetTickCount()</tt>
+ *
+ * @see <https://www.freertos.org/a00021.html#xTaskGetTickCount>
+ *
+ * @retval TickType_t The count of ticks since
+ * FreeRTOS::Kernel::startScheduler() was called.
+ */
+inline TickType_t getTickCount() { return xTaskGetTickCount(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskGetTickCountFromISR()</tt>
+ *
+ * @see <https://www.freertos.org/a00021.html#xTaskGetTickCountFromISR>
+ *
+ * @retval TickType_t The count of ticks since
+ * FreeRTOS::Kernel::startScheduler() was called.
+ *
+ * This is a version of FreeRTOS::Kernel::getTickCount() 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.
+ */
+inline TickType_t getTickCountFromISR() { return xTaskGetTickCountFromISR(); }
+
+/**
+ *Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskYIELD()</tt>
+ *
+ * @see <https://www.freertos.org/a00020.html#taskYIELD>
+ *
+ * FreeRTOS::Kernel::yield() is used to request a context switch to another
+ *task. However, if there are no other tasks at a higher or equal priority to
+ *the task that calls FreeRTOS::Kernel::yield() then the RTOS scheduler will
+ *simply select the task that called FreeRTOS::Kernel::yield() to run again.
+ */
+inline void yield() { taskYIELD(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskENTER_CRITICAL()</tt>
+ *
+ * @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
+ *
+ * Function 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!
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/enterExitCritical.cpp
+ */
+inline void enterCritical() { taskENTER_CRITICAL(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskENTER_CRITICAL_FROM_ISR()</tt>
+ *
+ * @see
+ * <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
+ *
+ * @retval uint32_t the interrupt mask state as it was before the macro was
+ * called.  The value returned by FreeRTOS::Kernel::enterCriticalFromISR() must
+ * be used as the interruptStatus parameter in the matching call to
+ * FreeRTOS::Kernel::exitCriticalFromISR().
+ *
+ * Function 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!
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/enterExitCriticalFromISR.cpp
+ */
+inline uint32_t enterCriticalFromISR() { return taskENTER_CRITICAL_FROM_ISR(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskEXIT_CRITICAL()</tt>
+ *
+ * @see <https://www.freertos.org/taskENTER_CRITICAL_taskEXIT_CRITICAL.html>
+ *
+ * Function 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!
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/enterExitCritical.cpp
+ */
+inline void exitCritical() { taskEXIT_CRITICAL(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskEXIT_CRITICAL_FROM_ISR()</tt>
+ *
+ * @see
+ * <https://www.freertos.org/taskENTER_CRITICAL_FROM_ISR_taskEXIT_CRITICAL_FROM_ISR.html>
+ *
+ * @param interruptStatus The value used as the interruptStatus parameter must
+ * be the value returned from the matching call to
+ * FreeRTOS::Kernel::enterCriticalFromISR().
+ *
+ * Function 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!
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/enterExitCriticalFromISR.cpp
+ */
+inline void exitCriticalFromISR(const uint32_t interruptStatus) {
+  taskEXIT_CRITICAL_FROM_ISR(interruptStatus);
+}
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskDISABLE_INTERRUPTS()</tt>
+ *
+ * @see <https://www.freertos.org/a00020.html#taskDISABLE_INTERRUPTS>
+ *
+ * Function to disable all maskable interrupts.
+ */
+inline void disableInterrupts() { taskDISABLE_INTERRUPTS(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>taskENABLE_INTERRUPTS()</tt>
+ *
+ * @see <https://www.freertos.org/a00020.html#taskENABLE_INTERRUPTS>
+ *
+ * Function to enable microcontroller interrupts.
+ */
+inline void enableInterrupts() { taskENABLE_INTERRUPTS(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>vTaskStartScheduler()</tt>
+ *
+ * @see <https://www.freertos.org/a00132.html>
+ *
+ * Starts the real time kernel tick processing.  After calling the kernel has
+ * control over which tasks are executed and when.
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/startScheduler.cpp
+ */
+inline void startScheduler() { vTaskStartScheduler(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>vTaskEndScheduler()</tt>
+ *
+ * @see <https://www.freertos.org/a00133.html>
+ *
+ * @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
+ * FreeRTOS::Kernel::startScheduler() was called, as if
+ * FreeRTOS::Kernel::startScheduler() had just returned.
+ *
+ * See the demo application file main. c in the demo/PC directory for an example
+ * that uses FreeRTOS::Kernel::endScheduler().
+ *
+ * FreeRTOS::Kernel::endScheduler() 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.
+ *
+ * FreeRTOS::Kernel::endScheduler() will cause all of the resources allocated by
+ * the kernel to be freed - but will not free resources allocated by application
+ * tasks.
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/endScheduler.cpp
+ */
+inline void endScheduler() { vTaskEndScheduler(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>vTaskSuspendAll()</tt>
+ *
+ * @see <https://www.freertos.org/a00134.html>
+ *
+ * Suspends the scheduler without disabling interrupts.  Context switches will
+ * not occur while the scheduler is suspended.
+ *
+ * After calling FreeRTOS::Kernel::suspendAll() the calling task will continue
+ * to execute without risk of being swapped out until a call to
+ * FreeRTOS::Kernel::resumeAll() has been made.
+ *
+ * API functions that have the potential to cause a context switch (for example,
+ * FreeRTOS::Task::delayUntil(), FreeRTOS::Queue::send(), etc.) must not be
+ * called while the scheduler is suspended.
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/suspendAll.cpp
+ */
+inline void suspendAll() { vTaskSuspendAll(); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskResumeAll()</tt>
+ *
+ * @see <https://www.freertos.org/a00135.html>
+ *
+ * Resumes scheduler activity after it was suspended by a call to
+ * FreeRTOS::Kernel::suspendAll().
+ *
+ * FreeRTOS::Kernel::resumeAll() only resumes the scheduler.  It does not
+ * unsuspend tasks that were previously suspended by a call to
+ * FreeRTOS::Task::suspend().
+ *
+ * @retval true If resuming the scheduler caused a context switch.
+ * @retval false Otherwise.
+ *
+ * <b>Example Usage</b>
+ * @include Kernel/resumeAll.cpp
+ */
+inline bool resumeAll() { return (xTaskResumeAll() == pdTRUE); }
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>vTaskStepTick( const TickType_t xTicksToJump
+ * )</tt>
+ *
+ * @see <https://www.freertos.org/vTaskStepTick.html>
+ *
+ * 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.
+ *
+ * @param ticksToJump The number of RTOS ticks that have passed since the tick
+ * interrupt was stopped.
+ */
+inline void stepTick(const TickType_t ticksToJump) {
+  //vTaskStepTick(ticksToJump);
+}
+
+/**
+ * Kernel.hpp
+ *
+ * @brief Function that calls <tt>xTaskCatchUpTicks( TickType_t xTicksToCatchUp
+ * )</tt>
+ *
+ * @see <https://www.freertos.org/vTaskStepTick.html>
+ *
+ * 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 FreeRTOS::Kernel::stepTick(), however, unlike
+ * FreeRTOS::Kernel::stepTick(), FreeRTOS::Kernel::catchUpTicks() 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 ticksToCatchUp 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.
+ *
+ * @retval true If moving the tick count forward resulted in a task leaving the
+ * blocked state and a context switch being performed.
+ * @retval false Otherwise.
+ */
+inline bool catchUpTicks(const TickType_t ticksToCatchUp) {
+  return (xTaskCatchUpTicks(ticksToCatchUp) == pdTRUE);
+}
+}  // namespace Kernel
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_KERNEL_HPP

Demo/Common/include/FreeRTOS/MessageBuffer.hpp

@@ -0,0 +1,518 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_MESSAGEBUFFER_HPP
+#define FREERTOS_MESSAGEBUFFER_HPP
+
+#include "FreeRTOS.h"
+#include "message_buffer.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class MessageBufferBase MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
+ *
+ * @brief Base class that provides the standard message buffer interface to
+ * FreeRTOS::MessageBuffer and FreeRTOS::StaticMessageBuffer.
+ *
+ * @note This class is not intended to be instantiated by the user.  Use
+ * FreeRTOS::MessageBuffer or FreeRTOS::StaticMessageBuffer.
+ *
+ * @warning Uniquely among FreeRTOS objects, the stream buffer implementation
+ * (so also the message buffer implementation, as message buffers are built on
+ * top of stream buffers) assumes there is only one task or interrupt that will
+ * write to the buffer (the writer), and only one task or interrupt that will
+ * read from the buffer (the reader).  It is safe for the writer and reader to
+ * be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
+ * not safe to have multiple different writers or multiple different readers. If
+ * there are to be multiple different writers then the application writer must
+ * place each call to a writing API function (such as send()) inside a critical
+ * section and set the send block time to 0.  Likewise, if there are to be
+ * multiple different readers then the application writer must place each call
+ * to a reading API function (such as read()) inside a critical section and set
+ * the receive block time to 0.
+ */
+class MessageBufferBase {
+ public:
+  friend class MessageBuffer;
+  template <size_t>
+  friend class StaticMessageBuffer;
+
+  MessageBufferBase(const MessageBufferBase&) = delete;
+  MessageBufferBase& operator=(const MessageBufferBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that checks if the underlying message buffer handle is not
+   * NULL. This should be used to ensure a message buffer has been created
+   * correctly.
+   *
+   * @retval true If the handle is not NULL.
+   * @retval false If the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferSend(
+   * MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferSend.html>
+   *
+   * Sends a discrete message to the message buffer.  The message can be any
+   * length that fits within the buffer's free space, and is copied into the
+   * buffer.
+   *
+   * Use send() to write to a message buffer from a task.  Use sendFromISR() to
+   * write to a message buffer from an interrupt service routine (ISR).
+   *
+   * @param data A pointer to the message that is to be copied into the message
+   * buffer.
+   * @param length The length of the message.  That is, the number of bytes to
+   * copy from data into the message buffer. When a message is written to the
+   * message buffer an additional sizeof( size_t ) bytes are also written to
+   * store the message's length.  sizeof( size_t ) is typically 4 bytes on a
+   * 32-bit architecture, so on most 32-bit architecture setting length to 20
+   * will reduce the free space in the message buffer by 24 bytes (20 bytes of
+   * message data and 4 bytes to hold the message length).
+   * @param ticksToWait The maximum amount of time the calling task should
+   * remain in the Blocked state to wait for enough space to become available in
+   * the message buffer, should the message buffer have insufficient space when
+   * send() is called.  The calling task will never block if ticksToWait is
+   * zero.  The block time is specified in tick periods, so the absolute time it
+   * represents is dependent on the tick frequency.  The macro pdMS_TO_TICKS()
+   * can be used to convert a time specified in milliseconds into a time
+   * specified in ticks.  Setting ticksToWait to portMAX_DELAY will cause the
+   * task to wait indefinitely (without timing out), provided
+   * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+   * CPU time when they are in the Blocked state.
+   * @return size_t The number of bytes written to the message buffer.  If the
+   * call to send() times out before there was enough space to write the message
+   * into the message buffer then zero is returned.  If the call did not time
+   * out then length is returned.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/send.cpp
+   */
+  inline size_t send(const void* data, const size_t length,
+                     const TickType_t ticksToWait = portMAX_DELAY) const {
+    return xMessageBufferSend(handle, data, length, ticksToWait);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
+   * MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
+   *
+   * Interrupt safe version of the API function that sends a discrete message to
+   * the message buffer. The message can be any length that fits within the
+   * buffer's free space, and is copied into the buffer.
+   *
+   * Use send() to write to a message buffer from a task. Use sendFromISR() to
+   * write to a message buffer from an interrupt service routine (ISR).
+   *
+   * @param higherPriorityTaskWoken It is possible that a message buffer will
+   * have a task blocked on it waiting for data. Calling sendFromISR() can make
+   * data available, and so cause a task that was waiting for data to leave the
+   * Blocked state. If calling sendFromISR() causes a task to leave the Blocked
+   * state, and the unblocked task has a priority higher than the currently
+   * executing task (the task that was interrupted), then, internally,
+   * sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
+   * sets this value to true, then normally a context switch should be performed
+   * before the interrupt is exited. This will ensure that the interrupt returns
+   * directly to the highest priority Ready state task. higherPriorityTaskWoken
+   * should be set to false before it is passed into the function. See the code
+   * example below for an example.
+   * @param data A pointer to the message that is to be copied into the message
+   * buffer.
+   * @param length The length of the message. That is, the number of bytes to
+   * copy from data into the message buffer. When a message is written to the
+   * message buffer an additional sizeof( size_t ) bytes are also written to
+   * store the message's length. sizeof( size_t ) is typically 4 bytes on a
+   * 32-bit architecture, so on most 32-bit architecture setting length to 20
+   * will reduce the free space in the message buffer by 24 bytes (20 bytes of
+   * message data and 4 bytes to hold the message length).
+   * @return size_t The number of bytes actually written to the message buffer.
+   * If the message buffer didn't have enough free space for the message to be
+   * stored then 0 is returned, otherwise length is returned.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/sendFromISR.cpp
+   */
+  inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
+                            const size_t length) const {
+    BaseType_t taskWoken = pdFALSE;
+    size_t result = xMessageBufferSendFromISR(handle, data, length, &taskWoken);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferSendFromISR(
+   * MessageBufferHandle_t xMessageBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferSendFromISR.html>
+   *
+   * @overload
+   */
+  inline size_t sendFromISR(const void* data, const size_t length) const {
+    return xMessageBufferSendFromISR(handle, data, length, NULL);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferReceive(
+   * MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferReceive.html>
+   *
+   * Use receive() to read from a message buffer from a task.
+   * UsereceiveFromISR() to read from a message buffer from an interrupt service
+   * routine (ISR).
+   *
+   * @param buffer A pointer to the buffer into which the received message is to
+   * be copied.
+   * @param bufferLength The length of the buffer pointed to by the buffer
+   * parameter.  This sets the maximum length of the message that can be
+   * received.  If bufferLength is too small to hold the next message then the
+   * message will be left in the message buffer and 0 will be returned.
+   * @param ticksToWait The maximum amount of time the task should remain in the
+   * Blocked state to wait for a message, should the message buffer be empty.
+   * receive() will return immediately if ticksToWait is zero and the message
+   * buffer is empty.  The block time is specified in tick periods, so the
+   * absolute time it represents is dependent on the tick frequency.  The macro
+   * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
+   * into a time specified in ticks.  Setting ticksToWait to portMAX_DELAY will
+   * cause the task to wait indefinitely (without timing out), provided
+   * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+   * CPU time when they are in the Blocked state.
+   * @return size_t The length, in bytes, of the message read from the message
+   * buffer, if any.  If receive() times out before a message became available
+   * then zero is returned.  If the length of the message is greater than
+   * bufferLength then the message will be left in the message buffer and zero
+   * is returned.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/receive.cpp
+   */
+  inline size_t receive(void* buffer, const size_t bufferLength,
+                        const TickType_t ticksToWait = portMAX_DELAY) const {
+    return xMessageBufferReceive(handle, buffer, bufferLength, ticksToWait);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
+   * MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
+   *
+   * Use receive() to read from a message buffer from a task.
+   * UsereceiveFromISR() to read from a message buffer from an interrupt service
+   * routine (ISR).
+   *
+   * @param higherPriorityTaskWoken It is possible that a message buffer will
+   * have a task blocked on it waiting for space to become available. Calling
+   * receiveFromISR() can make space available, and so cause a task that is
+   * waiting for space to leave the Blocked state. If calling receiveFromISR()
+   * causes a task to leave the Blocked state, and the unblocked task has a
+   * priority higher than the currently executing task (the task that was
+   * interrupted), then, internally, receiveFromISR() will set
+   * higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
+   * true, then normally a context switch should be performed before the
+   * interrupt is exited. That will ensure the interrupt returns directly to the
+   * highest priority Ready state task.  higherPriorityTaskWoken should be set
+   * to false before it is passed into the function. See the code example below
+   * for an example.
+   * @param buffer A pointer to the buffer into which the received message is to
+   * be copied.
+   * @param bufferLength The length of the buffer pointed to by the buffer
+   * parameter.  This sets the maximum length of the message that can be
+   * received.  If bufferLength is too small to hold the next message then the
+   * message will be left in the message buffer and 0 will be returned.
+   * @return size_t The length, in bytes, of the message read from the message
+   * buffer, if any.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/receiveFromISR.cpp
+   */
+  inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
+                               const size_t bufferLength) const {
+    BaseType_t taskWoken = pdFALSE;
+    size_t result =
+        xMessageBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferReceiveFromISR(
+   * MessageBufferHandle_t xMessageBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferReceiveFromISR.html>
+   *
+   * @overload
+   */
+  inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
+    return xMessageBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xMessageBufferSpacesAvailable(
+   * MessageBufferHandle_t xMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferSpacesAvailable.html>
+   *
+   * Queries a message buffer to see how much free space it contains, which is
+   * equal to the amount of data that can be sent to the message buffer before
+   * it is full. The returned value is 4 bytes larger than the maximum message
+   * size that can be sent to the message buffer.
+   *
+   * @return size_t The number of bytes that can be written to the message
+   * buffer before the message buffer would be full. When a message is written
+   * to the message buffer an additional sizeof( size_t ) bytes are also written
+   * to store the message's length. sizeof( size_t ) is typically 4 bytes on a
+   * 32-bit architecture, so if spacesAvailable() returns 10, then the size of
+   * the largest message that can be written to the message buffer is 6 bytes.
+   */
+  inline size_t spacesAvailable() const {
+    return xMessageBufferSpacesAvailable(handle);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xMessageBufferReset(
+   * MessageBufferHandle_t xMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferReset.html>
+   *
+   * Resets a message buffer to its initial, empty, state. Any data that was in
+   * the message buffer is discarded. A message buffer can only be reset if
+   * there are no tasks blocked waiting to either send to or receive from the
+   * message buffer.
+   *
+   * @retval true If the message buffer is reset.
+   * @retval false If there was a task blocked waiting to send to or read from
+   * the message buffer then the message buffer will not be reset.
+   */
+  inline bool reset() const { return (xMessageBufferReset(handle) == pdPASS); }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xMessageBufferIsEmpty(
+   * MessageBufferHandle_t xMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferIsEmpty.html>
+   *
+   * Queries a message buffer to see if it is empty. A message buffer is empty
+   * if it does not contain any messages.
+   *
+   * @retval true If the message buffer is empty.
+   * @retval false Otherwise.
+   */
+  inline bool isEmpty() const {
+    return (xMessageBufferIsEmpty(handle) == pdTRUE);
+  }
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xMessageBufferIsFull(
+   * MessageBufferHandle_t xMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferIsFull.html>
+   *
+   * Queries a message buffer to see if it is full. A message buffer is full if
+   * it cannot accept any more messages, of any size, until space is made
+   * available by a message being removed from the message buffer.
+   *
+   * @retval true If the message buffer is full.
+   * @retval false Otherwise.
+   */
+  inline bool isFull() const {
+    return (xMessageBufferIsFull(handle) == pdTRUE);
+  }
+
+ private:
+  MessageBufferBase() = default;
+
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Destroy the MessageBufferBase object by calling <tt>void
+   * vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/vMessageBufferDelete.html>
+   *
+   * Delete a queue - freeing all the memory allocated for storing of items
+   * placed on the queue.
+   */
+  ~MessageBufferBase() { vMessageBufferDelete(this->handle); }
+
+  MessageBufferBase(MessageBufferBase&&) noexcept = default;
+  MessageBufferBase& operator=(MessageBufferBase&&) noexcept = default;
+
+  MessageBufferHandle_t handle = NULL;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class MessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS message
+ * buffer.
+ *
+ * A message buffer using dynamically allocated memory from the FreeRTOS heap.
+ * See FreeRTOS::StaticMessageBuffer for a version that uses statically
+ * allocated memory (memory that is allocated at compile time).
+ */
+class MessageBuffer : public MessageBufferBase {
+ public:
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Construct a new MessageBuffer object by calling
+   * <tt>MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferCreate.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * message buffer was created successfully in case the memory required to
+   * create the message buffer could not be allocated.
+   *
+   * @param size The total number of bytes (not messages) the message buffer
+   * will be able to hold at any one time.  When a message is written to the
+   * message buffer an additional sizeof( size_t ) bytes are also written to
+   * store the message's length. sizeof( size_t ) is typically 4 bytes on a
+   * 32-bit architecture, so on most 32-bit architectures a 10 byte message will
+   * take up 14 bytes of message buffer space.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/messageBuffer.cpp
+   */
+  explicit MessageBuffer(size_t size) {
+    this->handle = xMessageBufferCreate(size);
+  }
+  ~MessageBuffer() = default;
+
+  MessageBuffer(const MessageBuffer&) = delete;
+  MessageBuffer& operator=(const MessageBuffer&) = delete;
+
+  MessageBuffer(MessageBuffer&&) noexcept = default;
+  MessageBuffer& operator=(MessageBuffer&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticMessageBuffer MessageBuffer.hpp <FreeRTOS/MessageBuffer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS message
+ * buffer.
+ *
+ * If a message buffer is created using this class then the RAM is provided by
+ * the application writer as part of the object instance and allows the RAM to
+ * be statically allocated at compile time.
+ *
+ * @tparam N The size, in bytes, of the storage for the message buffer.
+ */
+template <size_t N>
+class StaticMessageBuffer : public MessageBufferBase {
+ public:
+  /**
+   * MessageBuffer.hpp
+   *
+   * @brief Construct a new StaticMessageBuffer object by calling
+   * <tt>MessageBufferHandle_t xMessageBufferCreateStatic( size_t
+   * xBufferSizeBytes, uint8_t *pucMessageBufferStorageArea,
+   * StaticMessageBuffer_t *pxStaticMessageBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xMessageBufferCreateStatic.html>
+   *
+   * @warning This class contains the storage buffer for the message buffer, so
+   * the user should create this object as a global object or with the static
+   * storage specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include MessageBuffer/staticMessageBuffer.cpp
+   */
+  StaticMessageBuffer() : MessageBufferBase() {
+    this->handle = xMessageBufferCreateStatic(sizeof(storage), storage,
+                                              &staticMessageBuffer);
+  }
+  ~StaticMessageBuffer() = default;
+
+  StaticMessageBuffer(const StaticMessageBuffer&) = delete;
+  StaticMessageBuffer& operator=(const StaticMessageBuffer&) = delete;
+
+  StaticMessageBuffer(StaticMessageBuffer&&) noexcept = default;
+  StaticMessageBuffer& operator=(StaticMessageBuffer&&) noexcept = default;
+
+ private:
+  StaticMessageBuffer_t staticMessageBuffer;
+  uint8_t storage[N] = {0};
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_MESSAGEBUFFER_HPP

Demo/Common/include/FreeRTOS/Mutex.hpp

@@ -0,0 +1,495 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_MUTEX_HPP
+#define FREERTOS_MUTEX_HPP
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class MutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Base class that provides the standard mutex interface to
+ * FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
+ * FreeRTOS::StaticRecursiveMutex.
+ *
+ * @note This class is not intended to be instantiated by the user. Use
+ * FreeRTOS::Mutex, FreeRTOS::StaticMutex, FreeRTOS::RecursiveMutex, and
+ * FreeRTOS::StaticRecursiveMutex.
+ */
+class MutexBase {
+ public:
+  friend class Mutex;
+  friend class StaticMutex;
+  friend class RecursiveMutexBase;
+  friend class RecursiveMutex;
+  friend class StaticRecursiveMutex;
+
+  MutexBase(const MutexBase&) = delete;
+  MutexBase& operator=(const MutexBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that checks if the underlying semaphore handle is not NULL.
+   * This should be used to ensure a semaphore has been created correctly.
+   *
+   * @retval true the handle is not NULL.
+   * @retval false the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
+   * xSemaphore, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/a00122.html>
+   *
+   * @param ticksToWait The time in ticks to wait for the mutex to become
+   * available. The macro portTICK_PERIOD_MS can be used to convert this to a
+   * real time. A block time of zero can be used to poll the mutex.
+   * @retval true If the mutex was locked.
+   * @retval false If ticksToWait expired without the mutex becoming available.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/lock.cpp
+   */
+  inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
+    return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
+  }
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
+   *
+   * @param higherPriorityTaskWoken It is possible (although unlikely, and
+   * dependent on the semaphore type) that a mutex will have one or more tasks
+   * blocked on it waiting to give the mutex. Calling lockFromISR() will make a
+   * task that was blocked waiting to give the mutex leave the Blocked state. If
+   * calling the API function causes a task to leave the Blocked state, and the
+   * unblocked task has a priority equal to or higher than the currently
+   * executing task (the task that was interrupted), then, internally, the API
+   * function will set higherPriorityTaskWoken to true.
+   * @return true If the mutex was successfully locked.
+   * @return false If the mutex was not successfully locked because it was not
+   * available.
+   */
+  inline bool lockFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTakeFromISR ( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
+   *
+   * @overload
+   */
+  inline bool lockFromISR() const {
+    return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
+  }
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/a00123.html>
+   *
+   * @warning This must not be used from an ISR.
+   *
+   * @return true If the mutex was unlocked.
+   * @return false If an error occurred. Mutexes (semaphores) are implemented
+   * using queues. An error can occur if there is no space on the queue to post
+   * a message indicating that the mutex was not first locked correctly.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/unlock.cpp
+   */
+  inline bool unlock() const { return (xSemaphoreGive(handle) == pdTRUE); }
+
+ private:
+  MutexBase() = default;
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Destroy the MutexBase object by calling <tt>void vSemaphoreDelete(
+   * SemaphoreHandle_t xSemaphore )</tt>
+   *
+   * @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
+   *
+   * @note Do not delete a mutex that has tasks blocked on it (tasks that are in
+   * the Blocked state waiting for the mutex to become available).
+   */
+  ~MutexBase() { vSemaphoreDelete(this->handle); }
+
+  MutexBase(MutexBase&&) noexcept = default;
+  MutexBase& operator=(MutexBase&&) noexcept = default;
+
+  /**
+   * @brief Handle used to refer to the semaphore when using the FreeRTOS
+   * interface.
+   */
+  SemaphoreHandle_t handle = NULL;
+};
+
+/**
+ * @class RecursiveMutexBase Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Base class that provides the recursive mutex interface to
+ * FreeRTOS::RecursiveMutex and FreeRTOS::StaticRecursiveMutex. This class
+ * exists to override the lock() and unlock() functions which require different
+ * underlying functions from what is used in FreeRTOS::MutexBase.
+ *
+ * @note This class is not intended to be instantiated by the user. Use
+ * FreeRTOS::RecursiveMutex or FreeRTOS::StaticRecursiveMutex.
+ */
+class RecursiveMutexBase : public MutexBase {
+ public:
+  friend class RecursiveMutex;
+  friend class StaticRecursiveMutex;
+
+  RecursiveMutexBase(const RecursiveMutexBase&) = delete;
+  RecursiveMutexBase& operator=(const RecursiveMutexBase&) = delete;
+
+  static void* operator new(size_t, void*);
+  static void* operator new[](size_t, void*);
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTakeRecursive( SemaphoreHandle_t
+   * xMutex, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreTakeRecursive.html>
+   *
+   * @param ticksToWait The time in ticks to wait for the mutex to become
+   * available. The macro portTICK_PERIOD_MS can be used to convert this to a
+   * real time. A block time of zero can be used to poll the mutex.  If the task
+   * already owns the mutex then take() will return immediately no matter what
+   * the value of ticksToWait.
+   * @retval true If the mutex was locked.
+   * @retval false If ticksToWait expired without the mutex becoming available.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/recursiveLock.cpp
+   */
+  inline bool lock(const TickType_t ticksToWait = portMAX_DELAY) const {
+    return (xSemaphoreTakeRecursive(handle, ticksToWait) == pdTRUE);
+  }
+
+  /**
+   * Mutex.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreGiveRecursive( SemaphoreHandle_t
+   * xSemaphore )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreGiveRecursive.html>
+   *
+   * A mutex used recursively can be locked repeatedly by the owner.  The mutex
+   * doesn't become available again until the owner has called unlock() for each
+   * successful lock request.  For example, if a task successfully locks the
+   * same mutex 5 times then the mutex will not be available to any other task
+   * until it has also unlocked the mutex back exactly five times.
+   *
+   * @return true If the mutex was unlocked.
+   * @return false Otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/recursiveLock.cpp
+   */
+  inline bool unlock() const {
+    return (xSemaphoreGiveRecursive(handle) == pdTRUE);
+  }
+
+ private:
+  RecursiveMutexBase() = default;
+  ~RecursiveMutexBase() = default;
+
+  RecursiveMutexBase(RecursiveMutexBase&&) noexcept = default;
+  RecursiveMutexBase& operator=(RecursiveMutexBase&&) noexcept = default;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class Mutex Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS mutex.
+ *
+ * Each mutex require a small amount of RAM that is used to hold the mutex's
+ * state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
+ * automatically allocated from the FreeRTOS heap. If a mutex is created using
+ * FreeRTOS::StaticMutex then the RAM is provided by the application writer and
+ * allows the RAM to be statically allocated at compile time. See the Static Vs
+ * Dynamic allocation page for more information.
+ *
+ * Mutexes and binary semaphores are very similar but have some subtle
+ * differences: Mutexes include a priority inheritance mechanism, binary
+ * semaphores do not. This makes binary semaphores the better choice for
+ * implementing synchronisation (between tasks or between tasks and an
+ * interrupt), and mutexes the better choice for implementing simple mutual
+ * exclusion.
+ *
+ * The priority of a task that locks a mutex will be temporarily raised if
+ * another task of higher priority attempts to obtain the same mutex. The task
+ * that owns the mutex 'inherits' the priority of the task attempting to lock
+ * the same mutex. This means the mutex must always be unlocked back otherwise
+ * the higher priority task will never be able to lock the mutex, and the lower
+ * priority task will never 'disinherit' the priority.
+ */
+class Mutex : public MutexBase {
+ public:
+  /**
+   * Mutex.hpp
+   *
+   * @brief Construct a new Mutex object by calling <tt>SemaphoreHandle_t
+   * xSemaphoreCreateMutex( void )</tt>
+   *
+   * @see <https://www.freertos.org/CreateMutex.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * mutex was created successfully in case the memory required to create the
+   * queue could not be allocated.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/mutex.cpp
+   */
+  Mutex() { this->handle = xSemaphoreCreateMutex(); }
+  ~Mutex() = default;
+
+  Mutex(const Mutex&) = delete;
+  Mutex& operator=(const Mutex&) = delete;
+
+  Mutex(Mutex&&) noexcept = default;
+  Mutex& operator=(Mutex&&) noexcept = default;
+};
+
+/**
+ * @class RecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS recursive
+ * mutex.
+ *
+ * Each recursive mutex require a small amount of RAM that is used to hold the
+ * recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
+ * then the required RAM is automatically allocated from the FreeRTOS heap. If a
+ * recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
+ * is provided by the application writer, which requires an additional
+ * parameter, but allows the RAM to be statically allocated at compile time. See
+ * the Static Vs Dynamic allocation page for more information.
+ *
+ * Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
+ * times, and the recursive mutex will only be returned after the holding task
+ * has unlocked the mutex the same number of times it locked the mutex.
+ *
+ * Like non-recursive mutexes, recursive mutexes implement a priority
+ * inheritance algorithm. The priority of a task that locks a mutex will be
+ * temporarily raised if another task of higher priority attempts to obtain the
+ * same mutex. The task that owns the mutex 'inherits' the priority of the task
+ * attempting to lock the same mutex. This means the mutex must always be
+ * unlocked otherwise the higher priority task will never be able to obtain the
+ * mutex, and the lower priority task will never 'disinherit' the priority.
+ */
+class RecursiveMutex : public RecursiveMutexBase {
+ public:
+  /**
+   * Mutex.hpp
+   *
+   * @brief Construct a new RecursiveMutex object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutex.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * recursive mutex was created successfully in case the memory required to
+   * create the queue could not be allocated.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/recursiveMutex.cpp
+   */
+  RecursiveMutex() { this->handle = xSemaphoreCreateRecursiveMutex(); }
+  ~RecursiveMutex() = default;
+
+  RecursiveMutex(const RecursiveMutex&) = delete;
+  RecursiveMutex& operator=(const RecursiveMutex&) = delete;
+
+  RecursiveMutex(RecursiveMutex&&) noexcept = default;
+  RecursiveMutex& operator=(RecursiveMutex&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS mutex.
+ *
+ * Each mutex require a small amount of RAM that is used to hold the mutex's
+ * state. If a mutex is created using FreeRTOS::Mutex then the required RAM is
+ * automatically allocated from the FreeRTOS heap. If a mutex is created using
+ * FreeRTOS::StaticMutex then the RAM is provided by the application writer and
+ * allows the RAM to be statically allocated at compile time. See the Static Vs
+ * Dynamic allocation page for more information.
+ *
+ * Mutexes and binary semaphores are very similar but have some subtle
+ * differences: Mutexes include a priority inheritance mechanism, binary
+ * semaphores do not. This makes binary semaphores the better choice for
+ * implementing synchronisation (between tasks or between tasks and an
+ * interrupt), and mutexes the better choice for implementing simple mutual
+ * exclusion.
+ *
+ * The priority of a task that locks a mutex will be temporarily raised if
+ * another task of higher priority attempts to obtain the same mutex. The task
+ * that owns the mutex 'inherits' the priority of the task attempting to lock
+ * the same mutex. This means the mutex must always be unlocked back otherwise
+ * the higher priority task will never be able to lock the mutex, and the lower
+ * priority task will never 'disinherit' the priority.
+ */
+class StaticMutex : public MutexBase {
+ public:
+  /**
+   * Mutex.hpp
+   *
+   * @brief Construct a new StaticMutex object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t
+   * *pxMutexBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateMutexStatic.html>
+   *
+   * @warning This class contains the storage buffer for the mutex, so the user
+   * should create this object as a global object or with the static storage
+   * specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/staticMutex.cpp
+   */
+  StaticMutex() { this->handle = xSemaphoreCreateMutexStatic(&staticMutex); }
+  ~StaticMutex() = default;
+
+  StaticMutex(const StaticMutex&) = delete;
+  StaticMutex& operator=(const StaticMutex&) = delete;
+
+  StaticMutex(StaticMutex&&) noexcept = default;
+  StaticMutex& operator=(StaticMutex&&) noexcept = default;
+
+ private:
+  StaticSemaphore_t staticMutex;
+};
+
+/**
+ * @class StaticRecursiveMutex Mutex.hpp <FreeRTOS/Mutex.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS recursive
+ * mutex.
+ *
+ * Each recursive mutex require a small amount of RAM that is used to hold the
+ * recursive mutex's state. If a mutex is created using FreeRTOS::RecursiveMutex
+ * then the required RAM is automatically allocated from the FreeRTOS heap. If a
+ * recursive mutex is created using FreeRTOS::StaticRecursiveMutex then the RAM
+ * is provided by the application writer, which requires an additional
+ * parameter, but allows the RAM to be statically allocated at compile time. See
+ * the Static Vs Dynamic allocation page for more information.
+ *
+ * Contrary to non-recursive mutexes, a task can lock a recursive mutex multiple
+ * times, and the recursive mutex will only be returned after the holding task
+ * has unlocked the mutex the same number of times it locked the mutex.
+ *
+ * Like non-recursive mutexes, recursive mutexes implement a priority
+ * inheritance algorithm. The priority of a task that locks a mutex will be
+ * temporarily raised if another task of higher priority attempts to obtain the
+ * same mutex. The task that owns the mutex 'inherits' the priority of the task
+ * attempting to lock the same mutex. This means the mutex must always be
+ * unlocked otherwise the higher priority task will never be able to obtain the
+ * mutex, and the lower priority task will never 'disinherit' the priority.
+ */
+class StaticRecursiveMutex : public RecursiveMutexBase {
+ public:
+  /**
+   * Mutex.hpp
+   *
+   * @brief Construct a new StaticRecursiveMutex object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic(
+   * StaticSemaphore_t *pxMutexBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateRecursiveMutexStatic.html>
+   *
+   * @warning This class contains the storage buffer for the recursive mutex, so
+   * the user should create this object as a global object or with the static
+   * storage specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include Mutex/staticRecursiveMutex.cpp
+   */
+  StaticRecursiveMutex() {
+    this->handle = xSemaphoreCreateRecursiveMutexStatic(&staticRecursiveMutex);
+  }
+  ~StaticRecursiveMutex() = default;
+
+  StaticRecursiveMutex(const StaticRecursiveMutex&) = delete;
+  StaticRecursiveMutex& operator=(const StaticRecursiveMutex&) = delete;
+
+  StaticRecursiveMutex(StaticRecursiveMutex&&) noexcept = default;
+  StaticRecursiveMutex& operator=(StaticRecursiveMutex&&) noexcept = default;
+
+ private:
+  StaticSemaphore_t staticRecursiveMutex;
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_MUTEX_HPP

Demo/Common/include/FreeRTOS/Queue.hpp

@@ -0,0 +1,737 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_QUEUE_HPP
+#define FREERTOS_QUEUE_HPP
+
+#include <optional>
+
+#include "FreeRTOS.h"
+#include "queue.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class QueueBase Queue.hpp <FreeRTOS/Queue.hpp>
+ *
+ * @brief Base class that provides the standard queue interface to
+ * FreeRTOS::Queue and FreeRTOS::StaticQueue.
+ *
+ * @note This class is not intended to be instantiated by the user.  Use
+ * FreeRTOS::Queue or FreeRTOS::StaticQueue.
+ *
+ * @tparam T Type to be stored in the queue.
+ */
+template <class T>
+class QueueBase {
+ public:
+  template <class>
+  friend class Queue;
+
+  template <class, UBaseType_t>
+  friend class StaticQueue;
+
+  QueueBase(const QueueBase&) = delete;
+  QueueBase& operator=(const QueueBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that checks if the underlying queue handle is not NULL.
+   * This should be used to ensure a queue has been created correctly.
+   *
+   * @retval true the handle is not NULL.
+   * @retval false the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToBack( xQueue, pvItemToQueue,
+   * xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/a00117.html>
+   *
+   * 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 FreeRTOS::Queue::sendToBackFromISR() for an alternative which
+   * may be used in an ISR.
+   *
+   * @param item A reference to the item that is to be placed on the queue.
+   * @param ticksToWait 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.
+   * @retval true if the item was successfully posted.
+   * @retval false otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/sendToBack.cpp
+   */
+  inline bool sendToBack(const T& item,
+                         const TickType_t ticksToWait = portMAX_DELAY) const {
+    return (xQueueSendToBack(handle, &item, ticksToWait) == pdTRUE);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
+   * pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
+   *
+   * @param higherPriorityTaskWoken A reference that will be set to true if
+   * sending to the queue caused a task to unblock, and the unblocked task has a
+   * priority higher than the currently running task.
+   * @param item A reference to the item that is to be placed on the queue.
+   * @retval true if the item was successfully posted
+   * @retval false otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/sendToBackFromISR.cpp
+   */
+  inline bool sendToBackFromISR(bool& higherPriorityTaskWoken,
+                                const T& item) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result =
+        (xQueueSendToBackFromISR(handle, &item, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToBackFromISR( xQueue,
+   * pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueSendToBackFromISR.html>
+   *
+   * @overload
+   */
+  inline bool sendToBackFromISR(const T& item) const {
+    return (xQueueSendToBackFromISR(handle, &item, NULL) == pdPASS);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToFront( xQueue, pvItemToQueue,
+   * xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueSendToFront.html>
+   *
+   * @param item A reference to the item that is to be placed on the queue.
+   * @param ticksToWait 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.
+   * @retval true if the item was successfully posted.
+   * @retval false otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/sendToFront.cpp
+   */
+  inline bool sendToFront(const T& item,
+                          const TickType_t ticksToWait = portMAX_DELAY) const {
+    return (xQueueSendToFront(handle, &item, ticksToWait) == pdTRUE);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
+   * pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
+   *
+   * @param higherPriorityTaskWoken A reference that will be set to true if
+   * sending to the queue caused a task to unblock, and the unblocked task has a
+   * priority higher than the currently running task.
+   * @param item A reference to the item that is to be placed on the queue.
+   * @retval true if the item was successfully posted
+   * @retval false otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/sendToFrontFromISR.cpp
+   */
+  inline bool sendToFrontFromISR(bool& higherPriorityTaskWoken,
+                                 const T& item) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result =
+        (xQueueSendToFrontFromISR(handle, &item, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>xQueueSendToFrontFromISR( xQueue,
+   * pvItemToQueue, pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueSendToFrontFromISR.html>
+   *
+   * @overload
+   */
+  inline bool sendToFrontFromISR(const T& item) const {
+    return (xQueueSendToFrontFromISR(handle, &item, NULL) == pdPASS);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueReceive( QueueHandle_t
+   * xQueue, void *pvBuffer, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/a00118.html>
+   *
+   * Receive an item from a queue.  This function must not be used in an
+   * interrupt service routine. See receiveFromISR() for an alternative that
+   * can.
+   *
+   * @param ticksToWait 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.
+   * Setting ticksToWait to 0 will cause the function to return immediately if
+   * 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 std::optional<T> Object from the queue. User should check that the
+   * value is present.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/receive.cpp
+   */
+  inline std::optional<T> receive(
+      const TickType_t ticksToWait = portMAX_DELAY) const {
+    T buffer;
+    return (xQueueReceive(handle, &buffer, ticksToWait) == pdTRUE)
+               ? std::optional<T>(buffer)
+               : std::nullopt;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
+   * QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/a00120.html>
+   *
+   * Receive an item from a queue. It is safe to use this function from within
+   * an interrupt service routine.
+   *
+   * @param higherPriorityTaskWoken A reference that will be set to true if
+   * sending to the queue caused a task to unblock, and the unblocked task has a
+   * priority higher than the currently running task.
+   * @return std::optional<T> Object from the queue. User should check that the
+   * value is present.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/receiveFromISR.cpp
+   */
+  inline std::optional<T> receiveFromISR(bool& higherPriorityTaskWoken) const {
+    T buffer;
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xQueueReceiveFromISR(handle, &buffer, &taskWoken) == pdTRUE);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result ? std::optional<T>(buffer) : std::nullopt;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueReceiveFromISR(
+   * QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxHigherPriorityTaskWoken
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/a00120.html>
+   *
+   * @overload
+   */
+  inline std::optional<T> receiveFromISR() const {
+    T buffer;
+    return (xQueueReceiveFromISR(handle, &buffer, NULL) == pdTRUE)
+               ? std::optional<T>(buffer)
+               : std::nullopt;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaiting(
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaiting>
+   *
+   * Return the number of messages stored in a queue.
+   *
+   * @retval UBaseType_t The number of messages available in the queue.
+   */
+  inline UBaseType_t messagesWaiting() const {
+    return uxQueueMessagesWaiting(handle);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>UBaseType_t uxQueueMessagesWaitingFromISR(
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#ucQueueMessagesWaitingFromISR>
+   *
+   * A version of messagesWaiting() that can be called from an ISR. Return the
+   * number of messages stored in a queue.
+   *
+   * @retval UBaseType_t The number of messages available in the queue.
+   */
+  inline UBaseType_t messagesWaitingFromISR() const {
+    return uxQueueMessagesWaitingFromISR(handle);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>UBaseType_t uxQueueSpacesAvailable(
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#uxQueueSpacesAvailable>
+   *
+   * Return the number of free spaces in a queue.
+   *
+   * @retval UBaseType_t The number of free spaces available in the queue.
+   */
+  inline UBaseType_t spacesAvailable() const {
+    return uxQueueSpacesAvailable(handle);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueReset( QueueHandle_t xQueue
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#xQueueReset>
+   *
+   * Resets a queue to its original empty state.
+   */
+  inline void reset() const { xQueueReset(handle); }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueOverwrite( QueueHandle_t
+   * xQueue, const void * pvItemToQueue )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueOverwrite.html>
+   *
+   * 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
+   * overwriteFromISR() for an alternative which may be used in an ISR.
+   *
+   * @param item A reference to the item that is to be placed on the queue.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/overwrite.cpp
+   */
+  inline void overwrite(const T& item) const { xQueueOverwrite(handle, &item); }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
+   * QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
+   *
+   * A version of overwrite() 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 higherPriorityTaskWoken A reference that will be set to true if
+   * sending to the queue caused a task to unblock, and the unblocked task has a
+   * priority higher than the currently running task.
+   * @param item A reference to the item that is to be placed on the queue.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/overwriteFromISR.cpp
+   */
+  inline void overwriteFromISR(bool& higherPriorityTaskWoken,
+                               const T& item) const {
+    BaseType_t taskWoken = pdFALSE;
+    xQueueOverwriteFromISR(handle, &item, &taskWoken);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueOverwriteFromISR(
+   * QueueHandle_t xQueue, const void * pvItemToQueue, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueOverwriteFromISR.html>
+   *
+   * @overload
+   */
+  inline void overwriteFromISR(const T& item) const {
+    xQueueOverwriteFromISR(handle, &item, NULL);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueuePeek( QueueHandle_t xQueue,
+   * void * const pvBuffer, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xQueuePeek.html>
+   *
+   * Receive an item from a queue without removing the item from the queue.
+   *
+   * Successfully received items remain on the queue so will be returned again
+   * by the next call, or a call to receive().
+   *
+   * This function must not be used in an interrupt service routine.  See
+   * peekFromISR() for an alternative that can be called from an interrupt
+   * service routine.
+   *
+   * @param ticksToWait 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.
+   * Setting ticksToWait to 0 will cause the function to return immediately if
+   * 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 std::optional<T> Object from the queue. User should check that the
+   * value is present.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/peek.cpp
+   */
+  inline std::optional<T> peek(
+      const TickType_t ticksToWait = portMAX_DELAY) const {
+    T buffer;
+    return (xQueuePeek(handle, &buffer, ticksToWait) == pdTRUE)
+               ? std::optional<T>(buffer)
+               : std::nullopt;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueuePeekFromISR( QueueHandle_t
+   * xQueue, void *pvBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xQueuePeekFromISR.html>
+   *
+   * A version of peek() that can be called from an interrupt service routine
+   * (ISR).
+   *
+   * Receive an item from a queue without removing the item from the queue.
+   *
+   * Successfully received items remain on the queue so will be returned again
+   * by the next call, or a call to receive().
+   *
+   * @return std::optional<T> Object from the queue. User should check that the
+   * value is present.
+   */
+  inline std::optional<T> peekFromISR() const {
+    T buffer;
+    return (xQueuePeekFromISR(handle, &buffer) == pdTRUE)
+               ? std::optional<T>(buffer)
+               : std::nullopt;
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>void vQueueAddToRegistry( QueueHandle_t
+   * xQueue, char *pcQueueName )</tt>
+   *
+   * @see <https://www.freertos.org/vQueueAddToRegistry.html>
+   *
+   * The registry is provided as a means for kernel aware debuggers to locate
+   * queues, semaphores and mutexes.  Call addToRegistry() 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.
+   *
+   * If addToRegistry() is called more than once for the same queue, the
+   * registry will store the name parameter from the most recent call to
+   * addToRegistry().
+   *
+   * @param name 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.
+   */
+  inline void addToRegistry(const char* name) const {
+    vQueueAddToRegistry(handle, name);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>void vQueueUnregisterQueue( QueueHandle_t
+   * xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/vQueueUnregisterQueue.html>
+   *
+   * The registry is provided as a means for kernel aware debuggers to locate
+   * queues, semaphores and mutexes.  Call addToRegistry() add a queue,
+   * semaphore or mutex handle to the registry if you want the handle to be
+   * available to a kernel aware debugger, and unregister() 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.
+   */
+  inline void unregister() const { vQueueUnregisterQueue(handle); }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>const char *pcQueueGetName( QueueHandle_t
+   * xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/pcQueueGetName.html>
+   *
+   * The queue registry is provided as a means for kernel aware debuggers to
+   * locate queues, semaphores and mutexes. Call getName() to look up and return
+   * the name of a queue in the queue registry from the queue's handle.
+   *
+   * @return If the queue referenced by the queue is in the queue registry, then
+   * the text name of the queue is returned, otherwise NULL is returned.
+   */
+  inline const char* getName() const { return pcQueueGetName(handle); }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueIsQueueFullFromISR( const
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#xQueueIsQueueFullFromISR>
+   *
+   * Queries a queue to determine if the queue is empty. This function should
+   * only be used in an ISR.
+   *
+   * @return true if the queue is full.
+   * @return false if the queue is not full.
+   */
+  inline bool isFullFromISR() const {
+    return (xQueueIsQueueFullFromISR(handle) == pdTRUE);
+  }
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xQueueIsQueueEmptyFromISR( const
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#xQueueIsQueueEmptyFromISR>
+   *
+   * Queries a queue to determine if the queue is empty. This function should
+   * only be used in an ISR.
+   *
+   * @retval true if the queue is empty.
+   * @retval false if the queue is not empty.
+   */
+  inline bool isEmptyFromISR() const {
+    return (xQueueIsQueueEmptyFromISR(handle) == pdTRUE);
+  }
+
+ private:
+  /**
+   * Queue.hpp
+   *
+   * @brief Construct a new QueueBase object.
+   *
+   * @note Default constructor is deliberately private as this class is not
+   * intended to be instantiated or derived from by the user. Use
+   * FreeRTOS::Queue or FreeRTOS::StaticQueue.
+   */
+  QueueBase() = default;
+
+  /**
+   * Queue.hpp
+   *
+   * @brief Destroy the QueueBase object by calling <tt>void vQueueDelete(
+   * QueueHandle_t xQueue )</tt>
+   *
+   * @see <https://www.freertos.org/a00018.html#vQueueDelete>
+   *
+   * Delete a queue - freeing all the memory allocated for storing of items
+   * placed on the queue.
+   */
+  ~QueueBase() { vQueueDelete(this->handle); }
+
+  QueueBase(QueueBase&&) noexcept = default;
+  QueueBase& operator=(QueueBase&&) noexcept = default;
+
+  /**
+   * @brief Handle used to refer to the queue when using the FreeRTOS interface.
+   */
+  QueueHandle_t handle = NULL;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class Queue Queue.hpp <FreeRTOS/Queue.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS queue.
+ *
+ * Each queue requires RAM that is used to hold the queue state, and to hold the
+ * items that are contained in the queue (the queue storage area). If a queue is
+ * created using this class then the required RAM is automatically allocated
+ * from the FreeRTOS heap.
+ *
+ * @tparam T Type to be stored in the queue.
+ */
+template <class T>
+class Queue : public QueueBase<T> {
+ public:
+  /**
+   * Queue.hpp
+   *
+   * @brief Construct a new Queue object by calling <tt>QueueHandle_t
+   * xQueueCreate( UBaseType_t uxQueueLength, UBaseType_t uxItemSize )</tt>
+   *
+   * @see <https://www.freertos.org/a00116.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * queue was created successfully in case the memory required to create the
+   * queue could not be allocated.
+   *
+   * @param length The maximum number of items the queue can hold at any one
+   * time.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/queue.cpp
+   */
+  explicit Queue(const UBaseType_t length) {
+    this->handle = xQueueCreate(length, sizeof(T));
+  }
+  ~Queue() = default;
+
+  Queue(const Queue&) = delete;
+  Queue& operator=(const Queue&) = delete;
+
+  Queue(Queue&&) noexcept = default;
+  Queue& operator=(Queue&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticQueue Queue.hpp <FreeRTOS/Queue.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS queue.
+ *
+ * If a queue is created using this class then the RAM is provided by the
+ * application writer as part of the object instance and allows the RAM to be
+ * statically allocated at compile time.
+ *
+ * @tparam T Type to be stored in the queue.
+ * @tparam N The maximum number of items the queue can hold at any one time.
+ */
+template <class T, UBaseType_t N>
+class StaticQueue : public QueueBase<T> {
+ public:
+  /**
+   *  Queue.hpp
+   *
+   * @brief Construct a new StaticQueue object by calling
+   * <tt>QueueHandle_t xQueueCreateStatic( UBaseType_t uxQueueLength,
+   * UBaseType_t uxItemSize, uint8_t *pucQueueStorageBuffer, StaticQueue_t
+   * *pxQueueBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xQueueCreateStatic.html>
+   *
+   * @warning This class contains the storage buffer for the queue, so the user
+   * should create this object as a global object or with the static storage
+   * specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include Queue/staticQueue.cpp
+   */
+  StaticQueue() {
+    this->handle = xQueueCreateStatic(N, sizeof(T), storage, &staticQueue);
+  }
+  ~StaticQueue() = default;
+
+  StaticQueue(const StaticQueue&) = delete;
+  StaticQueue& operator=(const StaticQueue&) = delete;
+
+  StaticQueue(StaticQueue&&) noexcept = default;
+  StaticQueue& operator=(StaticQueue&&) noexcept = default;
+
+ private:
+  StaticQueue_t staticQueue;
+  uint8_t storage[N * sizeof(T)];
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_QUEUE_HPP

Demo/Common/include/FreeRTOS/Semaphore.hpp

@@ -0,0 +1,523 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_SEMAPHORE_HPP
+#define FREERTOS_SEMAPHORE_HPP
+
+#include "FreeRTOS.h"
+#include "semphr.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class SemaphoreBase Semaphore.hpp <FreeRTOS/Semaphore.hpp>
+ *
+ * @brief Base class that provides the standard semaphore interface to
+ * FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
+ * FreeRTOS::CountingSemaphore, and FreeRTOS::StaticCountingSemaphore.
+ *
+ * @note This class is not intended to be instantiated by the user. Use
+ * FreeRTOS::BinarySemaphore, FreeRTOS::StaticBinarySemaphore,
+ * FreeRTOS::CountingSemaphore, or FreeRTOS::StaticCountingSemaphore.
+ */
+class SemaphoreBase {
+ public:
+  friend class BinarySemaphore;
+  friend class StaticBinarySemaphore;
+  friend class CountingSemaphore;
+  friend class StaticCountingSemaphore;
+
+  SemaphoreBase(const SemaphoreBase&) = delete;
+  SemaphoreBase& operator=(const SemaphoreBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that checks if the underlying semaphore handle is not NULL.
+   * This should be used to ensure a semaphore has been created correctly.
+   *
+   * @retval true the handle is not NULL.
+   * @retval false the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>UBaseType_t uxSemaphoreGetCount(
+   * SemaphoreHandle_t xSemaphore )</tt>
+   *
+   * @see <https://www.freertos.org/uxSemaphoreGetCount.html>
+   *
+   * Returns the count of a semaphore.
+   *
+   * @return UBaseType_t If the semaphore is a counting semaphore then the
+   * semaphores current count value is returned. If the semaphore is a binary
+   * semaphore then 1 is returned if the semaphore is available, and 0 is
+   * returned if the semaphore is not available.
+   */
+  inline UBaseType_t getCount() const { return uxSemaphoreGetCount(handle); }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTake( SemaphoreHandle_t
+   * xSemaphore, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/a00122.html>
+   *
+   * Function to obtain a semaphore.
+   *
+   * This macro must not be called from an ISR. takeFromISR() can be used to
+   * take a semaphore from within an interrupt if required, although this would
+   * not be a normal operation. Semaphores use queues as their underlying
+   * mechanism, so functions are to some extent interoperable.
+   *
+   * @param ticksToWait The time in ticks to wait for the semaphore to become
+   * available. The macro portTICK_PERIOD_MS can be used to convert this to a
+   * real time. A block time of zero can be used to poll the semaphore.
+   * @retval true If the semaphore was obtained.
+   * @retval false If xTicksToWait expired without the semaphore becoming
+   * available.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/take.cpp
+   */
+  inline bool take(const TickType_t ticksToWait = portMAX_DELAY) const {
+    return (xSemaphoreTake(handle, ticksToWait) == pdTRUE);
+  }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
+   *
+   * A version of take() that can be called from an ISR. Unlike take(),
+   * takeFromISR() does not permit a block time to be specified.
+   *
+   * @param higherPriorityTaskWoken It is possible (although unlikely, and
+   * dependent on the semaphore type) that a semaphore will have one or more
+   * tasks blocked on it waiting to give the semaphore. Calling takeFromISR()
+   * will make a task that was blocked waiting to give the semaphore leave the
+   * Blocked state. If calling the API function causes a task to leave the
+   * Blocked state, and the unblocked task has a priority equal to or higher
+   * than the currently executing task (the task that was interrupted), then,
+   * internally, the API function will set higherPriorityTaskWoken to true. If
+   * takeFromISR() sets higherPriorityTaskWoken to true, then a context switch
+   * should be performed before the interrupt is exited. This will ensure that
+   * the interrupt returns directly to the highest priority Ready state task.
+   * The mechanism is identical to that used in the FreeRTOS::receiveFromISR()
+   * function, and readers are referred to the FreeRTOS::receiveFromISR()
+   * documentation for further explanation.
+   * @retval true If the semaphore was successfully taken.
+   * @retval false If the semaphore was not successfully taken because it was
+   * not available.
+   */
+  inline bool takeFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xSemaphoreTakeFromISR(handle, &taskWoken) == pdTRUE);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreTakeFromISR( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken)</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreTakeFromISR.html>
+   *
+   * @overload
+   */
+  inline bool takeFromISR() const {
+    return (xSemaphoreTakeFromISR(handle, NULL) == pdTRUE);
+  }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreGive( SemaphoreHandle_t xSemaphore
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/a00123.html>
+   *
+   * Function to release a semaphore.
+   *
+   * This must not be used from an ISR. See giveFromISR() for an alternative
+   * which can be used from an ISR.
+   *
+   * @retval true If the semaphore was released.
+   * @retval false If an error occurred. Semaphores are implemented using
+   * queues. An error can occur if there is no space on the queue to post a
+   * message indicating that the semaphore was not first obtained correctly.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/give.cpp
+   */
+  inline bool give() const { return (xSemaphoreGive(handle) == pdTRUE); }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/a00124.html>
+   *
+   * Function to release a semaphore.
+   *
+   * This macro can be used from an ISR.
+   *
+   * @param higherPriorityTaskWoken giveFromISR() will set
+   * higherPriorityTaskWoken to true if giving the semaphore caused a task to
+   * unblock, and the unblocked task has a priority higher than the currently
+   * running task. If giveFromISR() sets this value to true then a context
+   * switch should be requested before the interrupt is exited.
+   * @retval true If the semaphore was successfully given.
+   * @retval false Otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/giveFromISR.cpp
+   */
+  inline bool giveFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xSemaphoreGiveFromISR(handle, &taskWoken) == pdTRUE);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Function that calls <tt>xSemaphoreGiveFromISR( SemaphoreHandle_t
+   * xSemaphore, signed BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/a00124.html>
+   *
+   * @overload
+   */
+  inline bool giveFromISR() const {
+    return (xSemaphoreGiveFromISR(handle, NULL) == pdTRUE);
+  }
+
+ private:
+  SemaphoreBase() = default;
+
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Destroy the SemaphoreBase object by calling <tt>void
+   * vSemaphoreDelete( SemaphoreHandle_t xSemaphore )</tt>
+   *
+   * @see <https://www.freertos.org/a00113.html#vSemaphoreDelete>
+   *
+   * @note Do not delete a semaphore that has tasks blocked on it (tasks that
+   * are in the Blocked state waiting for the semaphore to become available).
+   */
+  ~SemaphoreBase() { vSemaphoreDelete(this->handle); }
+
+  SemaphoreBase(SemaphoreBase&&) noexcept = default;
+  SemaphoreBase& operator=(SemaphoreBase&&) noexcept = default;
+
+  /**
+   * @brief Handle used to refer to the semaphore when using the FreeRTOS
+   * interface.
+   */
+  SemaphoreHandle_t handle = NULL;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class BinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS binary
+ * semaphore.
+ *
+ * Each binary semaphore require a small amount of RAM that is used to hold the
+ * semaphore's state. If a binary semaphore is created using
+ * FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
+ * from the FreeRTOS heap. If a binary semaphore is created using
+ * FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
+ * writer as part of the class and allows the RAM to be statically allocated at
+ * compile time. See the Static Vs Dynamic allocation page for more information.
+ *
+ * The semaphore is created in the 'empty' state, meaning the semaphore must
+ * first be given using the give() API function before it can subsequently be
+ * taken (obtained) using the take() function.
+ *
+ * Binary semaphores and mutexes are very similar but have some subtle
+ * differences: Mutexes include a priority inheritance mechanism, binary
+ * semaphores do not. This makes binary semaphores the better choice for
+ * implementing synchronisation (between tasks or between tasks and an
+ * interrupt), and mutexes the better choice for implementing simple mutual
+ * exclusion.
+ *
+ * A binary semaphore need not be given back once obtained, so task
+ * synchronisation can be implemented by one task/interrupt continuously
+ * 'giving' the semaphore while another continuously 'takes' the semaphore. This
+ * is demonstrated by the sample code on the giveFromISR() documentation page.
+ * Note the same functionality can often be achieved in a more efficient way
+ * using a direct to task notification.
+ *
+ * The priority of a task that 'takes' a mutex can potentially be raised if
+ * another task of higher priority attempts to obtain the same mutex. The task
+ * that owns the mutex 'inherits' the priority of the task attempting to 'take'
+ * the same mutex. This means the mutex must always be 'given' back - otherwise
+ * the higher priority task will never be able to obtain the mutex, and the
+ * lower priority task will never 'disinherit' the priority. An example of a
+ * mutex being used to implement mutual exclusion is provided on the take()
+ * documentation page.
+ */
+class BinarySemaphore : public SemaphoreBase {
+ public:
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Construct a new BinarySemaphore object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateBinary( void )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateBinary.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * binary semaphore was created successfully in case the memory required to
+   * create the queue could not be allocated.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/binarySemaphore.cpp
+   */
+  BinarySemaphore() { this->handle = xSemaphoreCreateBinary(); }
+  ~BinarySemaphore() = default;
+
+  BinarySemaphore(const BinarySemaphore&) = delete;
+  BinarySemaphore& operator=(const BinarySemaphore&) = delete;
+
+  BinarySemaphore(BinarySemaphore&&) noexcept = default;
+  BinarySemaphore& operator=(BinarySemaphore&&) noexcept = default;
+};
+
+/**
+ * @class CountingSemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS counting
+ * semaphore.
+ *
+ * Each counting semaphore require a small amount of RAM that is used to hold
+ * the semaphore's state. If a counting semaphore is created using
+ * FreeRTOS::CountingSemaphore then the required RAM is automatically allocated
+ * from the FreeRTOS heap. If a counting semaphore is created using
+ * FreeRTOS::StaticCountingSemaphore then the RAM is provided by the application
+ * writer as part of the class and allows the RAM to be statically allocated at
+ * compile time. See the Static Vs Dynamic allocation page for more information.
+ *
+ * Counting semaphores are typically used for two things:
+ *  1. <b>Counting Events:</b>
+ * In this usage scenario an event handler will 'give' a semaphore each time an
+ * event occurs (incrementing the semaphore count value), and a handler task
+ * will 'take' a semaphore each time it processes an event (decrementing the
+ * semaphore count value). The count value is therefore the difference between
+ * the number of events that have occurred and the number that have been
+ * processed. In this case it is desirable for the initial count value to be
+ * zero. Note the same functionality can often be achieved in a more efficient
+ * way using a direct to task notification.
+ *
+ *  2. <b>Resource Management:</b>
+ * In this usage scenario the count value indicates the number of resources
+ * available. To obtain control of a resource a task must first obtain a
+ * semaphore - decrementing the semaphore count value. When the count value
+ * reaches zero there are no free resources. When a task finishes with the
+ * resource it 'gives' the semaphore back - incrementing the semaphore count
+ * value. In this case it is desirable for the initial count value to be equal
+ * to the maximum count value, indicating that all resources are free.
+ */
+class CountingSemaphore : public SemaphoreBase {
+ public:
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Construct a new CountingSemaphore by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount,
+   * UBaseType_t uxInitialCount)</tt>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * binary semaphore was created successfully in case the memory required to
+   * create the queue could not be allocated.
+   *
+   * @param maxCount The maximum count value that can be reached. When the
+   * semaphore reaches this value it can no longer be 'given'.
+   * @param initialCount 	The count value assigned to the semaphore when
+   * it is created.
+   */
+  explicit CountingSemaphore(const UBaseType_t maxCount,
+                             const UBaseType_t initialCount = 0) {
+    this->handle = xSemaphoreCreateCounting(maxCount, initialCount);
+  }
+  ~CountingSemaphore() = default;
+
+  CountingSemaphore(const CountingSemaphore&) = delete;
+  CountingSemaphore& operator=(const CountingSemaphore&) = delete;
+
+  CountingSemaphore(CountingSemaphore&&) noexcept = default;
+  CountingSemaphore& operator=(CountingSemaphore&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticBinarySemaphore Semaphore.hpp <FreeRTOS/Semaphore.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS binary
+ * semaphore.
+ *
+ * Each binary semaphore require a small amount of RAM that is used to hold the
+ * semaphore's state. If a binary semaphore is created using
+ * FreeRTOS::BinarySemaphore then the required RAM is automatically allocated
+ * from the FreeRTOS heap. If a binary semaphore is created using
+ * FreeRTOS::StaticBinarySemaphore then the RAM is provided by the application
+ * writer as part of the class and allows the RAM to be statically allocated at
+ * compile time. See the Static Vs Dynamic allocation page for more information.
+ *
+ * The semaphore is created in the 'empty' state, meaning the semaphore must
+ * first be given using the give() API function before it can subsequently be
+ * taken (obtained) using the take() function.
+ *
+ * Binary semaphores and mutexes are very similar but have some subtle
+ * differences: Mutexes include a priority inheritance mechanism, binary
+ * semaphores do not. This makes binary semaphores the better choice for
+ * implementing synchronisation (between tasks or between tasks and an
+ * interrupt), and mutexes the better choice for implementing simple mutual
+ * exclusion.
+ *
+ * A binary semaphore need not be given back once obtained, so task
+ * synchronisation can be implemented by one task/interrupt continuously
+ * 'giving' the semaphore while another continuously 'takes' the semaphore. This
+ * is demonstrated by the sample code on the giveFromISR() documentation page.
+ * Note the same functionality can often be achieved in a more efficient way
+ * using a direct to task notification.
+ *
+ * The priority of a task that 'takes' a mutex can potentially be raised if
+ * another task of higher priority attempts to obtain the same mutex. The task
+ * that owns the mutex 'inherits' the priority of the task attempting to 'take'
+ * the same mutex. This means the mutex must always be 'given' back - otherwise
+ * the higher priority task will never be able to obtain the mutex, and the
+ * lower priority task will never 'disinherit' the priority. An example of a
+ * mutex being used to implement mutual exclusion is provided on the take()
+ * documentation page.
+ */
+class StaticBinarySemaphore : public SemaphoreBase {
+ public:
+  /**
+   * Semaphore.hpp
+   *
+   * @brief Construct a new StaticBinarySemaphore object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t
+   * *pxSemaphoreBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateBinaryStatic.html>
+   *
+   * @warning This class contains the storage buffer for the binary semaphore,
+   * so the user should create this object as a global object or with the static
+   * storage specifier so that the object instance is not on the stack.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/staticBinarySemaphore.cpp
+   */
+  StaticBinarySemaphore() {
+    this->handle = xSemaphoreCreateBinaryStatic(&staticBinarySemaphore);
+  }
+  ~StaticBinarySemaphore() = default;
+
+  StaticBinarySemaphore(const StaticBinarySemaphore&) = delete;
+  StaticBinarySemaphore& operator=(const StaticBinarySemaphore&) = delete;
+
+  StaticBinarySemaphore(StaticBinarySemaphore&&) noexcept = default;
+  StaticBinarySemaphore& operator=(StaticBinarySemaphore&&) noexcept = default;
+
+ private:
+  StaticSemaphore_t staticBinarySemaphore;
+};
+
+class StaticCountingSemaphore : public SemaphoreBase {
+ public:
+  /**
+   * @brief Construct a new StaticCountingSemaphore object by calling
+   * <tt>SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t
+   * uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t
+   * *pxSemaphoreBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xSemaphoreCreateCountingStatic.html>
+   *
+   * @warning This class contains the storage buffer for the counting semaphore,
+   * so the user should create this object as a global object or with the static
+   * storage specifier so that the object instance is not on the stack.
+   *
+   * @param maxCount The maximum count value that can be reached. When the
+   * semaphore reaches this value it can no longer be 'given'.
+   * @param initialCount The count value assigned to the semaphore when it is
+   * created.
+   *
+   * <b>Example Usage</b>
+   * @include Semaphore/staticCountingSemaphore.cpp
+   */
+  explicit StaticCountingSemaphore(const UBaseType_t maxCount,
+                                   const UBaseType_t initialCount = 0) {
+    this->handle = xSemaphoreCreateCountingStatic(maxCount, initialCount,
+                                                  &staticCountingSemaphore);
+  }
+  ~StaticCountingSemaphore() = default;
+
+  StaticCountingSemaphore(const StaticCountingSemaphore&) = delete;
+  StaticCountingSemaphore& operator=(const StaticCountingSemaphore&) = delete;
+
+  StaticCountingSemaphore(StaticCountingSemaphore&&) noexcept = default;
+  StaticCountingSemaphore& operator=(StaticCountingSemaphore&&) noexcept =
+      default;
+
+ private:
+  StaticSemaphore_t staticCountingSemaphore;
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_SEMAPHORE_HPP

Demo/Common/include/FreeRTOS/StreamBuffer.hpp

@@ -0,0 +1,566 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_STREAMBUFFER_HPP
+#define FREERTOS_STREAMBUFFER_HPP
+
+#include "FreeRTOS.h"
+#include "stream_buffer.h"
+
+namespace FreeRTOS {
+
+/**
+ * @class StreamBufferBase StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
+ *
+ * @brief Base class that provides the standard stream buffer interface to
+ * FreeRTOS::StreamBuffer and FreeRTOS::StaticStreamBuffer.
+ *
+ * @note This class is not intended to be instantiated by the user.  Use
+ * FreeRTOS::StreamBuffer or FreeRTOS::StaticStreamBuffer.
+ *
+ * @warning Uniquely among FreeRTOS objects, the stream buffer implementation
+ * (so also the message buffer implementation, as message buffers are built on
+ * top of stream buffers) assumes there is only one task or interrupt that will
+ * write to the buffer (the writer), and only one task or interrupt that will
+ * read from the buffer (the reader).  It is safe for the writer and reader to
+ * be different tasks or interrupts, but, unlike other FreeRTOS objects, it is
+ * not safe to have multiple different writers or multiple different readers. If
+ * there are to be multiple different writers then the application writer must
+ * place each call to a writing API function (such as send()) inside a critical
+ * section and set the send block time to 0.  Likewise, if there are to be
+ * multiple different readers then the application writer must place each call
+ * to a reading API function (such as read()) inside a critical section and set
+ * the receive block time to 0.
+ */
+class StreamBufferBase {
+ public:
+  friend class StreamBuffer;
+  template <size_t>
+  friend class StaticStreamBuffer;
+
+  StreamBufferBase(const StreamBufferBase&) = delete;
+  StreamBufferBase& operator=(const StreamBufferBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that checks if the underlying stream buffer handle is not
+   * NULL. This should be used to ensure a stream buffer has been created
+   * correctly.
+   *
+   * @retval true If the handle is not NULL.
+   * @retval false If the handle is NULL.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferSend(
+   * StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferSend.html>
+   *
+   * Sends bytes to a stream buffer. The bytes are copied into the stream
+   * buffer.
+   *
+   * Use send() to write to a stream buffer from a task. Use sendFromISR() to
+   * write to a stream buffer from an interrupt service routine (ISR).
+   *
+   * @param data A pointer to the buffer that holds the bytes to be copied into
+   * the stream buffer.
+   * @param length The maximum number of bytes to copy from data into the stream
+   * buffer.
+   * @param ticksToWait The maximum amount of time the task should remain in the
+   * Blocked state to wait for enough space to become available in the stream
+   * buffer, should the stream buffer contain too little space to hold the
+   * another length bytes. The block time is specified in tick periods, so the
+   * absolute time it represents is dependent on the tick frequency. The macro
+   * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
+   * into a time specified in ticks. Setting ticksToWait to portMAX_DELAY will
+   * cause the task to wait indefinitely (without timing out), provided
+   * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out
+   * before it can write all length into the buffer it will still write as many
+   * bytes as possible. A task does not use any CPU time when it is in the
+   * blocked state.
+   * @return size_t The number of bytes written to the stream buffer.  If a task
+   * times out before it can write all length into the buffer it will still
+   * write as many bytes as possible.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/send.cpp
+   */
+  inline size_t send(const void* data, const size_t length,
+                     const TickType_t ticksToWait = portMAX_DELAY) const {
+    return xStreamBufferSend(handle, data, length, ticksToWait);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
+   * StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
+   *
+   * Interrupt safe version of the API function that sends a stream of bytes to
+   * the stream buffer.
+   *
+   * Use send() to write to a stream buffer from a task. Use sendFromISR() to
+   * write to a stream buffer from an interrupt service routine (ISR).
+   *
+   * @param higherPriorityTaskWoken It is possible that a stream buffer will
+   * have a task blocked on it waiting for data. Calling sendFromISR() can make
+   * data available, and so cause a task that was waiting for data to leave the
+   * Blocked state.  If calling sendFromISR() causes a task to leave the Blocked
+   * state, and the unblocked task has a priority higher than the currently
+   * executing task (the task that was interrupted), then, internally,
+   * sendFromISR() will set higherPriorityTaskWoken to true. If sendFromISR()
+   * sets this value to true, then normally a context switch should be performed
+   * before the interrupt is exited.  This will ensure that the interrupt
+   * returns directly to the highest priority Ready state task.
+   * higherPriorityTaskWoken should be set to false before it is passed into the
+   * function. See the example code below for an example.
+   * @param data A pointer to the buffer that holds the bytes to be copied into
+   * the stream buffer.
+   * @param length The maximum number of bytes to copy from data into the stream
+   * buffer.
+   * @return size_t The number of bytes written to the stream buffer.  If a task
+   * times out before it can write all length into the buffer it will still
+   * write as many bytes as possible.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/sendFromISR.cpp
+   */
+  inline size_t sendFromISR(bool& higherPriorityTaskWoken, const void* data,
+                            const size_t length) const {
+    BaseType_t taskWoken = pdFALSE;
+    size_t result = xStreamBufferSendFromISR(handle, data, length, &taskWoken);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferSendFromISR(
+   * StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t
+   * xDataLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferSendFromISR.html>
+   *
+   * @overload
+   */
+  inline size_t sendFromISR(const void* data, const size_t length) const {
+    return xStreamBufferSendFromISR(handle, data, length, NULL);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferReceive(
+   * StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, TickType_t xTicksToWait )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferReceive.html>
+   *
+   * Receives bytes from a stream buffer.
+   *
+   * Use receive() to read from a stream buffer from a task. Use
+   * receiveFromISR() to read from a stream buffer from an interrupt service
+   * routine (ISR).
+   *
+   * @param buffer A pointer to the buffer into which the received bytes will be
+   * copied.
+   * @param bufferLength The length of the buffer pointed to by the data
+   * parameter. This sets the maximum number of bytes to receive in one call.
+   * receive() will return as many bytes as possible up to a maximum set by
+   * length.
+   * @param ticksToWait The maximum amount of time the task should remain in the
+   * Blocked state to wait for data to become available if the stream buffer is
+   * empty. receive() will return immediately if ticksToWait is zero. The block
+   * time is specified in tick periods, so the absolute time it represents is
+   * dependent on the tick frequency. The macro pdMS_TO_TICKS() can be used to
+   * convert a time specified in milliseconds into a time specified in ticks.
+   * Setting ticksToWait to portMAX_DELAY will cause the task to wait
+   * indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to
+   * 1 in FreeRTOSConfig.h. A task does not use any CPU time when it is in the
+   * Blocked state.
+   * @return size_t The number of bytes read from the stream buffer. This will
+   * be the number of bytes available up to a maximum of length.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/receive.cpp
+   */
+  inline size_t receive(void* buffer, const size_t bufferLength,
+                        const TickType_t ticksToWait = portMAX_DELAY) const {
+    return xStreamBufferReceive(handle, buffer, bufferLength, ticksToWait);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
+   * StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
+   *
+   * An interrupt safe version of the API function that receives bytes from a
+   * stream buffer.
+   *
+   * Use receive() to read from a stream buffer from a task. Use
+   * receiveFromISR() to read from a stream buffer from an interrupt service
+   * routine (ISR).
+   *
+   * @param higherPriorityTaskWoken It is possible that a stream buffer will
+   * have a task blocked on it waiting for space to become available.  Calling
+   * receiveFromISR() can make space available, and so cause a task that is
+   * waiting for space to leave the Blocked state.  If calling receiveFromISR()
+   * causes a task to leave the Blocked state, and the unblocked task has a
+   * priority higher than the currently executing task (the task that was
+   * interrupted), then, internally, receiveFromISR() will set
+   * higherPriorityTaskWoken to true. If receiveFromISR() sets this value to
+   * true, then normally a context switch should be performed before the
+   * interrupt is exited. That will ensure the interrupt returns directly to the
+   * highest priority Ready state task. higherPriorityTaskWoken should be set to
+   * false before it is passed into the function. See the code example below for
+   * an example.
+   * @param buffer A pointer to the buffer into which the received bytes will be
+   * copied.
+   * @param bufferLength The length of the buffer pointed to by the buffer
+   * parameter. This sets the maximum number of bytes to receive in one call.
+   * receive() will return as many bytes as possible up to a maximum set by
+   * length.
+   * @return size_t The number of bytes read from the stream buffer, if any.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/receiveFromISR.cpp
+   */
+  inline size_t receiveFromISR(bool& higherPriorityTaskWoken, void* buffer,
+                               const size_t bufferLength) const {
+    BaseType_t taskWoken = pdFALSE;
+    size_t result =
+        xStreamBufferReceiveFromISR(handle, buffer, bufferLength, &taskWoken);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferReceiveFromISR(
+   * StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t
+   * xBufferLengthBytes, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferReceiveFromISR.html>
+   *
+   * @overload
+   */
+  inline size_t receiveFromISR(void* buffer, const size_t bufferLength) const {
+    return xStreamBufferReceiveFromISR(handle, buffer, bufferLength, NULL);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferBytesAvailable(
+   * StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferBytesAvailable.html>
+   *
+   * Queries the stream buffer to see how much data it contains, which is equal
+   * to the number of bytes that can be read from the stream buffer before the
+   * stream buffer would be empty.
+   *
+   * @return size_t The number of bytes that can be read from the stream buffer
+   * before the stream buffer would be empty.
+   */
+  inline size_t bytesAvailable() const {
+    return xStreamBufferBytesAvailable(handle);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>size_t xStreamBufferSpacesAvailable(
+   * StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferSpacesAvailable.html>
+   *
+   * Queries a stream buffer to see how much free space it contains, which is
+   * equal to the amount of data that can be sent to the stream buffer before it
+   * is full.
+   *
+   * @return size_t The number of bytes that can be written to the stream buffer
+   * before the stream buffer would be full.
+   */
+  inline size_t spacesAvailable() const {
+    return xStreamBufferSpacesAvailable(handle);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xStreamBufferSetTriggerLevel(
+   * StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferSetTriggerLevel.html>
+   *
+   * A stream buffer's trigger level is the number of bytes that must be in the
+   * stream buffer before a task that is blocked on the stream buffer to wait
+   * for data is moved out of the blocked state. For example, if a task is
+   * blocked on a read of an empty stream buffer that has a trigger level of 1
+   * then the task will be unblocked when a single byte is written to the buffer
+   * or the task's block time expires. As another example, if a task is blocked
+   * on a read of an empty stream buffer that has a trigger level of 10 then the
+   * task will not be unblocked until the stream buffer contains at least 10
+   * bytes or the task's block time expires. If a reading task's block time
+   * expires before the trigger level is reached then the task will still
+   * receive however many bytes are actually available. Setting a trigger level
+   * of 0 will result in a trigger level of 1 being used. It is not valid to
+   * specify a trigger level that is greater than the buffer size.
+   *
+   * @param triggerLevel The new trigger level for the stream buffer.
+   * @retval true If triggerLevel was less than or equal to the stream buffer's
+   * length then the trigger level was updated.
+   * @retval false Otherwise.
+   */
+  inline bool setTriggerLevel(const size_t triggerLevel = 0) const {
+    return (xStreamBufferSetTriggerLevel(handle, triggerLevel) == pdTRUE);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xStreamBufferReset(
+   * StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferReset.html>
+   *
+   * Resets a stream buffer to its initial, empty, state. Any data that was in
+   * the stream buffer is discarded. A stream buffer can only be reset if there
+   * are no tasks blocked waiting to either send to or receive from the stream
+   * buffer.
+   *
+   * @return true If the stream buffer is reset.
+   * @return false  If there was a task blocked waiting to send to or read from
+   * the stream buffer then the stream buffer was not reset.
+   */
+  inline bool reset() const { return (xStreamBufferReset(handle) == pdPASS); }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xStreamBufferIsEmpty(
+   * StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferIsEmpty.html>
+   *
+   * Queries a stream buffer to see if it is empty.  A stream buffer is empty if
+   * it does not contain any data.
+   *
+   * @return true If the stream buffer is empty.
+   * @return false Otherwise.
+   */
+  inline bool isEmpty() const {
+    return (xStreamBufferIsEmpty(handle) == pdTRUE);
+  }
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xStreamBufferIsFull(
+   * StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferIsFull.html>
+   *
+   * Queries a stream buffer to see if it is full. A stream buffer is full if it
+   * does not have any free space, and therefore cannot accept any more data.
+   *
+   * @return true If the stream buffer is full.
+   * @return false Otherwise.
+   */
+  inline bool isFull() const { return (xStreamBufferIsFull(handle) == pdTRUE); }
+
+ private:
+  StreamBufferBase() = default;
+
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Destroy the StreamBufferBase object by calling
+   * <tt>void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )</tt>
+   *
+   * @see <https://www.freertos.org/vStreamBufferDelete.html>
+   *
+   * Deletes a stream buffer and free the allocated memory.
+   */
+  ~StreamBufferBase() { vStreamBufferDelete(this->handle); }
+
+  StreamBufferBase(StreamBufferBase&&) noexcept = default;
+  StreamBufferBase& operator=(StreamBufferBase&&) noexcept = default;
+
+  StreamBufferHandle_t handle = NULL;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * @class StreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
+ *
+ * A stream buffer using dynamically allocated memory from the FreeRTOS heap.
+ * See FreeRTOS::StaticStreamBuffer for a version that uses statically allocated
+ * memory (memory that is allocated at compile time).
+ */
+class StreamBuffer : public StreamBufferBase {
+ public:
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Construct a new StreamBuffer object by calling
+   * <tt>StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes,
+   * size_t xTriggerLevelBytes )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferCreate.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * stream buffer was created successfully in case the memory required to
+   * create the message buffer could not be allocated.
+   *
+   * @param size The total number of bytes the stream buffer will be able to
+   * hold at any one time.
+   * @param triggerLevel 	The number of bytes that must be in the stream
+   * buffer before a task that is blocked on the stream buffer to wait for data
+   * is moved out of the blocked state. For example, if a task is blocked on a
+   * read of an empty stream buffer that has a trigger level of 1 then the task
+   * will be unblocked when a single byte is written to the buffer or the task's
+   * block time expires. As another example, if a task is blocked on a read of
+   * an empty stream buffer that has a trigger level of 10 then the task will
+   * not be unblocked until the stream buffer contains at least 10 bytes or the
+   * task's block time expires. If a reading task's block time expires before
+   * the trigger level is reached then the task will still receive however many
+   * bytes are actually available. Setting a trigger level of 0 will result in a
+   * trigger level of 1 being used. It is not valid to specify a trigger level
+   * that is greater than the buffer size.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/streamBuffer.cpp
+   */
+  explicit StreamBuffer(const size_t size, const size_t triggerLevel = 0) {
+    this->handle = xStreamBufferCreate(size, triggerLevel);
+  }
+  ~StreamBuffer() = default;
+
+  StreamBuffer(const StreamBuffer&) = delete;
+  StreamBuffer& operator=(const StreamBuffer&) = delete;
+
+  StreamBuffer(StreamBuffer&&) noexcept = default;
+  StreamBuffer& operator=(StreamBuffer&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * @class StaticStreamBuffer StreamBuffer.hpp <FreeRTOS/StreamBuffer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS stream buffer.
+ *
+ * If a stream buffer is created using this class then the RAM is provided by
+ * the application writer as part of the object instance and allows the RAM to
+ * be statically allocated at compile time.
+ *
+ * @tparam N The size, in bytes, of the storage buffer for the stream buffer.
+ */
+template <size_t N>
+class StaticStreamBuffer : public StreamBufferBase {
+ public:
+  /**
+   * StreamBuffer.hpp
+   *
+   * @brief Construct a new StaticStreamBuffer object by calling
+   * <tt>StreamBufferHandle_t xStreamBufferCreateStatic( size_t
+   * xBufferSizeBytes, size_t xTriggerLevelBytes, uint8_t
+   * *pucStreamBufferStorageArea, StaticStreamBuffer_t *pxStaticStreamBuffer
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/xStreamBufferCreateStatic.html>
+   *
+   * @param triggerLevel 	The number of bytes that must be in the stream
+   * buffer before a task that is blocked on the stream buffer to wait for data
+   * is moved out of the blocked state. For example, if a task is blocked on a
+   * read of an empty stream buffer that has a trigger level of 1 then the task
+   * will be unblocked when a single byte is written to the buffer or the task's
+   * block time expires. As another example, if a task is blocked on a read of
+   * an empty stream buffer that has a trigger level of 10 then the task will
+   * not be unblocked until the stream buffer contains at least 10 bytes or the
+   * task's block time expires. If a reading task's block time expires before
+   * the trigger level is reached then the task will still receive however many
+   * bytes are actually available. Setting a trigger level of 0 will result in a
+   * trigger level of 1 being used. It is not valid to specify a trigger level
+   * that is greater than the buffer size.
+   *
+   * <b>Example Usage</b>
+   * @include StreamBuffer/staticStreamBuffer.cpp
+   */
+  explicit StaticStreamBuffer(const size_t triggerLevel = 0) {
+    this->handle = xStreamBufferCreateStatic(sizeof(storage), triggerLevel,
+                                             storage, &staticStreamBuffer);
+  }
+  ~StaticStreamBuffer() = default;
+
+  StaticStreamBuffer(const StaticStreamBuffer&) = delete;
+  StaticStreamBuffer& operator=(const StaticStreamBuffer&) = delete;
+
+  StaticStreamBuffer(StaticStreamBuffer&&) noexcept = default;
+  StaticStreamBuffer& operator=(StaticStreamBuffer&&) noexcept = default;
+
+ private:
+  StaticStreamBuffer_t staticStreamBuffer;
+  uint8_t storage[N];
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+#endif  // FREERTOS_STREAMBUFFER_HPP

Demo/Common/include/FreeRTOS/Timer.hpp

@@ -0,0 +1,928 @@
+/*
+ * FreeRTOS-Cpp
+ * Copyright (C) 2021 Jon Enz. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ *
+ * https://github.com/jonenz/FreeRTOS-Cpp
+ */
+
+#ifndef FREERTOS_TIMER_HPP
+#define FREERTOS_TIMER_HPP
+
+#include "FreeRTOS.h"
+#include "timers.h"
+
+/**
+ * @brief C function that is used to interface this class with the FreeRTOS
+ * kernel.
+ *
+ * @note This function should not be called or referenced by the user.
+ *
+ * @param task Pointer to an instance of FreeRTOS::TimerBase.
+ */
+void callTimerFunction(TimerHandle_t timer);
+
+namespace FreeRTOS {
+
+/**
+ * @class TimerBase Timer.hpp <FreeRTOS/Timer.hpp>
+ *
+ * @brief Base class that provides the standard task interface to
+ * FreeRTOS::Timer and FreeRTOS::StaticTimer.
+ *
+ * @note This class is not intended to be instantiated or derived from by the
+ * user. Use FreeRTOS::Timer or FreeRTOS::StaticTimer as a base class for a user
+ * implemented task.
+ */
+class TimerBase {
+ public:
+  friend class Timer;
+  friend class StaticTimer;
+
+  TimerBase(const TimerBase&) = delete;
+  TimerBase& operator=(const TimerBase&) = delete;
+
+  static void* operator new(size_t, void* ptr) { return ptr; }
+  static void* operator new[](size_t, void* ptr) { return ptr; }
+  static void* operator new(size_t) = delete;
+  static void* operator new[](size_t) = delete;
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that acts as the entry point of the timer instance.
+   *
+   * @note This function is only public so that it can be accessed by the C
+   * interface function <tt>callTimerFunction()</tt> and should not be called or
+   * referenced by the user.
+   */
+  virtual inline void timerEntry() final { timerFunction(); }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that checks the value of the timer handle.  This function
+   * should be called to ensure the timer was created successfully.
+   *
+   * @return true If the timer was created successfully.
+   * @return false If the timer was not created successfully due to insufficient
+   * memory.
+   */
+  inline bool isValid() const { return (handle != NULL); }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerIsTimerActive(
+   * TimerHandle_t xTimer )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerIsTimerActive.html>
+   *
+   * Queries a software timer to see if it is active or dormant.
+   *
+   * A timer will be dormant if:
+   * -# It has been created but not started, or
+   * -# It is an expired one-shot timer that has not been restarted.
+   *
+   * @note Timers are created in the dormant state. The start(), reset(),
+   * startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
+   * API functions can all be used to transition a timer into the active state.
+   *
+   * @return false If the timer is dormant.
+   * @return true Otherwise.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/isActive.cpp
+   */
+  inline bool isActive() const {
+    return (xTimerIsTimerActive(handle) != pdFALSE);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStart( TimerHandle_t
+   * xTimer, TickType_t xBlockTime )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStart.html>
+   *
+   * start() starts a timer. If the timer had already been started and was
+   * already in the active state, then start() has equivalent functionality to
+   * the reset() 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, timerFunction() will get
+   * called 'n 'ticks after start() was called, where 'n' is the timers defined
+   * period.
+   *
+   * It is valid to call start() before the RTOS scheduler has been started, but
+   * when this is done the timer will not actually start until the RTOS
+   * scheduler is started, and the timers expiry time will be relative to when
+   * the RTOS scheduler is started, not relative to when start() was called.
+   *
+   * @param blockTime 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 start() was called. blockTime is ignored if start() is called
+   * before the RTOS scheduler is started.
+   * @return true 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 start() is actually
+   * called. The timer service/daemon task priority is set by the
+   * configTIMER_TASK_PRIORITY configuration constant.
+   * @return false If the start command could not be sent to the timer command
+   * queue even after blockTime ticks had passed.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/timer.cpp
+   */
+  inline bool start(const TickType_t blockTime = 0) const {
+    return (xTimerStart(handle, blockTime) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
+   *
+   * A version of start() that can be called from an interrupt service routine.
+   *
+   * @param higherPriorityTaskWoken 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 startFromISR() 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 startFromISR() 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 higherPriorityTaskWoken will get
+   * set to true internally within the startFromISR() function. If
+   * startFromISR() sets this value to true, then a context switch should be
+   * performed before the interrupt exits.
+   * @return true 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 startFromISR() is
+   * actually called. The timer service/daemon task priority is set by the
+   * configTIMER_TASK_PRIORITY configuration constant.
+   * @return false If the start command could not be sent to the timer command
+   * queue.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/startFromISR.cpp
+   */
+  inline bool startFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xTimerStartFromISR(handle, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStartFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStartFromISR.html>
+   *
+   * @overload
+   */
+  inline bool startFromISR() const {
+    return (xTimerStartFromISR(handle, NULL) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStop( TimerHandle_t xTimer,
+   * TickType_t xBlockTime )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStop.html>
+   *
+   * stop() stops a timer that was previously started using either of the
+   * start(), reset(), startFromISR(), resetFromISR(), changePeriod() and
+   * changePeriodFromISR() API functions.
+   *
+   * Stopping a timer ensures the timer is not in the active state.
+   *
+   * @param blockTime 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 stop() was called. blockTime is ignored if stop() is called
+   * before the RTOS scheduler is started.
+   * @return true 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.
+   * @return false If the stop command could not be sent to the timer command
+   * queue even after blockTime ticks had passed.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/timer.cpp
+   */
+  inline bool stop(const TickType_t blockTime = 0) const {
+    return (xTimerStop(handle, blockTime) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
+   *
+   * A version of stop() that can be called from an interrupt service routine.
+   *
+   * @param higherPriorityTaskWoken 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 stopFromISR() 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 stopFromISR() 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 higherPriorityTaskWoken will get
+   * set to true internally within the stopFromISR() function. If stopFromISR()
+   * sets this value to true, then a context switch should be performed before
+   * the interrupt exits.
+   * @return true 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.
+   * @return false If the start command could not be sent to the timer command
+   * queue.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/stopFromISR.cpp
+   */
+  inline bool stopFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xTimerStopFromISR(handle, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerStopFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerStopFromISR.html>
+   *
+   * @overload
+   */
+  inline bool stopFromISR() const {
+    return (xTimerStopFromISR(handle, NULL) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerChangePeriod( TimerHandle_t
+   * xTimer, TickType_t xNewPeriod, TickType_t xBlockTime )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriod.html>
+   *
+   * changePeriod() changes the period of a timer.
+   *
+   * changePeriod() can be called to change the period of an active or dormant
+   * state timer. Changing the period of a dormant timers will also start the
+   * timer.
+   *
+   * @param newPeriod The new period for timer.  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 newPeriod should be set to 100.
+   * Alternatively, if the timer must expire after 500ms, then newPeriod can be
+   * set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
+   * than or equal to 1000.
+   * @param blockTime 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 changePeriod() was called. blockTime is ignored if changePeriod()
+   * is called before the RTOS scheduler is started.
+   * @return true 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.
+   * @return false If the change period command could not be sent to the timer
+   * command queue even after blockTime ticks had passed.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/changePeriod.cpp
+   */
+  inline bool changePeriod(const TickType_t newPeriod,
+                           const TickType_t blockTime = 0) const {
+    return (xTimerChangePeriod(handle, newPeriod, blockTime) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
+   * TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see
+   * <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
+   *
+   * A version of changePeriod() that can be called from an interrupt service
+   * routine.
+   *
+   * @param newPeriod The new period for timer.  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 newPeriod should be set to 100.
+   * Alternatively, if the timer must expire after 500ms, then newPeriod can be
+   * set to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less
+   * than or equal to 1000.
+   * @param higherPriorityTaskWoken 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 changePeriodFromISR() 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 changePeriodFromISR() 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
+   * higherPriorityTaskWoken will get set to true internally within the
+   * changePeriodFromISR() function. If changePeriodFromISR() sets this value to
+   * true, then a context switch should be performed before the interrupt exits.
+   * @return true 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.
+   * @return false If the change period command could not be sent to the timer
+   * command queue.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/changePeriodFromISR.cpp
+   */
+  inline bool changePeriodFromISR(bool& higherPriorityTaskWoken,
+                                  const TickType_t newPeriod) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result =
+        (xTimerChangePeriodFromISR(handle, newPeriod, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerChangePeriodFromISR(
+   * TimerHandle_t xTimer, TickType_t xNewPeriod, BaseType_t
+   * *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see
+   * <https://www.freertos.org/FreeRTOS-timers-xTimerChangePeriodFromISR.html>
+   *
+   * @overload
+   */
+  inline bool changePeriodFromISR(const TickType_t newPeriod) const {
+    return (xTimerChangePeriodFromISR(handle, newPeriod, NULL) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerDelete( TimerHandle_t
+   * xTimer, TickType_t xBlockTime )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerDelete.html>
+   *
+   * deleteTimer() deletes a timer from the FreeRTOS timer task.
+   *
+   * @note This function is also called in the destructor of the timer using the
+   * deleteBlockTime specified when the object was created.  This function
+   * should be used when the user wants to delete the timer from the FreeRTOS
+   * timer task without destroying the timer object or with a different block
+   * time than what was specified in the constructor.
+   *
+   * @param blockTime 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 deleteTimer() was called. blockTime is ignored if deleteTimer()
+   * is called before the RTOS scheduler is started.
+   * @return true 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.
+   * @return false If the delete command could not be sent to the timer command
+   * queue even after blockTime ticks had passed.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/changePeriod.cpp
+   */
+  inline bool deleteTimer(const TickType_t blockTime = 0) {
+    if (xTimerDelete(handle, blockTime) == pdPASS) {
+      handle = NULL;
+      return true;
+    }
+    return false;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt> BaseType_t xTimerReset( TimerHandle_t
+   * xTimer, TickType_t xBlockTime )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerReset.html>
+   *
+   * reset() re-starts a timer.  If the timer had already been started and was
+   * already in the active state, then reset() will cause the timer to
+   * re-evaluate its expiry time so that it is relative to when reset() was
+   * called.  If the timer was in the dormant state then reset() has equivalent
+   * functionality to the start() 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 reset() was
+   * called, where 'n' is the timers defined period.
+   *
+   * It is valid to call reset() before the RTOS scheduler has been started, but
+   * when this is done the timer will not actually start until the RTOS
+   * scheduler is started, and the timers expiry time will be relative to when
+   * the RTOS scheduler is started, not relative to when reset() was called.
+   *
+   * @param blockTime 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 reset() was called. blockTime is ignored if reset() is called
+   * before the RTOS scheduler is started.
+   * @return true 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 reset() is actually
+   * called.  The timer service/daemon task priority is set by the
+   * configTIMER_TASK_PRIORITY configuration constant.
+   * @return false If the reset command could not be sent to the timer command
+   * queue even after blockTime ticks had passed.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/reset.cpp
+   */
+  inline bool reset(const TickType_t blockTime = 0) const {
+    return (xTimerReset(handle, blockTime) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
+   *
+   * A version of reset() that can be called from an interrupt service routine.
+   *
+   * @param higherPriorityTaskWoken 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 resetFromISR() 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 resetFromISR() 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
+   * higherPriorityTaskWoken will get set to true internally within the
+   * resetFromISR() function. If resetFromISR() sets this value to true, then a
+   * context switch should be performed before the interrupt exits.
+   * @return true 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 resetFromISR() is
+   * actually called. The timer service/daemon task priority is set by the
+   * configTIMER_TASK_PRIORITY configuration constant.
+   * @return false If the change period command could not be sent to the timer
+   * command queue.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/resetFromISR.cpp
+   */
+  inline bool resetFromISR(bool& higherPriorityTaskWoken) const {
+    BaseType_t taskWoken = pdFALSE;
+    bool result = (xTimerResetFromISR(handle, &taskWoken) == pdPASS);
+    if (taskWoken == pdTRUE) {
+      higherPriorityTaskWoken = true;
+    }
+    return result;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>BaseType_t xTimerResetFromISR( TimerHandle_t
+   * xTimer, BaseType_t *pxHigherPriorityTaskWoken )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerResetFromISR.html>
+   *
+   * @overload
+   */
+  inline bool resetFromISR() const {
+    return (xTimerResetFromISR(handle, NULL) == pdPASS);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>void vTimerSetReloadMode( TimerHandle_t
+   * xTimer, const UBaseType_t uxAutoReload )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-Timers-vTimerSetReloadMode.html>
+   *
+   * Updates the 'mode' of a software timer to be either an auto reload timer or
+   * a one-shot timer.
+   *
+   * An auto reload timer resets itself each time it expires, causing the timer
+   * to expire (and therefore execute its callback) periodically.
+   *
+   * A one shot timer does not automatically reset itself, so will only expire
+   * (and therefore execute its callback) once unless it is manually restarted.
+   *
+   * @param autoReload Set autoReload to true to set the timer into auto reload
+   * mode, or false to set the timer into one shot mode.
+   */
+  inline void setReloadMode(const bool autoReload) const {
+    vTimerSetReloadMode(handle, (autoReload ? pdTRUE : pdFALSE));
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>const char * pcTimerGetName( TimerHandle_t
+   * xTimer )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-pcTimerGetName.html>
+   *
+   * Returns the human readable text name of a software timer.
+   *
+   * Text names are assigned to timers in the constructor.
+   *
+   * @return const char* A pointer to the text name of the timer as a standard
+   * NULL terminated C string.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/getName.cpp
+   */
+  inline const char* getName() const { return pcTimerGetName(handle); }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>TickType_t xTimerGetPeriod( TimerHandle_t
+   * xTimer )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetPeriod.html>
+   *
+   * Returns the period of a software timer. The period is specified in ticks.
+   *
+   * The period of a timer is initially set using the period parameter of the
+   * constructor. It can then be changed using the changePeriod() and
+   * changePeriodFromISR() API functions.
+   *
+   * @return TickType_t The period of the timer, in ticks.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/getPeriod.cpp
+   */
+  inline TickType_t getPeriod() const { return xTimerGetPeriod(handle); }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>TickType_t xTimerGetExpiryTime(
+   * TimerHandle_t xTimer )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerGetExpiryTime.html>
+   *
+   * Returns the time at which the software timer will expire, which is the time
+   * at which the timer's callback function will execute.
+   *
+   * If the value returned by getExpiryTime() is less than the current time then
+   * the timer will expire after the tick count has overflowed and wrapped back
+   * to 0. Overflows are handled in the RTOS implementation itself, so a timer's
+   * callback function will execute at the correct time whether it is before or
+   * after the tick count overflows.
+   *
+   * @return TickType_t If the timer is active, then the time at which the timer
+   * will next expire is returned (which may be after the current tick count has
+   * overflowed, see the notes above).  If the timer is not active then the
+   * return value is undefined.
+   *
+   * <b>Example Usage</b>
+   * @include Timer/getExpiryTime.cpp
+   */
+  inline TickType_t getExpiryTime() const {
+    return xTimerGetExpiryTime(handle);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Function that calls <tt>UBaseType_t uxTimerGetReloadMode(
+   * TimerHandle_t xTimer )</tt>
+   *
+   * @see <https://www.freertos.org/uxTimerGetReloadMode.html>
+   *
+   * Queries the 'mode' of the software timer.
+   *
+   * The mode can be either an auto-reloaded timer, which automatically resets
+   * itself each time it expires, or a one-shot timer, which will expire only
+   * once unless it is manually restarted.
+   *
+   * @return true If the timer is an auto-reload timer.
+   * @return false Otherwise.
+   */
+  inline bool getReloadMode() const {
+    return (uxTimerGetReloadMode(handle) == pdTRUE);
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Set the delete block time.  This value is used when the destructor
+   * calls deleteTimer().
+   *
+   * @param deleteBlockTime Delete block time to be set in ticks.
+   */
+  inline void setDeleteBlockTime(const TickType_t deleteBlockTime = 0) {
+    this->deleteBlockTime = deleteBlockTime;
+  }
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Set the delete block time.  This value is used when the destructor
+   * calls deleteTimer().
+   *
+   * @return TickType_t Delete block time in ticks.
+   */
+  inline TickType_t getDeleteBlockTime() const { return deleteBlockTime; }
+
+ protected:
+  /**
+   * Timer.hpp
+   *
+   * @brief Abstraction function that acts as the entry point of the timer
+   * callback for the user.
+   */
+  virtual void timerFunction() = 0;
+
+ private:
+  /**
+   * Timer.hpp
+   *
+   * @brief Construct a new TimerBase object.  This default constructor is
+   * deliberately private as this class is not intended to be instantiated or
+   * derived from by the user.  Use FreeRTOS::Timer or FreeRTOS::StaticTimer as
+   * a base class for creating a task.
+   *
+   * @param deleteBlockTime Set the delete block time.  This value is used when
+   * the destructor calls deleteTimer().
+   */
+  explicit TimerBase(const TickType_t deleteBlockTime = 0)
+      : deleteBlockTime(deleteBlockTime) {}
+
+  /**
+   * Timer.hpp
+   *
+   * @brief Destroy the TimerBase object.
+   *
+   * @note This destructor will check that the timer is still valid and has not
+   * already been deleted by deleteTimer() before calling the function.  If the
+   * timer is still valid the destructor will call deleteTimer() and block for
+   * up to the amount of time specified by deleteBlockTime.
+   */
+  ~TimerBase() {
+    if (isValid()) {
+      deleteTimer(getDeleteBlockTime());
+    }
+  }
+
+  TimerBase(TimerBase&&) noexcept = default;
+  TimerBase& operator=(TimerBase&&) noexcept = default;
+
+  TimerHandle_t handle = NULL;
+  TickType_t deleteBlockTime;
+};
+
+#if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+
+/**
+ * Timer Timer.hpp <FreeRTOS/Timer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS timer.
+ *
+ * Each software timer requires a small amount of RAM that is used to hold the
+ * timer's state. If a timer is created using this class then this RAM is
+ * automatically allocated from the FreeRTOS heap. If a software timer is
+ * created using FreeRTOS::StaticTimer() then the RAM is included in the object
+ * so it can be statically allocated at compile time. See the Static Vs Dynamic
+ * allocation page for more information.
+ *
+ * @note This class is not intended to be instantiated by the user.  The user
+ * should create a class that derives from this class and implement
+ * timerFunction().
+ */
+class Timer : public TimerBase {
+ public:
+  Timer(const Timer&) = delete;
+  Timer& operator=(const Timer&) = delete;
+
+ protected:
+  /**
+   * Timer.hpp
+   *
+   * @brief Construct a new Timer object by calling <tt>TimerHandle_t
+   * xTimerCreate( const char * const pcTimerName, const TickType_t
+   * xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
+   * TimerCallbackFunction_t pxCallbackFunction )</tt>
+   *
+   * @see <https://www.freertos.org/FreeRTOS-timers-xTimerCreate.html>
+   *
+   * @warning The user should call isValid() on this object to verify that the
+   * timer was created successfully in case the memory required to create the
+   * timer could not be allocated.
+   *
+   * @note Timers are created in the dormant state. The start(), reset(),
+   * startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
+   * API functions can all be used to transition a timer into the active state.
+   *
+   * @note When calling <tt>xTimerCreate</tt> the constructor passes the
+   * <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
+   * that the interface function callTimerFunction() can invoke timerFunction()
+   * for this instance of the class.
+   *
+   * @param period The period of the timer. The period is specified in ticks,
+   * and the macro pdMS_TO_TICKS() can be used to convert a time specified in
+   * milliseconds to a time specified in ticks. For example, if the timer must
+   * expire after 100 ticks, then simply set period to 100. Alternatively, if
+   * the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
+   * pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
+   * equal to 1000. The timer period must be greater than 0.
+   * @param autoReload If autoReload is set to true, then the timer will expire
+   * repeatedly with a frequency set by the period parameter. If autoReload is
+   * set to false, then the timer will be a one-shot and enter the dormant state
+   * after it expires.
+   * @param name A human readable text name that is assigned to the timer.  This
+   * is done purely to assist debugging. The RTOS kernel itself only ever
+   * references a timer by its handle, and never by its name.
+   * @param deleteBlockTime 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 the destructor is called. deleteBlockTime is ignored if the
+   * destructor is called before the RTOS scheduler is started or if the timer
+   * has already been deleted by deleteTimer() before the destructor is called.
+   * This value can be updated by calling setDeleteBlockTime().
+   *
+   * <b>Example Usage</b>
+   * @include Timer/timer.cpp
+   */
+  explicit Timer(const TickType_t period, const bool autoReload = false,
+                 const char* name = "", const TickType_t deleteBlockTime = 0)
+      : TimerBase(deleteBlockTime) {
+    this->handle = xTimerCreate(name, period, (autoReload ? pdTRUE : pdFALSE),
+                                this, callTimerFunction);
+  }
+  ~Timer() = default;
+
+  Timer(Timer&&) noexcept = default;
+  Timer& operator=(Timer&&) noexcept = default;
+};
+
+#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
+
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+
+/**
+ * Timer Timer.hpp <FreeRTOS/Timer.hpp>
+ *
+ * @brief Class that encapsulates the functionality of a FreeRTOS timer.
+ *
+ * Each software timer requires a small amount of RAM that is used to hold the
+ * timer's state. If a timer is created using FreeRTOS::Timer() then this RAM is
+ * automatically allocated from the FreeRTOS heap. If a software timer is
+ * created this class then the RAM is included in the object so it can be
+ * statically allocated at compile time. See the Static Vs Dynamic allocation
+ * page for more information.
+ *
+ * @note This class is not intended to be instantiated by the user.  The user
+ * should create a class that derives from this class and implement
+ * timerFunction().
+ *
+ * @warning This class contains the timer data structure, so any instance of
+ * this class or class derived from this class should be persistent (not
+ * declared on the stack of another function).
+ */
+class StaticTimer : public TimerBase {
+ public:
+  StaticTimer(const StaticTimer&) = delete;
+  StaticTimer& operator=(const StaticTimer&) = delete;
+
+ protected:
+  /**
+   * Timer.hpp
+   *
+   * @brief Construct a new StaticTimer object by calling <tt>TimerHandle_t
+   * xTimerCreateStatic( const char * const pcTimerName, const TickType_t
+   * xTimerPeriod, const UBaseType_t uxAutoReload, void * const pvTimerID,
+   * TimerCallbackFunction_t pxCallbackFunction StaticTimer_t *pxTimerBuffer
+   * )</tt>
+   *
+   * @see <https://www.freertos.org/xTimerCreateStatic.html>
+   *
+   * @note When calling <tt>xTimerCreateStatic</tt> the constructor passes the
+   * <tt>this</tt> pointer as the pvTimerID argument. This pointer is used so
+   * that the interface function callTimerFunction() can invoke timerFunction()
+   * for this instance of the class.
+   *
+   * @note Timers are created in the dormant state. The start(), reset(),
+   * startFromISR(), resetFromISR(), changePeriod() and changePeriodFromISR()
+   * API functions can all be used to transition a timer into the active state.
+   *
+   * @param period The period of the timer. The period is specified in ticks,
+   * and the macro pdMS_TO_TICKS() can be used to convert a time specified in
+   * milliseconds to a time specified in ticks. For example, if the timer must
+   * expire after 100 ticks, then simply set period to 100. Alternatively, if
+   * the timer must expire after 500ms, then set period to pdMS_TO_TICKS( 500 ).
+   * pdMS_TO_TICKS() can only be used if configTICK_RATE_HZ is less than or
+   * equal to 1000. The timer period must be greater than 0.
+   * @param autoReload If autoReload is set to true, then the timer will expire
+   * repeatedly with a frequency set by the period parameter. If autoReload is
+   * set to false, then the timer will be a one-shot and enter the dormant state
+   * after it expires.
+   * @param name A human readable text name that is assigned to the timer.  This
+   * is done purely to assist debugging. The RTOS kernel itself only ever
+   * references a timer by its handle, and never by its name.
+   * @param deleteBlockTime 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 the destructor is called. deleteBlockTime is ignored if the
+   * destructor is called before the RTOS scheduler is started or if the timer
+   * has already been deleted by deleteTimer() before the destructor is called.
+   * This value can be updated by calling setDeleteBlockTime().
+   *
+   * <b>Example Usage</b>
+   * @include Timer/staticTimer.cpp
+   */
+  explicit StaticTimer(const TickType_t period, const bool autoReload = false,
+                       const char* name = "",
+                       const TickType_t deleteBlockTime = 0)
+      : TimerBase(deleteBlockTime) {
+    this->handle =
+        xTimerCreateStatic(name, period, (autoReload ? pdTRUE : pdFALSE), this,
+                           callTimerFunction, &staticTimer);
+  }
+  ~StaticTimer() = default;
+
+  StaticTimer(StaticTimer&&) noexcept = default;
+  StaticTimer& operator=(StaticTimer&&) noexcept = default;
+
+ private:
+  StaticTimer_t staticTimer;
+};
+
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+}  // namespace FreeRTOS
+
+inline void callTimerFunction(TimerHandle_t timer) {
+  static_cast<FreeRTOS::TimerBase*>(pvTimerGetTimerID(timer))->timerEntry();
+}
+
+#endif  // FREERTOS_TIMER_HPP

Demo/Common/include/Timer.hpp

@@ -0,0 +1,19 @@
+#ifndef TIMER_HPP
+#define TIMER_HPP
+
+#include <cstdint>
+#include "murax.h"
+
+// Klasa TimeR
+class TimeR {
+public:
+    static inline uint32_t readValue() {
+        return ptr->VALUE;
+    }
+
+private:
+    static const Timer_Reg* ptr;
+};
+
+#endif // TIMER_HPP
+

Demo/Common/lib/cJSON.h

@@ -0,0 +1,300 @@
+/*
+  Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
+
+  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.
+*/
+
+#ifndef cJSON__h
+#define cJSON__h
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#if !defined(__WINDOWS__) && (defined(WIN32) || defined(WIN64) || defined(_MSC_VER) || defined(_WIN32))
+#define __WINDOWS__
+#endif
+
+#ifdef __WINDOWS__
+
+/* When compiling for windows, we specify a specific calling convention to avoid issues where we are being called from a project with a different default calling convention.  For windows you have 3 define options:
+
+CJSON_HIDE_SYMBOLS - Define this in the case where you don't want to ever dllexport symbols
+CJSON_EXPORT_SYMBOLS - Define this on library build when you want to dllexport symbols (default)
+CJSON_IMPORT_SYMBOLS - Define this if you want to dllimport symbol
+
+For *nix builds that support visibility attribute, you can define similar behavior by
+
+setting default visibility to hidden by adding
+-fvisibility=hidden (for gcc)
+or
+-xldscope=hidden (for sun cc)
+to CFLAGS
+
+then using the CJSON_API_VISIBILITY flag to "export" the same symbols the way CJSON_EXPORT_SYMBOLS does
+
+*/
+
+#define CJSON_CDECL __cdecl
+#define CJSON_STDCALL __stdcall
+
+/* export symbols by default, this is necessary for copy pasting the C and header file */
+#if !defined(CJSON_HIDE_SYMBOLS) && !defined(CJSON_IMPORT_SYMBOLS) && !defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_EXPORT_SYMBOLS
+#endif
+
+#if defined(CJSON_HIDE_SYMBOLS)
+#define CJSON_PUBLIC(type)   type CJSON_STDCALL
+#elif defined(CJSON_EXPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllexport) type CJSON_STDCALL
+#elif defined(CJSON_IMPORT_SYMBOLS)
+#define CJSON_PUBLIC(type)   __declspec(dllimport) type CJSON_STDCALL
+#endif
+#else /* !__WINDOWS__ */
+#define CJSON_CDECL
+#define CJSON_STDCALL
+
+#if (defined(__GNUC__) || defined(__SUNPRO_CC) || defined (__SUNPRO_C)) && defined(CJSON_API_VISIBILITY)
+#define CJSON_PUBLIC(type)   __attribute__((visibility("default"))) type
+#else
+#define CJSON_PUBLIC(type) type
+#endif
+#endif
+
+/* project version */
+#define CJSON_VERSION_MAJOR 1
+#define CJSON_VERSION_MINOR 7
+#define CJSON_VERSION_PATCH 18
+
+#include <stddef.h>
+
+/* cJSON Types: */
+#define cJSON_Invalid (0)
+#define cJSON_False  (1 << 0)
+#define cJSON_True   (1 << 1)
+#define cJSON_NULL   (1 << 2)
+#define cJSON_Number (1 << 3)
+#define cJSON_String (1 << 4)
+#define cJSON_Array  (1 << 5)
+#define cJSON_Object (1 << 6)
+#define cJSON_Raw    (1 << 7) /* raw json */
+
+#define cJSON_IsReference 256
+#define cJSON_StringIsConst 512
+
+/* The cJSON structure: */
+typedef struct cJSON
+{
+    /* next/prev allow you to walk array/object chains. Alternatively, use GetArraySize/GetArrayItem/GetObjectItem */
+    struct cJSON *next;
+    struct cJSON *prev;
+    /* An array or object item will have a child pointer pointing to a chain of the items in the array/object. */
+    struct cJSON *child;
+
+    /* The type of the item, as above. */
+    int type;
+
+    /* The item's string, if type==cJSON_String  and type == cJSON_Raw */
+    char *valuestring;
+    /* writing to valueint is DEPRECATED, use cJSON_SetNumberValue instead */
+    int valueint;
+    /* The item's number, if type==cJSON_Number */
+    double valuedouble;
+
+    /* The item's name string, if this item is the child of, or is in the list of subitems of an object. */
+    char *string;
+} cJSON;
+
+typedef struct cJSON_Hooks
+{
+      /* malloc/free are CDECL on Windows regardless of the default calling convention of the compiler, so ensure the hooks allow passing those functions directly. */
+      void *(CJSON_CDECL *malloc_fn)(size_t sz);
+      void (CJSON_CDECL *free_fn)(void *ptr);
+} cJSON_Hooks;
+
+typedef int cJSON_bool;
+
+/* Limits how deeply nested arrays/objects can be before cJSON rejects to parse them.
+ * This is to prevent stack overflows. */
+#ifndef CJSON_NESTING_LIMIT
+#define CJSON_NESTING_LIMIT 1000
+#endif
+
+/* returns the version of cJSON as a string */
+CJSON_PUBLIC(const char*) cJSON_Version(void);
+
+/* Supply malloc, realloc and free functions to cJSON */
+CJSON_PUBLIC(void) cJSON_InitHooks(cJSON_Hooks* hooks);
+
+/* Memory Management: the caller is always responsible to free the results from all variants of cJSON_Parse (with cJSON_Delete) and cJSON_Print (with stdlib free, cJSON_Hooks.free_fn, or cJSON_free as appropriate). The exception is cJSON_PrintPreallocated, where the caller has full responsibility of the buffer. */
+/* Supply a block of JSON, and this returns a cJSON object you can interrogate. */
+CJSON_PUBLIC(cJSON *) cJSON_Parse(const char *value);
+CJSON_PUBLIC(cJSON *) cJSON_ParseWithLength(const char *value, size_t buffer_length);
+/* ParseWithOpts allows you to require (and check) that the JSON is null terminated, and to retrieve the pointer to the final byte parsed. */
+/* If you supply a ptr in return_parse_end and parsing fails, then return_parse_end will contain a pointer to the error so will match cJSON_GetErrorPtr(). */
+CJSON_PUBLIC(cJSON *) cJSON_ParseWithOpts(const char *value, const char **return_parse_end, cJSON_bool require_null_terminated);
+CJSON_PUBLIC(cJSON *) cJSON_ParseWithLengthOpts(const char *value, size_t buffer_length, const char **return_parse_end, cJSON_bool require_null_terminated);
+
+/* Render a cJSON entity to text for transfer/storage. */
+CJSON_PUBLIC(char *) cJSON_Print(const cJSON *item);
+/* Render a cJSON entity to text for transfer/storage without any formatting. */
+CJSON_PUBLIC(char *) cJSON_PrintUnformatted(const cJSON *item);
+/* Render a cJSON entity to text using a buffered strategy. prebuffer is a guess at the final size. guessing well reduces reallocation. fmt=0 gives unformatted, =1 gives formatted */
+CJSON_PUBLIC(char *) cJSON_PrintBuffered(const cJSON *item, int prebuffer, cJSON_bool fmt);
+/* Render a cJSON entity to text using a buffer already allocated in memory with given length. Returns 1 on success and 0 on failure. */
+/* NOTE: cJSON is not always 100% accurate in estimating how much memory it will use, so to be safe allocate 5 bytes more than you actually need */
+CJSON_PUBLIC(cJSON_bool) cJSON_PrintPreallocated(cJSON *item, char *buffer, const int length, const cJSON_bool format);
+/* Delete a cJSON entity and all subentities. */
+CJSON_PUBLIC(void) cJSON_Delete(cJSON *item);
+
+/* Returns the number of items in an array (or object). */
+CJSON_PUBLIC(int) cJSON_GetArraySize(const cJSON *array);
+/* Retrieve item number "index" from array "array". Returns NULL if unsuccessful. */
+CJSON_PUBLIC(cJSON *) cJSON_GetArrayItem(const cJSON *array, int index);
+/* Get item "string" from object. Case insensitive. */
+CJSON_PUBLIC(cJSON *) cJSON_GetObjectItem(const cJSON * const object, const char * const string);
+CJSON_PUBLIC(cJSON *) cJSON_GetObjectItemCaseSensitive(const cJSON * const object, const char * const string);
+CJSON_PUBLIC(cJSON_bool) cJSON_HasObjectItem(const cJSON *object, const char *string);
+/* For analysing failed parses. This returns a pointer to the parse error. You'll probably need to look a few chars back to make sense of it. Defined when cJSON_Parse() returns 0. 0 when cJSON_Parse() succeeds. */
+CJSON_PUBLIC(const char *) cJSON_GetErrorPtr(void);
+
+/* Check item type and return its value */
+CJSON_PUBLIC(char *) cJSON_GetStringValue(const cJSON * const item);
+CJSON_PUBLIC(double) cJSON_GetNumberValue(const cJSON * const item);
+
+/* These functions check the type of an item */
+CJSON_PUBLIC(cJSON_bool) cJSON_IsInvalid(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsFalse(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsTrue(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsBool(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNull(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsNumber(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsString(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsArray(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsObject(const cJSON * const item);
+CJSON_PUBLIC(cJSON_bool) cJSON_IsRaw(const cJSON * const item);
+
+/* These calls create a cJSON item of the appropriate type. */
+CJSON_PUBLIC(cJSON *) cJSON_CreateNull(void);
+CJSON_PUBLIC(cJSON *) cJSON_CreateTrue(void);
+CJSON_PUBLIC(cJSON *) cJSON_CreateFalse(void);
+CJSON_PUBLIC(cJSON *) cJSON_CreateBool(cJSON_bool boolean);
+CJSON_PUBLIC(cJSON *) cJSON_CreateNumber(double num);
+CJSON_PUBLIC(cJSON *) cJSON_CreateString(const char *string);
+/* raw json */
+CJSON_PUBLIC(cJSON *) cJSON_CreateRaw(const char *raw);
+CJSON_PUBLIC(cJSON *) cJSON_CreateArray(void);
+CJSON_PUBLIC(cJSON *) cJSON_CreateObject(void);
+
+/* Create a string where valuestring references a string so
+ * it will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *) cJSON_CreateStringReference(const char *string);
+/* Create an object/array that only references it's elements so
+ * they will not be freed by cJSON_Delete */
+CJSON_PUBLIC(cJSON *) cJSON_CreateObjectReference(const cJSON *child);
+CJSON_PUBLIC(cJSON *) cJSON_CreateArrayReference(const cJSON *child);
+
+/* These utilities create an Array of count items.
+ * The parameter count cannot be greater than the number of elements in the number array, otherwise array access will be out of bounds.*/
+CJSON_PUBLIC(cJSON *) cJSON_CreateIntArray(const int *numbers, int count);
+CJSON_PUBLIC(cJSON *) cJSON_CreateFloatArray(const float *numbers, int count);
+CJSON_PUBLIC(cJSON *) cJSON_CreateDoubleArray(const double *numbers, int count);
+CJSON_PUBLIC(cJSON *) cJSON_CreateStringArray(const char *const *strings, int count);
+
+/* Append item to the specified array/object. */
+CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToObject(cJSON *object, const char *string, cJSON *item);
+/* Use this when string is definitely const (i.e. a literal, or as good as), and will definitely survive the cJSON object.
+ * WARNING: When this function was used, make sure to always check that (item->type & cJSON_StringIsConst) is zero before
+ * writing to `item->string` */
+CJSON_PUBLIC(cJSON_bool) cJSON_AddItemToObjectCS(cJSON *object, const char *string, cJSON *item);
+/* Append reference to item to the specified array/object. Use this when you want to add an existing cJSON to a new cJSON, but don't want to corrupt your existing cJSON. */
+CJSON_PUBLIC(cJSON_bool) cJSON_AddItemReferenceToArray(cJSON *array, cJSON *item);
+CJSON_PUBLIC(cJSON_bool) cJSON_AddItemReferenceToObject(cJSON *object, const char *string, cJSON *item);
+
+/* Remove/Detach items from Arrays/Objects. */
+CJSON_PUBLIC(cJSON *) cJSON_DetachItemViaPointer(cJSON *parent, cJSON * const item);
+CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromArray(cJSON *array, int which);
+CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(cJSON *) cJSON_DetachItemFromObjectCaseSensitive(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObject(cJSON *object, const char *string);
+CJSON_PUBLIC(void) cJSON_DeleteItemFromObjectCaseSensitive(cJSON *object, const char *string);
+
+/* Update array items. */
+CJSON_PUBLIC(cJSON_bool) cJSON_InsertItemInArray(cJSON *array, int which, cJSON *newitem); /* Shifts pre-existing items to the right. */
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemViaPointer(cJSON * const parent, cJSON * const item, cJSON * replacement);
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInArray(cJSON *array, int which, cJSON *newitem);
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInObject(cJSON *object,const char *string,cJSON *newitem);
+CJSON_PUBLIC(cJSON_bool) cJSON_ReplaceItemInObjectCaseSensitive(cJSON *object,const char *string,cJSON *newitem);
+
+/* Duplicate a cJSON item */
+CJSON_PUBLIC(cJSON *) cJSON_Duplicate(const cJSON *item, cJSON_bool recurse);
+/* Duplicate will create a new, identical cJSON item to the one you pass, in new memory that will
+ * need to be released. With recurse!=0, it will duplicate any children connected to the item.
+ * The item->next and ->prev pointers are always zero on return from Duplicate. */
+/* Recursively compare two cJSON items for equality. If either a or b is NULL or invalid, they will be considered unequal.
+ * case_sensitive determines if object keys are treated case sensitive (1) or case insensitive (0) */
+CJSON_PUBLIC(cJSON_bool) cJSON_Compare(const cJSON * const a, const cJSON * const b, const cJSON_bool case_sensitive);
+
+/* Minify a strings, remove blank characters(such as ' ', '\t', '\r', '\n') from strings.
+ * The input pointer json cannot point to a read-only address area, such as a string constant, 
+ * but should point to a readable and writable address area. */
+CJSON_PUBLIC(void) cJSON_Minify(char *json);
+
+/* Helper functions for creating and adding items to an object at the same time.
+ * They return the added item or NULL on failure. */
+CJSON_PUBLIC(cJSON*) cJSON_AddNullToObject(cJSON * const object, const char * const name);
+CJSON_PUBLIC(cJSON*) cJSON_AddTrueToObject(cJSON * const object, const char * const name);
+CJSON_PUBLIC(cJSON*) cJSON_AddFalseToObject(cJSON * const object, const char * const name);
+CJSON_PUBLIC(cJSON*) cJSON_AddBoolToObject(cJSON * const object, const char * const name, const cJSON_bool boolean);
+CJSON_PUBLIC(cJSON*) cJSON_AddNumberToObject(cJSON * const object, const char * const name, const double number);
+CJSON_PUBLIC(cJSON*) cJSON_AddStringToObject(cJSON * const object, const char * const name, const char * const string);
+CJSON_PUBLIC(cJSON*) cJSON_AddRawToObject(cJSON * const object, const char * const name, const char * const raw);
+CJSON_PUBLIC(cJSON*) cJSON_AddObjectToObject(cJSON * const object, const char * const name);
+CJSON_PUBLIC(cJSON*) cJSON_AddArrayToObject(cJSON * const object, const char * const name);
+
+/* When assigning an integer value, it needs to be propagated to valuedouble too. */
+#define cJSON_SetIntValue(object, number) ((object) ? (object)->valueint = (object)->valuedouble = (number) : (number))
+/* helper for the cJSON_SetNumberValue macro */
+CJSON_PUBLIC(double) cJSON_SetNumberHelper(cJSON *object, double number);
+#define cJSON_SetNumberValue(object, number) ((object != NULL) ? cJSON_SetNumberHelper(object, (double)number) : (number))
+/* Change the valuestring of a cJSON_String object, only takes effect when type of object is cJSON_String */
+CJSON_PUBLIC(char*) cJSON_SetValuestring(cJSON *object, const char *valuestring);
+
+/* If the object is not a boolean type this does nothing and returns cJSON_Invalid else it returns the new type*/
+#define cJSON_SetBoolValue(object, boolValue) ( \
+    (object != NULL && ((object)->type & (cJSON_False|cJSON_True))) ? \
+    (object)->type=((object)->type &(~(cJSON_False|cJSON_True)))|((boolValue)?cJSON_True:cJSON_False) : \
+    cJSON_Invalid\
+)
+
+/* Macro for iterating over an array or object */
+#define cJSON_ArrayForEach(element, array) for(element = (array != NULL) ? (array)->child : NULL; element != NULL; element = element->next)
+
+/* malloc/free objects using the malloc/free functions that have been set with cJSON_InitHooks */
+CJSON_PUBLIC(void *) cJSON_malloc(size_t size);
+CJSON_PUBLIC(void) cJSON_free(void *object);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

Demo/Common/lib/cJSON_Utils.h

@@ -0,0 +1,88 @@
+/*
+  Copyright (c) 2009-2017 Dave Gamble and cJSON contributors
+
+  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.
+*/
+
+#ifndef cJSON_Utils__h
+#define cJSON_Utils__h
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "cJSON.h"
+
+/* Implement RFC6901 (https://tools.ietf.org/html/rfc6901) JSON Pointer spec. */
+CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointer(cJSON * const object, const char *pointer);
+CJSON_PUBLIC(cJSON *) cJSONUtils_GetPointerCaseSensitive(cJSON * const object, const char *pointer);
+
+/* Implement RFC6902 (https://tools.ietf.org/html/rfc6902) JSON Patch spec. */
+/* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */
+CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatches(cJSON * const from, cJSON * const to);
+CJSON_PUBLIC(cJSON *) cJSONUtils_GeneratePatchesCaseSensitive(cJSON * const from, cJSON * const to);
+/* Utility for generating patch array entries. */
+CJSON_PUBLIC(void) cJSONUtils_AddPatchToArray(cJSON * const array, const char * const operation, const char * const path, const cJSON * const value);
+/* Returns 0 for success. */
+CJSON_PUBLIC(int) cJSONUtils_ApplyPatches(cJSON * const object, const cJSON * const patches);
+CJSON_PUBLIC(int) cJSONUtils_ApplyPatchesCaseSensitive(cJSON * const object, const cJSON * const patches);
+
+/*
+// Note that ApplyPatches is NOT atomic on failure. To implement an atomic ApplyPatches, use:
+//int cJSONUtils_AtomicApplyPatches(cJSON **object, cJSON *patches)
+//{
+//    cJSON *modme = cJSON_Duplicate(*object, 1);
+//    int error = cJSONUtils_ApplyPatches(modme, patches);
+//    if (!error)
+//    {
+//        cJSON_Delete(*object);
+//        *object = modme;
+//    }
+//    else
+//    {
+//        cJSON_Delete(modme);
+//    }
+//
+//    return error;
+//}
+// Code not added to library since this strategy is a LOT slower.
+*/
+
+/* Implement RFC7386 (https://tools.ietf.org/html/rfc7396) JSON Merge Patch spec. */
+/* target will be modified by patch. return value is new ptr for target. */
+CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatch(cJSON *target, const cJSON * const patch);
+CJSON_PUBLIC(cJSON *) cJSONUtils_MergePatchCaseSensitive(cJSON *target, const cJSON * const patch);
+/* generates a patch to move from -> to */
+/* NOTE: This modifies objects in 'from' and 'to' by sorting the elements by their key */
+CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatch(cJSON * const from, cJSON * const to);
+CJSON_PUBLIC(cJSON *) cJSONUtils_GenerateMergePatchCaseSensitive(cJSON * const from, cJSON * const to);
+
+/* Given a root object and a target object, construct a pointer from one to the other. */
+CJSON_PUBLIC(char *) cJSONUtils_FindPointerFromObjectTo(const cJSON * const object, const cJSON * const target);
+
+/* Sorts the members of the object into alphabetical order. */
+CJSON_PUBLIC(void) cJSONUtils_SortObject(cJSON * const object);
+CJSON_PUBLIC(void) cJSONUtils_SortObjectCaseSensitive(cJSON * const object);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

Demo/Common/main.cpp

@@ -5,10 +5,10 @@
 #include "murax.h"
 
 #include <cstddef>
-
-#include <initializer_list>
 #include <cstdio>
 
+#include "lib/cJSON.h"
+
 #define mainTIMER_PERIOD_MS (1 / portTICK_PERIOD_MS) // Ustawienie okresu timera na 1 sekundę
 #define QUEUE_LENGTH 5
 #define QUEUE_ITEM_SIZE sizeof(uint32_t)
@@ -16,6 +16,42 @@
 extern "C" {
     void vApplicationMallocFailedHook(void);
     void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName);
+
+	extern char  _heap_start [];  // Początek sterty
+	extern char  _heap_end [];    // Koniec sterty
+
+	extern int errno;
+
+	static char *current_heap_end = (char *) _heap_start;
+	
+	#define ENOMEM 	12
+
+	void *_sbrk(intptr_t increment) {
+	    char *prev_heap_end;
+
+	    if ((current_heap_end + increment) > (char *)_heap_end) {
+		// Brak wystarczającej pamięci
+		errno = ENOMEM;
+		return (void *)-1;
+	    }
+
+	    prev_heap_end = current_heap_end;
+	    current_heap_end += increment;
+
+	    return (void *)prev_heap_end;
+	}
+
+}
+
+void print(const char*str){
+        while(*str){
+                uart_write(UART,*str);
+                str++;
+        }
+}
+void println(const char*str){
+        print(str);
+        uart_write(UART,'\n');
 }
 
 /*-----------------------------------------------------------*/
@@ -29,58 +65,62 @@ static QueueHandle_t xQueue;
 
 /*-----------------------------------------------------------*/
 
+#include <include/FreeRTOS/Task.hpp>
  
-
-// Modern C++ aproach
-// ---
-class TimeR {
-
-public:
-    static inline  uint32_t readValue() {
-        return ptr->VALUE;
-    }
-
-private:
-        static const Timer_Reg* ptr ;
+class MyTask : public FreeRTOS::Task {
+ public:
+  MyTask(const UBaseType_t priority, const char* name)
+      : FreeRTOS::Task(priority, configMINIMAL_STACK_SIZE, name) {}
+  void taskFunction() final;
 };
  
-const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040);
+// Task to be created.
+void MyTask::taskFunction() {
 
+        cJSON *root = cJSON_CreateObject();
 
-void test (std::initializer_list<int> vals) {
-    int  buffer[50];
+        cJSON_AddStringToObject(root, "sensor", "gps");
+        cJSON_AddNumberToObject(root, "time", 1351824120);
         
-    for (auto p = vals.begin(); p != vals.end(); ++p) {
+        cJSON *data = cJSON_CreateObject();
+        cJSON_AddItemToObject(root, "data", data);
+        cJSON_AddNumberToObject(data, "lat", 48.756080);
+        cJSON_AddNumberToObject(data, "lon", 2.302038);
 
-        int * i = buffer;
-        *i++ = *p;
-        //        sprintf(buffer, "%d\n", *p);
-        // printf("%s", buffer);
-    }
+        char *jsonString = cJSON_Print(root);
+println (jsonString);
+
+	std::string result(jsonString);
+        
+cJSON_Delete(root);
+free(jsonString);      
+
+  for (;;) {
+	println("Delay 10ms");
+	vTaskDelay(pdMS_TO_TICKS(10));
+    // Task code goes here.
+  }
 
 }
 
-#include <vector>
+
+#include "include/Timer.hpp"
+
+const Timer_Reg* TimeR::ptr = reinterpret_cast<const Timer_Reg*>(0xF0020040);
+
+#include "X.hpp"
+
+#include "SimpleOStream.hpp"
 
 int main(void) {
 
-std::vector<int> numbers;
+		// Definicja globalnego obiektu strumienia wyjściowego
+SimpleOStream simpleCout;
 
-    // Dodawanie elementów do wektora
-    for (int i = 0; i < 10; ++i) {
-        numbers.push_back(i);
-    }
 
-    // Wypisywanie elementów wektora
-    char buffer[100];
-    sprintf(buffer, "Elements in the vector: ");
+    X var {7};
 
-    for (int number : numbers) {
-        sprintf(buffer, "%d ", number);
-    }
-    sprintf(buffer, "\n");
-
-    test({1,2,3,4,5});
+	println("hello world arty a7 v1");
 
 	xQueue = xQueueCreate(QUEUE_LENGTH, QUEUE_ITEM_SIZE); // Tworzenie kolejki
     if (xQueue == NULL) {
@@ -106,6 +146,15 @@ std::vector<int> numbers;
     // Tworzenie zadania hungryTask
     xTaskCreate(hungryTask, "Hungry Task", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL);
 
+  // Create the task.
+  MyTask task((tskIDLE_PRIORITY + 1), "NAME");
+/*
+  // Check that the task was created successfully.
+  if (task.isValid()) {
+    FreeRTOS::Kernel::startScheduler();
+  }
+*/
+
     // Uruchomienie planisty
     vTaskStartScheduler();
 
@@ -126,7 +175,12 @@ static void timerCallback(TimerHandle_t xTimer) {
 static void hungryTask(void *pvParameters) {
     uint32_t ulReceivedValue;
     for (;;) {
-    //    if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
+
+	
+	println("Delay 10ms");
+	vTaskDelay(pdMS_TO_TICKS(10));
+	
+    	//    if (xQueueReceive(xQueue, &ulReceivedValue, portMAX_DELAY) == pdPASS) {
             //printf("hungry\n"); // Drukowanie, gdy odbierzemy wartość z kolejki
     //    }
     }

Demo/arch/link.ld

@@ -72,15 +72,15 @@
 
 OUTPUT_ARCH( "riscv" )
 
-_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x10000;
-_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0x10000;
+_HEAP_SIZE = DEFINED(_HEAP_SIZE) ? _HEAP_SIZE : 0xb0000;
+_STACK_SIZE = DEFINED(_STACK_SIZE) ? _STACK_SIZE : 0x20000;
 
 /*****************************************************************************
  * Define memory layout
  ****************************************************************************/
 MEMORY {
-	imem : ORIGIN = 0x80000000, LENGTH = 0x00080000
-	dmem : ORIGIN = 0x80080000, LENGTH = 0x00060000
+	imem : ORIGIN = 0x80000000, LENGTH = 1024K 
+	dmem : ORIGIN = 0x80100000, LENGTH =  1024K
 }
 
 /* Specify the default entry point to the program */

Source/croutine.c

@@ -1,103 +1,64 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 #include "FreeRTOS.h"
 #include "task.h"
 #include "croutine.h"
 
-/* Remove the whole file is co-routines are not being used. */
-#if( configUSE_CO_ROUTINES != 0 )
+/* Remove the whole file if co-routines are not being used. */
+#if ( configUSE_CO_ROUTINES != 0 )
 
 /*
  * Some kernel aware debuggers require data to be viewed to be global, rather
  * than file scope.
  */
-#ifdef portREMOVE_STATIC_QUALIFIER
-	#define static
-#endif
+    #ifdef portREMOVE_STATIC_QUALIFIER
+        #define static
+    #endif
 
 
 /* Lists for ready and blocked co-routines. --------------------*/
-static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ];	/*< Prioritised ready co-routines. */
-static List_t xDelayedCoRoutineList1;									/*< Delayed co-routines. */
-static List_t xDelayedCoRoutineList2;									/*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
-static List_t * pxDelayedCoRoutineList;									/*< Points to the delayed co-routine list currently being used. */
-static List_t * pxOverflowDelayedCoRoutineList;							/*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
-static List_t xPendingReadyCoRoutineList;								/*< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
+    static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /**< Prioritised ready co-routines. */
+    static List_t xDelayedCoRoutineList1;                                   /**< Delayed co-routines. */
+    static List_t xDelayedCoRoutineList2;                                   /**< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
+    static List_t * pxDelayedCoRoutineList = NULL;                          /**< Points to the delayed co-routine list currently being used. */
+    static List_t * pxOverflowDelayedCoRoutineList = NULL;                  /**< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
+    static List_t xPendingReadyCoRoutineList;                               /**< Holds co-routines that have been readied by an external event.  They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
 
 /* Other file private variables. --------------------------------*/
-CRCB_t * pxCurrentCoRoutine = NULL;
-static UBaseType_t uxTopCoRoutineReadyPriority = 0;
-static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
+    CRCB_t * pxCurrentCoRoutine = NULL;
+    static UBaseType_t uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
+    static TickType_t xCoRoutineTickCount = ( TickType_t ) 0U;
+    static TickType_t xLastTickCount = ( TickType_t ) 0U;
+    static TickType_t xPassedTicks = ( TickType_t ) 0U;
 
 /* The initial state of the co-routine when it is created. */
-#define corINITIAL_STATE	( 0 )
+    #define corINITIAL_STATE    ( 0 )
 
 /*
  * Place the co-routine represented by pxCRCB into the appropriate ready queue
@@ -106,20 +67,20 @@ static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
  * This macro accesses the co-routine ready lists and therefore must not be
  * used from within an ISR.
  */
-#define prvAddCoRoutineToReadyQueue( pxCRCB )																		\
-{																													\
-	if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority )															\
-	{																												\
-		uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;															\
-	}																												\
-	vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );	\
-}
+    #define prvAddCoRoutineToReadyQueue( pxCRCB )                                                                               \
+    do {                                                                                                                        \
+        if( ( pxCRCB )->uxPriority > uxTopCoRoutineReadyPriority )                                                              \
+        {                                                                                                                       \
+            uxTopCoRoutineReadyPriority = ( pxCRCB )->uxPriority;                                                               \
+        }                                                                                                                       \
+        vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ ( pxCRCB )->uxPriority ] ), &( ( pxCRCB )->xGenericListItem ) ); \
+    } while( 0 )
 
 /*
  * Utility to ready all the lists used by the scheduler.  This is called
  * automatically upon the creation of the first co-routine.
  */
-static void prvInitialiseCoRoutineLists( void );
+    static void prvInitialiseCoRoutineLists( void );
 
 /*
  * Co-routines that are readied by an interrupt cannot be placed directly into
@@ -127,7 +88,7 @@ static void prvInitialiseCoRoutineLists( void );
  * in the pending ready list in order that they can later be moved to the ready
  * list by the co-routine scheduler.
  */
-static void prvCheckPendingReadyList( void );
+    static void prvCheckPendingReadyList( void );
 
 /*
  * Macro that looks at the list of co-routines that are currently delayed to
@@ -137,259 +98,308 @@ static void prvCheckPendingReadyList( void );
  * meaning once one co-routine has been found whose timer has not expired
  * we need not look any further down the list.
  */
-static void prvCheckDelayedList( void );
+    static void prvCheckDelayedList( void );
 
 /*-----------------------------------------------------------*/
 
-BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
-{
-BaseType_t xReturn;
-CRCB_t *pxCoRoutine;
+    BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode,
+                                 UBaseType_t uxPriority,
+                                 UBaseType_t uxIndex )
+    {
+        BaseType_t xReturn;
+        CRCB_t * pxCoRoutine;
 
-	/* Allocate the memory that will store the co-routine control block. */
-	pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
-	if( pxCoRoutine )
-	{
-		/* If pxCurrentCoRoutine is NULL then this is the first co-routine to
-		be created and the co-routine data structures need initialising. */
-		if( pxCurrentCoRoutine == NULL )
-		{
-			pxCurrentCoRoutine = pxCoRoutine;
-			prvInitialiseCoRoutineLists();
-		}
+        traceENTER_xCoRoutineCreate( pxCoRoutineCode, uxPriority, uxIndex );
 
-		/* Check the priority is within limits. */
-		if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
-		{
-			uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
-		}
+        /* Allocate the memory that will store the co-routine control block. */
+        /* MISRA Ref 11.5.1 [Malloc memory assignment] */
+        /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-115 */
+        /* coverity[misra_c_2012_rule_11_5_violation] */
+        pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
 
-		/* Fill out the co-routine control block from the function parameters. */
-		pxCoRoutine->uxState = corINITIAL_STATE;
-		pxCoRoutine->uxPriority = uxPriority;
-		pxCoRoutine->uxIndex = uxIndex;
-		pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
+        if( pxCoRoutine )
+        {
+            /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
+            * be created and the co-routine data structures need initialising. */
+            if( pxCurrentCoRoutine == NULL )
+            {
+                pxCurrentCoRoutine = pxCoRoutine;
+                prvInitialiseCoRoutineLists();
+            }
 
-		/* Initialise all the other co-routine control block parameters. */
-		vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
-		vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
+            /* Check the priority is within limits. */
+            if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
+            {
+                uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
+            }
 
-		/* Set the co-routine control block as a link back from the ListItem_t.
-		This is so we can get back to the containing CRCB from a generic item
-		in a list. */
-		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
-		listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
+            /* Fill out the co-routine control block from the function parameters. */
+            pxCoRoutine->uxState = corINITIAL_STATE;
+            pxCoRoutine->uxPriority = uxPriority;
+            pxCoRoutine->uxIndex = uxIndex;
+            pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
 
-		/* Event lists are always in priority order. */
-		listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
+            /* Initialise all the other co-routine control block parameters. */
+            vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
+            vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
 
-		/* Now the co-routine has been initialised it can be added to the ready
-		list at the correct priority. */
-		prvAddCoRoutineToReadyQueue( pxCoRoutine );
+            /* Set the co-routine control block as a link back from the ListItem_t.
+             * This is so we can get back to the containing CRCB from a generic item
+             * in a list. */
+            listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
+            listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
 
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-	}
+            /* Event lists are always in priority order. */
+            listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
 
-	return xReturn;
-}
+            /* Now the co-routine has been initialised it can be added to the ready
+             * list at the correct priority. */
+            prvAddCoRoutineToReadyQueue( pxCoRoutine );
+
+            xReturn = pdPASS;
+        }
+        else
+        {
+            xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+        }
+
+        traceRETURN_xCoRoutineCreate( xReturn );
+
+        return xReturn;
+    }
 /*-----------------------------------------------------------*/
 
-void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
-{
-TickType_t xTimeToWake;
+    void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay,
+                                     List_t * pxEventList )
+    {
+        TickType_t xTimeToWake;
 
-	/* Calculate the time to wake - this may overflow but this is
-	not a problem. */
-	xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
+        traceENTER_vCoRoutineAddToDelayedList( xTicksToDelay, pxEventList );
 
-	/* We must remove ourselves from the ready list before adding
-	ourselves to the blocked list as the same list item is used for
-	both lists. */
-	( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+        /* Calculate the time to wake - this may overflow but this is
+         * not a problem. */
+        xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
 
-	/* The list item will be inserted in wake time order. */
-	listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
+        /* We must remove ourselves from the ready list before adding
+         * ourselves to the blocked list as the same list item is used for
+         * both lists. */
+        ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
 
-	if( xTimeToWake < xCoRoutineTickCount )
-	{
-		/* Wake time has overflowed.  Place this item in the
-		overflow list. */
-		vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-	}
-	else
-	{
-		/* The wake time has not overflowed, so we can use the
-		current block list. */
-		vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-	}
+        /* The list item will be inserted in wake time order. */
+        listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
 
-	if( pxEventList )
-	{
-		/* Also add the co-routine to an event list.  If this is done then the
-		function must be called with interrupts disabled. */
-		vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
-	}
-}
+        if( xTimeToWake < xCoRoutineTickCount )
+        {
+            /* Wake time has overflowed.  Place this item in the
+             * overflow list. */
+            vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+        }
+        else
+        {
+            /* The wake time has not overflowed, so we can use the
+             * current block list. */
+            vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
+        }
+
+        if( pxEventList )
+        {
+            /* Also add the co-routine to an event list.  If this is done then the
+             * function must be called with interrupts disabled. */
+            vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
+        }
+
+        traceRETURN_vCoRoutineAddToDelayedList();
+    }
 /*-----------------------------------------------------------*/
 
-static void prvCheckPendingReadyList( void )
-{
-	/* Are there any co-routines waiting to get moved to the ready list?  These
-	are co-routines that have been readied by an ISR.  The ISR cannot access
-	the	ready lists itself. */
-	while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
-	{
-		CRCB_t *pxUnblockedCRCB;
+    static void prvCheckPendingReadyList( void )
+    {
+        /* Are there any co-routines waiting to get moved to the ready list?  These
+         * are co-routines that have been readied by an ISR.  The ISR cannot access
+         * the ready lists itself. */
+        while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
+        {
+            CRCB_t * pxUnblockedCRCB;
 
-		/* The pending ready list can be accessed by an ISR. */
-		portDISABLE_INTERRUPTS();
-		{
-			pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
-			( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
-		}
-		portENABLE_INTERRUPTS();
+            /* The pending ready list can be accessed by an ISR. */
+            portDISABLE_INTERRUPTS();
+            {
+                pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyCoRoutineList ) );
+                ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+            }
+            portENABLE_INTERRUPTS();
 
-		( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
-		prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
-	}
-}
+            ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
+            prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
+        }
+    }
 /*-----------------------------------------------------------*/
 
-static void prvCheckDelayedList( void )
-{
-CRCB_t *pxCRCB;
+    static void prvCheckDelayedList( void )
+    {
+        CRCB_t * pxCRCB;
 
-	xPassedTicks = xTaskGetTickCount() - xLastTickCount;
-	while( xPassedTicks )
-	{
-		xCoRoutineTickCount++;
-		xPassedTicks--;
+        xPassedTicks = xTaskGetTickCount() - xLastTickCount;
 
-		/* If the tick count has overflowed we need to swap the ready lists. */
-		if( xCoRoutineTickCount == 0 )
-		{
-			List_t * pxTemp;
+        while( xPassedTicks )
+        {
+            xCoRoutineTickCount++;
+            xPassedTicks--;
 
-			/* Tick count has overflowed so we need to swap the delay lists.  If there are
-			any items in pxDelayedCoRoutineList here then there is an error! */
-			pxTemp = pxDelayedCoRoutineList;
-			pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
-			pxOverflowDelayedCoRoutineList = pxTemp;
-		}
+            /* If the tick count has overflowed we need to swap the ready lists. */
+            if( xCoRoutineTickCount == 0 )
+            {
+                List_t * pxTemp;
 
-		/* See if this tick has made a timeout expire. */
-		while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
-		{
-			pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
+                /* Tick count has overflowed so we need to swap the delay lists.  If there are
+                 * any items in pxDelayedCoRoutineList here then there is an error! */
+                pxTemp = pxDelayedCoRoutineList;
+                pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
+                pxOverflowDelayedCoRoutineList = pxTemp;
+            }
 
-			if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
-			{
-				/* Timeout not yet expired. */
-				break;
-			}
+            /* See if this tick has made a timeout expire. */
+            while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
+            {
+                pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
 
-			portDISABLE_INTERRUPTS();
-			{
-				/* The event could have occurred just before this critical
-				section.  If this is the case then the generic list item will
-				have been moved to the pending ready list and the following
-				line is still valid.  Also the pvContainer parameter will have
-				been set to NULL so the following lines are also valid. */
-				( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
+                if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
+                {
+                    /* Timeout not yet expired. */
+                    break;
+                }
 
-				/* Is the co-routine waiting on an event also? */
-				if( pxCRCB->xEventListItem.pvContainer )
-				{
-					( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
-				}
-			}
-			portENABLE_INTERRUPTS();
+                portDISABLE_INTERRUPTS();
+                {
+                    /* The event could have occurred just before this critical
+                     *  section.  If this is the case then the generic list item will
+                     *  have been moved to the pending ready list and the following
+                     *  line is still valid.  Also the pvContainer parameter will have
+                     *  been set to NULL so the following lines are also valid. */
+                    ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
 
-			prvAddCoRoutineToReadyQueue( pxCRCB );
-		}
-	}
+                    /* Is the co-routine waiting on an event also? */
+                    if( pxCRCB->xEventListItem.pxContainer )
+                    {
+                        ( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
+                    }
+                }
+                portENABLE_INTERRUPTS();
 
-	xLastTickCount = xCoRoutineTickCount;
-}
+                prvAddCoRoutineToReadyQueue( pxCRCB );
+            }
+        }
+
+        xLastTickCount = xCoRoutineTickCount;
+    }
 /*-----------------------------------------------------------*/
 
-void vCoRoutineSchedule( void )
-{
-	/* See if any co-routines readied by events need moving to the ready lists. */
-	prvCheckPendingReadyList();
+    void vCoRoutineSchedule( void )
+    {
+        traceENTER_vCoRoutineSchedule();
 
-	/* See if any delayed co-routines have timed out. */
-	prvCheckDelayedList();
+        /* Only run a co-routine after prvInitialiseCoRoutineLists() has been
+         * called.  prvInitialiseCoRoutineLists() is called automatically when a
+         * co-routine is created. */
+        if( pxDelayedCoRoutineList != NULL )
+        {
+            /* See if any co-routines readied by events need moving to the ready lists. */
+            prvCheckPendingReadyList();
 
-	/* Find the highest priority queue that contains ready co-routines. */
-	while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
-	{
-		if( uxTopCoRoutineReadyPriority == 0 )
-		{
-			/* No more co-routines to check. */
-			return;
-		}
-		--uxTopCoRoutineReadyPriority;
-	}
+            /* See if any delayed co-routines have timed out. */
+            prvCheckDelayedList();
 
-	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
-	 of the	same priority get an equal share of the processor time. */
-	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
+            /* Find the highest priority queue that contains ready co-routines. */
+            while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
+            {
+                if( uxTopCoRoutineReadyPriority == 0 )
+                {
+                    /* No more co-routines to check. */
+                    return;
+                }
 
-	/* Call the co-routine. */
-	( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
+                --uxTopCoRoutineReadyPriority;
+            }
 
-	return;
-}
+            /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
+             * of the same priority get an equal share of the processor time. */
+            listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
+
+            /* Call the co-routine. */
+            ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
+        }
+
+        traceRETURN_vCoRoutineSchedule();
+    }
 /*-----------------------------------------------------------*/
 
-static void prvInitialiseCoRoutineLists( void )
-{
-UBaseType_t uxPriority;
+    static void prvInitialiseCoRoutineLists( void )
+    {
+        UBaseType_t uxPriority;
 
-	for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
-	{
-		vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
-	}
+        for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
+        {
+            vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
+        }
 
-	vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
-	vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
-	vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
+        vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
+        vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
+        vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
 
-	/* Start with pxDelayedCoRoutineList using list1 and the
-	pxOverflowDelayedCoRoutineList using list2. */
-	pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
-	pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
-}
+        /* Start with pxDelayedCoRoutineList using list1 and the
+         * pxOverflowDelayedCoRoutineList using list2. */
+        pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
+        pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
+    }
 /*-----------------------------------------------------------*/
 
-BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
-{
-CRCB_t *pxUnblockedCRCB;
-BaseType_t xReturn;
+    BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList )
+    {
+        CRCB_t * pxUnblockedCRCB;
+        BaseType_t xReturn;
 
-	/* This function is called from within an interrupt.  It can only access
-	event lists and the pending ready list.  This function assumes that a
-	check has already been made to ensure pxEventList is not empty. */
-	pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
-	( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
-	vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
+        traceENTER_xCoRoutineRemoveFromEventList( pxEventList );
 
-	if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
-	{
-		xReturn = pdTRUE;
-	}
-	else
-	{
-		xReturn = pdFALSE;
-	}
+        /* This function is called from within an interrupt.  It can only access
+         * event lists and the pending ready list.  This function assumes that a
+         * check has already been made to ensure pxEventList is not empty. */
+        pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
+        ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
+        vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
 
-	return xReturn;
-}
+        if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
+        {
+            xReturn = pdTRUE;
+        }
+        else
+        {
+            xReturn = pdFALSE;
+        }
+
+        traceRETURN_xCoRoutineRemoveFromEventList( xReturn );
+
+        return xReturn;
+    }
+/*-----------------------------------------------------------*/
+
+/*
+ * Reset state in this file. This state is normally initialized at start up.
+ * This function must be called by the application before restarting the
+ * scheduler.
+ */
+    void vCoRoutineResetState( void )
+    {
+        /* Lists for ready and blocked co-routines. */
+        pxDelayedCoRoutineList = NULL;
+        pxOverflowDelayedCoRoutineList = NULL;
+
+        /* Other file private variables. */
+        pxCurrentCoRoutine = NULL;
+        uxTopCoRoutineReadyPriority = ( UBaseType_t ) 0U;
+        xCoRoutineTickCount = ( TickType_t ) 0U;
+        xLastTickCount = ( TickType_t ) 0U;
+        xPassedTicks = ( TickType_t ) 0U;
+    }
+/*-----------------------------------------------------------*/
 
 #endif /* configUSE_CO_ROUTINES == 0 */
-

Source/include/CMakeLists.txt

@@ -0,0 +1,15 @@
+# FreeRTOS internal cmake file. Do not use it in user top-level project
+
+add_library(freertos_kernel_include INTERFACE)
+
+target_include_directories(freertos_kernel_include
+    INTERFACE
+        .
+        # Note: DEPRECATED but still supported, may be removed in a future release.
+        $<$<NOT:$<TARGET_EXISTS:freertos_config>>:${FREERTOS_CONFIG_FILE_DIRECTORY}>
+)
+
+target_link_libraries(freertos_kernel_include
+    INTERFACE
+        $<$<TARGET_EXISTS:freertos_config>:freertos_config>
+)

Source/include/StackMacros.h

@@ -1,171 +1,34 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
-
-#ifndef STACK_MACROS_H
-#define STACK_MACROS_H
-
-/*
- * Call the stack overflow hook function if the stack of the task being swapped
- * out is currently overflowed, or looks like it might have overflowed in the
- * past.
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
- * the current stack state only - comparing the current top of stack value to
- * the stack limit.  Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
- * will also cause the last few stack bytes to be checked to ensure the value
- * to which the bytes were set when the task was created have not been
- * overwritten.  Note this second test does not guarantee that an overflowed
- * stack will always be recognised.
  */
 
-/*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
-
-	/* Only the current stack state is to be checked. */
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack )										\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
-
-	/* Only the current stack state is to be checked. */
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-																										\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack )									\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
-
-	#define taskCHECK_FOR_STACK_OVERFLOW()																\
-	{																									\
-		const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack;							\
-		const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5;											\
-																										\
-		if( ( pulStack[ 0 ] != ulCheckValue ) ||												\
-			( pulStack[ 1 ] != ulCheckValue ) ||												\
-			( pulStack[ 2 ] != ulCheckValue ) ||												\
-			( pulStack[ 3 ] != ulCheckValue ) )												\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );	\
-		}																								\
-	}
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
-
-	#define taskCHECK_FOR_STACK_OVERFLOW()																								\
-	{																																	\
-	int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack;																		\
-	static const uint8_t ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																		\
-																																		\
-		pcEndOfStack -= sizeof( ucExpectedStackBytes );																					\
-																																		\
-		/* Has the extremity of the task stack ever been written over? */																\
-		if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )					\
-		{																																\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName );									\
-		}																																\
-	}
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-/* Remove stack overflow macro if not being used. */
-#ifndef taskCHECK_FOR_STACK_OVERFLOW
-	#define taskCHECK_FOR_STACK_OVERFLOW()
+#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */
+    #warning The name of this file has changed to stack_macros.h.  Please update your code accordingly.  This source file (which has the original name) will be removed in a future release.
 #endif
 
-
-
-#endif /* STACK_MACROS_H */
-
+#include "stack_macros.h"

Source/include/atomic.h

@@ -0,0 +1,427 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/**
+ * @file atomic.h
+ * @brief FreeRTOS atomic operation support.
+ *
+ * This file implements atomic functions by disabling interrupts globally.
+ * Implementations with architecture specific atomic instructions can be
+ * provided under each compiler directory.
+ *
+ * The atomic interface can be used in FreeRTOS tasks on all FreeRTOS ports. It
+ * can also be used in Interrupt Service Routines (ISRs) on FreeRTOS ports that
+ * support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 1). The
+ * atomic interface must not be used in ISRs on FreeRTOS ports that do not
+ * support nested interrupts (i.e. portHAS_NESTED_INTERRUPTS is set to 0)
+ * because ISRs on these ports cannot be interrupted and therefore, do not need
+ * atomics in ISRs.
+ */
+
+#ifndef ATOMIC_H
+#define ATOMIC_H
+
+#ifndef INC_FREERTOS_H
+    #error "include FreeRTOS.h must appear in source files before include atomic.h"
+#endif
+
+/* Standard includes. */
+#include <stdint.h>
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
+/*
+ * Port specific definitions -- entering/exiting critical section.
+ * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
+ *
+ * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
+ * ATOMIC_ENTER_CRITICAL().
+ *
+ */
+#if ( portHAS_NESTED_INTERRUPTS == 1 )
+
+/* Nested interrupt scheme is supported in this port. */
+    #define ATOMIC_ENTER_CRITICAL() \
+    UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
+
+    #define ATOMIC_EXIT_CRITICAL() \
+    portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
+
+#else
+
+/* Nested interrupt scheme is NOT supported in this port. */
+    #define ATOMIC_ENTER_CRITICAL()    portENTER_CRITICAL()
+    #define ATOMIC_EXIT_CRITICAL()     portEXIT_CRITICAL()
+
+#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
+
+/*
+ * Port specific definition -- "always inline".
+ * Inline is compiler specific, and may not always get inlined depending on your
+ * optimization level.  Also, inline is considered as performance optimization
+ * 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
+
+#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 ------------------------------*/
+
+/**
+ * Atomic compare-and-swap
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified values.
+ *
+ * @param[in, out] pulDestination  Pointer to memory location from where value is
+ *                               to be loaded and checked.
+ * @param[in] ulExchange         If condition meets, write this value to memory.
+ * @param[in] ulComparand        Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @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 )
+{
+    uint32_t ulReturnValue;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        if( *pulDestination == ulComparand )
+        {
+            *pulDestination = ulExchange;
+            ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+        }
+        else
+        {
+            ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+        }
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic swap (pointers)
+ *
+ * @brief Atomically sets the address pointed to by *ppvDestination to the value
+ *        of *pvExchange.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and written back to.
+ * @param[in] pvExchange           Pointer value to be written to *ppvDestination.
+ *
+ * @return The initial value of *ppvDestination.
+ */
+static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
+                                                        void * pvExchange )
+{
+    void * pReturnValue;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        pReturnValue = *ppvDestination;
+        *ppvDestination = pvExchange;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return pReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic compare-and-swap (pointers)
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified pointer
+ *        values.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and checked.
+ * @param[in] pvExchange           If condition meets, write this value to memory.
+ * @param[in] pvComparand          Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @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 )
+{
+    uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        if( *ppvDestination == pvComparand )
+        {
+            *ppvDestination = pvExchange;
+            ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+        }
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulReturnValue;
+}
+
+
+/*----------------------------- Arithmetic ------------------------------*/
+
+/**
+ * Atomic add
+ *
+ * @brief Atomically adds count to the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be added to *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
+                                                 uint32_t ulCount )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulAddend;
+        *pulAddend += ulCount;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic subtract
+ *
+ * @brief Atomically subtracts count from the value of the specified pointer
+ *        pointers to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be subtract from *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
+                                                      uint32_t ulCount )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulAddend;
+        *pulAddend -= ulCount;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic increment
+ *
+ * @brief Atomically increments the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before increment.
+ */
+static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulAddend;
+        *pulAddend += 1;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic decrement
+ *
+ * @brief Atomically decrements the value of the specified pointer points to
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before decrement.
+ */
+static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulAddend;
+        *pulAddend -= 1;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+
+/*----------------------------- Bitwise Logical ------------------------------*/
+
+/**
+ * Atomic OR
+ *
+ * @brief Performs an atomic OR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
+                                                uint32_t ulValue )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulDestination;
+        *pulDestination |= ulValue;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic AND
+ *
+ * @brief Performs an atomic AND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
+                                                 uint32_t ulValue )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulDestination;
+        *pulDestination &= ulValue;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic NAND
+ *
+ * @brief Performs an atomic NAND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be NANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
+                                                  uint32_t ulValue )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulDestination;
+        *pulDestination = ~( ulCurrent & ulValue );
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic XOR
+ *
+ * @brief Performs an atomic XOR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be XORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
+                                                 uint32_t ulValue )
+{
+    uint32_t ulCurrent;
+
+    ATOMIC_ENTER_CRITICAL();
+    {
+        ulCurrent = *pulDestination;
+        *pulDestination ^= ulValue;
+    }
+    ATOMIC_EXIT_CRITICAL();
+
+    return ulCurrent;
+}
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+
+#endif /* ATOMIC_H */

Source/include/deprecated_definitions.h

@@ -1,229 +1,188 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 #ifndef DEPRECATED_DEFINITIONS_H
 #define DEPRECATED_DEFINITIONS_H
 
 
 /* Each FreeRTOS port has a unique portmacro.h header file.  Originally a
-pre-processor definition was used to ensure the pre-processor found the correct
-portmacro.h file for the port being used.  That scheme was deprecated in favour
-of setting the compiler's include path such that it found the correct
-portmacro.h file - removing the need for the constant and allowing the
-portmacro.h file to be located anywhere in relation to the port being used.  The
-definitions below remain in the code for backward compatibility only.  New
-projects should not use them. */
+ * pre-processor definition was used to ensure the pre-processor found the correct
+ * portmacro.h file for the port being used.  That scheme was deprecated in favour
+ * of setting the compiler's include path such that it found the correct
+ * portmacro.h file - removing the need for the constant and allowing the
+ * portmacro.h file to be located anywhere in relation to the port being used.  The
+ * definitions below remain in the code for backward compatibility only.  New
+ * projects should not use them. */
 
 #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
-	#include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
-	typedef void ( __interrupt __far *pxISR )();
+    #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
+    typedef void ( __interrupt __far * pxISR )();
 #endif
 
 #ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
-	#include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
-	typedef void ( __interrupt __far *pxISR )();
+    #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
+    typedef void ( __interrupt __far * pxISR )();
 #endif
 
 #ifdef GCC_MEGA_AVR
-	#include "../portable/GCC/ATMega323/portmacro.h"
+    #include "../portable/GCC/ATMega323/portmacro.h"
 #endif
 
 #ifdef IAR_MEGA_AVR
-	#include "../portable/IAR/ATMega323/portmacro.h"
+    #include "../portable/IAR/ATMega323/portmacro.h"
 #endif
 
 #ifdef MPLAB_PIC24_PORT
-	#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
+    #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
 #endif
 
 #ifdef MPLAB_DSPIC_PORT
-	#include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
+    #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
 #endif
 
 #ifdef MPLAB_PIC18F_PORT
-	#include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
+    #include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
 #endif
 
 #ifdef MPLAB_PIC32MX_PORT
-	#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
+    #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
 #endif
 
 #ifdef _FEDPICC
-	#include "libFreeRTOS/Include/portmacro.h"
+    #include "libFreeRTOS/Include/portmacro.h"
 #endif
 
 #ifdef SDCC_CYGNAL
-	#include "../../Source/portable/SDCC/Cygnal/portmacro.h"
+    #include "../../Source/portable/SDCC/Cygnal/portmacro.h"
 #endif
 
 #ifdef GCC_ARM7
-	#include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
+    #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
 #endif
 
 #ifdef GCC_ARM7_ECLIPSE
-	#include "portmacro.h"
+    #include "portmacro.h"
 #endif
 
 #ifdef ROWLEY_LPC23xx
-	#include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
+    #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
 #endif
 
 #ifdef IAR_MSP430
-	#include "..\..\Source\portable\IAR\MSP430\portmacro.h"
+    #include "..\..\Source\portable\IAR\MSP430\portmacro.h"
 #endif
 
 #ifdef GCC_MSP430
-	#include "../../Source/portable/GCC/MSP430F449/portmacro.h"
+    #include "../../Source/portable/GCC/MSP430F449/portmacro.h"
 #endif
 
 #ifdef ROWLEY_MSP430
-	#include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
+    #include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
 #endif
 
 #ifdef ARM7_LPC21xx_KEIL_RVDS
-	#include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
+    #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
 #endif
 
 #ifdef SAM7_GCC
-	#include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
+    #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
 #endif
 
 #ifdef SAM7_IAR
-	#include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
+    #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
 #endif
 
 #ifdef SAM9XE_IAR
-	#include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
+    #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
 #endif
 
 #ifdef LPC2000_IAR
-	#include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
+    #include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
 #endif
 
 #ifdef STR71X_IAR
-	#include "..\..\Source\portable\IAR\STR71x\portmacro.h"
+    #include "..\..\Source\portable\IAR\STR71x\portmacro.h"
 #endif
 
 #ifdef STR75X_IAR
-	#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
+    #include "..\..\Source\portable\IAR\STR75x\portmacro.h"
 #endif
 
 #ifdef STR75X_GCC
-	#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
+    #include "..\..\Source\portable\GCC\STR75x\portmacro.h"
 #endif
 
 #ifdef STR91X_IAR
-	#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
+    #include "..\..\Source\portable\IAR\STR91x\portmacro.h"
 #endif
 
 #ifdef GCC_H8S
-	#include "../../Source/portable/GCC/H8S2329/portmacro.h"
+    #include "../../Source/portable/GCC/H8S2329/portmacro.h"
 #endif
 
 #ifdef GCC_AT91FR40008
-	#include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
+    #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
 #endif
 
 #ifdef RVDS_ARMCM3_LM3S102
-	#include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
+    #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
 #endif
 
 #ifdef GCC_ARMCM3_LM3S102
-	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+    #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
 #endif
 
 #ifdef GCC_ARMCM3
-	#include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
+    #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
 #endif
 
 #ifdef IAR_ARM_CM3
-	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+    #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
 #endif
 
 #ifdef IAR_ARMCM3_LM
-	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
+    #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
 #endif
 
 #ifdef HCS12_CODE_WARRIOR
-	#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
+    #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
 #endif
 
 #ifdef MICROBLAZE_GCC
-	#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
+    #include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
 #endif
 
 #ifdef TERN_EE
-	#include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
+    #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
 #endif
 
 #ifdef GCC_HCS12
-	#include "../../Source/portable/GCC/HCS12/portmacro.h"
+    #include "../../Source/portable/GCC/HCS12/portmacro.h"
 #endif
 
 #ifdef GCC_MCF5235
@@ -231,91 +190,92 @@ projects should not use them. */
 #endif
 
 #ifdef COLDFIRE_V2_GCC
-	#include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
+    #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
 #endif
 
 #ifdef COLDFIRE_V2_CODEWARRIOR
-	#include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
+    #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
 #endif
 
 #ifdef GCC_PPC405
-	#include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
+    #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
 #endif
 
 #ifdef GCC_PPC440
-	#include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
+    #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
 #endif
 
 #ifdef _16FX_SOFTUNE
-	#include "..\..\Source\portable\Softune\MB96340\portmacro.h"
+    #include "..\..\Source\portable\Softune\MB96340\portmacro.h"
 #endif
 
 #ifdef BCC_INDUSTRIAL_PC_PORT
-	/* A short file name has to be used in place of the normal
-	FreeRTOSConfig.h when using the Borland compiler. */
-	#include "frconfig.h"
-	#include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
-    typedef void ( __interrupt __far *pxISR )();
+
+/* A short file name has to be used in place of the normal
+ * FreeRTOSConfig.h when using the Borland compiler. */
+    #include "frconfig.h"
+    #include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
+    typedef void ( __interrupt __far * pxISR )();
 #endif
 
 #ifdef BCC_FLASH_LITE_186_PORT
-	/* A short file name has to be used in place of the normal
-	FreeRTOSConfig.h when using the Borland compiler. */
-	#include "frconfig.h"
-	#include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
-    typedef void ( __interrupt __far *pxISR )();
+
+/* A short file name has to be used in place of the normal
+ * FreeRTOSConfig.h when using the Borland compiler. */
+    #include "frconfig.h"
+    #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
+    typedef void ( __interrupt __far * pxISR )();
 #endif
 
 #ifdef __GNUC__
-   #ifdef __AVR32_AVR32A__
-	   #include "portmacro.h"
-   #endif
+    #ifdef __AVR32_AVR32A__
+        #include "portmacro.h"
+    #endif
 #endif
 
 #ifdef __ICCAVR32__
-   #ifdef __CORE__
-      #if __CORE__ == __AVR32A__
-	      #include "portmacro.h"
-      #endif
-   #endif
+    #ifdef __CORE__
+        #if __CORE__ == __AVR32A__
+            #include "portmacro.h"
+        #endif
+    #endif
 #endif
 
 #ifdef __91467D
-	#include "portmacro.h"
+    #include "portmacro.h"
 #endif
 
 #ifdef __96340
-	#include "portmacro.h"
+    #include "portmacro.h"
 #endif
 
 
 #ifdef __IAR_V850ES_Fx3__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+    #include "../../Source/portable/IAR/V850ES/portmacro.h"
 #endif
 
 #ifdef __IAR_V850ES_Jx3__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+    #include "../../Source/portable/IAR/V850ES/portmacro.h"
 #endif
 
 #ifdef __IAR_V850ES_Jx3_L__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+    #include "../../Source/portable/IAR/V850ES/portmacro.h"
 #endif
 
 #ifdef __IAR_V850ES_Jx2__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+    #include "../../Source/portable/IAR/V850ES/portmacro.h"
 #endif
 
 #ifdef __IAR_V850ES_Hx2__
-	#include "../../Source/portable/IAR/V850ES/portmacro.h"
+    #include "../../Source/portable/IAR/V850ES/portmacro.h"
 #endif
 
 #ifdef __IAR_78K0R_Kx3__
-	#include "../../Source/portable/IAR/78K0R/portmacro.h"
+    #include "../../Source/portable/IAR/78K0R/portmacro.h"
 #endif
 
 #ifdef __IAR_78K0R_Kx3L__
-	#include "../../Source/portable/IAR/78K0R/portmacro.h"
+    #include "../../Source/portable/IAR/78K0R/portmacro.h"
 #endif
 
 #endif /* DEPRECATED_DEFINITIONS_H */
-

Source/include/list.h

@@ -1,71 +1,30 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 /*
  * This is the list implementation used by the scheduler.  While it is tailored
@@ -74,7 +33,7 @@
  *
  * list_ts can only store pointers to list_item_ts.  Each ListItem_t contains a
  * numeric value (xItemValue).  Most of the time the lists are sorted in
- * descending item value order.
+ * ascending item value order.
  *
  * Lists are created already containing one list item.  The value of this
  * item is the maximum possible that can be stored, it is therefore always at
@@ -95,13 +54,14 @@
  * \ingroup FreeRTOSIntro
  */
 
-#ifndef INC_FREERTOS_H
-	#error FreeRTOS.h must be included before list.h
-#endif
 
 #ifndef LIST_H
 #define LIST_H
 
+#ifndef INC_FREERTOS_H
+    #error "FreeRTOS.h must be included before list.h"
+#endif
+
 /*
  * The list structure members are modified from within interrupts, and therefore
  * by rights should be declared volatile.  However, they are only modified in a
@@ -131,84 +91,91 @@
  * "#define configLIST_VOLATILE volatile"
  */
 #ifndef configLIST_VOLATILE
-	#define configLIST_VOLATILE
+    #define configLIST_VOLATILE
 #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /* Macros that can be used to place known values within the list structures,
-then check that the known values do not get corrupted during the execution of
-the application.   These may catch the list data structures being overwritten in
-memory.  They will not catch data errors caused by incorrect configuration or
-use of FreeRTOS.*/
-#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
-	/* Define the macros to do nothing. */
-	#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
-	#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
-	#define listFIRST_LIST_INTEGRITY_CHECK_VALUE
-	#define listSECOND_LIST_INTEGRITY_CHECK_VALUE
-	#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
-	#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
-	#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
-	#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
-	#define listTEST_LIST_ITEM_INTEGRITY( pxItem )
-	#define listTEST_LIST_INTEGRITY( pxList )
-#else
-	/* Define macros that add new members into the list structures. */
-	#define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE				TickType_t xListItemIntegrityValue1;
-	#define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE				TickType_t xListItemIntegrityValue2;
-	#define listFIRST_LIST_INTEGRITY_CHECK_VALUE					TickType_t xListIntegrityValue1;
-	#define listSECOND_LIST_INTEGRITY_CHECK_VALUE					TickType_t xListIntegrityValue2;
+ * then check that the known values do not get corrupted during the execution of
+ * the application.   These may catch the list data structures being overwritten in
+ * memory.  They will not catch data errors caused by incorrect configuration or
+ * use of FreeRTOS.*/
+#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
+    /* Define the macros to do nothing. */
+    #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
+    #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
+    #define listFIRST_LIST_INTEGRITY_CHECK_VALUE
+    #define listSECOND_LIST_INTEGRITY_CHECK_VALUE
+    #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
+    #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
+    #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
+    #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
+    #define listTEST_LIST_ITEM_INTEGRITY( pxItem )
+    #define listTEST_LIST_INTEGRITY( pxList )
+#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */
+    /* Define macros that add new members into the list structures. */
+    #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE     TickType_t xListItemIntegrityValue1;
+    #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE    TickType_t xListItemIntegrityValue2;
+    #define listFIRST_LIST_INTEGRITY_CHECK_VALUE          TickType_t xListIntegrityValue1;
+    #define listSECOND_LIST_INTEGRITY_CHECK_VALUE         TickType_t xListIntegrityValue2;
 
-	/* Define macros that set the new structure members to known values. */
-	#define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )		( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
-	#define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )	( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
-	#define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )		( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
-	#define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )		( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
+/* Define macros that set the new structure members to known values. */
+    #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )     ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
+    #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )    ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
+    #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )              ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
+    #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )              ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
 
-	/* Define macros that will assert if one of the structure members does not
-	contain its expected value. */
-	#define listTEST_LIST_ITEM_INTEGRITY( pxItem )		configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
-	#define listTEST_LIST_INTEGRITY( pxList )			configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
+/* Define macros that will assert if one of the structure members does not
+ * contain its expected value. */
+    #define listTEST_LIST_ITEM_INTEGRITY( pxItem )                      configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
+    #define listTEST_LIST_INTEGRITY( pxList )                           configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
 #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
 
 
 /*
  * 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. */
-	void * configLIST_VOLATILE pvContainer;				/*< Pointer to the list in which this list item is placed (if any). */
-	listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE			/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE           /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    configLIST_VOLATILE TickType_t xItemValue;          /**< The value being listed.  In most cases this is used to sort the list in ascending order. */
+    struct xLIST_ITEM * configLIST_VOLATILE pxNext;     /**< Pointer to the next ListItem_t in the list. */
+    struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /**< Pointer to the previous ListItem_t in the list. */
+    void * pvOwner;                                     /**< Pointer to the object (normally a TCB) that contains the list item.  There is therefore a two way link between the object containing the list item and the list item itself. */
+    struct xLIST * configLIST_VOLATILE pxContainer;     /**< Pointer to the list in which this list item is placed (if any). */
+    listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE          /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
 };
-typedef struct xLIST_ITEM ListItem_t;					/* For some reason lint wants this as two separate definitions. */
+typedef struct xLIST_ITEM ListItem_t;
 
-struct xMINI_LIST_ITEM
-{
-	listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE			/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	configLIST_VOLATILE TickType_t xItemValue;
-	struct xLIST_ITEM * configLIST_VOLATILE pxNext;
-	struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
-};
-typedef struct xMINI_LIST_ITEM MiniListItem_t;
+#if ( configUSE_MINI_LIST_ITEM == 1 )
+    struct xMINI_LIST_ITEM
+    {
+        listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+        configLIST_VOLATILE TickType_t xItemValue;
+        struct xLIST_ITEM * configLIST_VOLATILE pxNext;
+        struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
+    };
+    typedef struct xMINI_LIST_ITEM MiniListItem_t;
+#else
+    typedef struct xLIST_ITEM      MiniListItem_t;
+#endif
 
 /*
  * Definition of the type of queue used by the scheduler.
  */
 typedef struct xLIST
 {
-	listFIRST_LIST_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	configLIST_VOLATILE UBaseType_t uxNumberOfItems;
-	ListItem_t * configLIST_VOLATILE pxIndex;			/*< Used to walk through the list.  Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
-	MiniListItem_t xListEnd;							/*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
-	listSECOND_LIST_INTEGRITY_CHECK_VALUE				/*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listFIRST_LIST_INTEGRITY_CHECK_VALUE      /**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    configLIST_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;
 
 /*
@@ -218,25 +185,25 @@ typedef struct xLIST
  * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
  * \ingroup LinkedList
  */
-#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner )		( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
+#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner )    ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
 
 /*
  * Access macro to get the owner of a list item.  The owner of a list item
  * is the object (usually a TCB) that contains the list item.
  *
- * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
+ * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
  * \ingroup LinkedList
  */
-#define listGET_LIST_ITEM_OWNER( pxListItem )	( ( pxListItem )->pvOwner )
+#define listGET_LIST_ITEM_OWNER( pxListItem )             ( ( pxListItem )->pvOwner )
 
 /*
  * Access macro to set the value of the list item.  In most cases the value is
- * used to sort the list in descending order.
+ * used to sort the list in ascending order.
  *
  * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
  * \ingroup LinkedList
  */
-#define listSET_LIST_ITEM_VALUE( pxListItem, xValue )	( ( pxListItem )->xItemValue = ( xValue ) )
+#define listSET_LIST_ITEM_VALUE( pxListItem, xValue )     ( ( pxListItem )->xItemValue = ( xValue ) )
 
 /*
  * Access macro to retrieve the value of the list item.  The value can
@@ -246,7 +213,7 @@ typedef struct xLIST
  * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
  * \ingroup LinkedList
  */
-#define listGET_LIST_ITEM_VALUE( pxListItem )	( ( pxListItem )->xItemValue )
+#define listGET_LIST_ITEM_VALUE( pxListItem )             ( ( pxListItem )->xItemValue )
 
 /*
  * Access macro to retrieve the value of the list item at the head of a given
@@ -255,7 +222,7 @@ typedef struct xLIST
  * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
  * \ingroup LinkedList
  */
-#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList )	( ( ( pxList )->xListEnd ).pxNext->xItemValue )
+#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList )        ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
 
 /*
  * Return the list item at the head of the list.
@@ -263,15 +230,15 @@ typedef struct xLIST
  * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
  * \ingroup LinkedList
  */
-#define listGET_HEAD_ENTRY( pxList )	( ( ( pxList )->xListEnd ).pxNext )
+#define listGET_HEAD_ENTRY( pxList )                      ( ( ( pxList )->xListEnd ).pxNext )
 
 /*
- * Return the list item at the head of the list.
+ * Return the next list item.
  *
  * \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
@@ -279,7 +246,7 @@ typedef struct xLIST
  * \page listGET_END_MARKER listGET_END_MARKER
  * \ingroup LinkedList
  */
-#define listGET_END_MARKER( pxList )	( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
+#define listGET_END_MARKER( pxList )                      ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
 
 /*
  * Access macro to determine if a list contains any items.  The macro will
@@ -288,12 +255,12 @@ typedef struct xLIST
  * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
  * \ingroup LinkedList
  */
-#define listLIST_IS_EMPTY( pxList )	( ( BaseType_t ) ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) )
+#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.
@@ -315,19 +282,107 @@ typedef struct xLIST
  * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
  * \ingroup LinkedList
  */
-#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )										\
-{																							\
-List_t * const pxConstList = ( pxList );													\
-	/* Increment the index to the next item and return the item, ensuring */				\
-	/* we don't return the marker used at the end of the list.  */							\
-	( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;							\
-	if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) )	\
-	{																						\
-		( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;						\
-	}																						\
-	( pxTCB ) = ( pxConstList )->pxIndex->pvOwner;											\
-}
+#if ( configNUMBER_OF_CORES == 1 )
+    #define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )                                       \
+    do {                                                                                       \
+        List_t * const pxConstList = ( pxList );                                               \
+        /* Increment the index to the next item and return the item, ensuring */               \
+        /* we don't return the marker used at the end of the list.  */                         \
+        ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;                           \
+        if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
+        {                                                                                      \
+            ( pxConstList )->pxIndex = ( pxConstList )->xListEnd.pxNext;                       \
+        }                                                                                      \
+        ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner;                                         \
+    } while( 0 )
+#else /* #if ( configNUMBER_OF_CORES == 1 ) */
 
+/* This function is not required in SMP. FreeRTOS SMP scheduler doesn't use
+ * pxIndex and it should always point to the xListEnd. Not defining this macro
+ * here to prevent updating pxIndex.
+ */
+#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
+
+/*
+ * Version of uxListRemove() that does not return a value.  Provided as a slight
+ * optimisation for xTaskIncrementTick() by being inline.
+ *
+ * Remove an item from a list.  The list item has a pointer to the list that
+ * it is in, so only the list item need be passed into the function.
+ *
+ * @param uxListRemove The item to be removed.  The item will remove itself from
+ * the list pointed to by it's pxContainer parameter.
+ *
+ * @return The number of items that remain in the list after the list item has
+ * been removed.
+ *
+ * \page listREMOVE_ITEM listREMOVE_ITEM
+ * \ingroup LinkedList
+ */
+#define listREMOVE_ITEM( pxItemToRemove ) \
+    do {                                  \
+        /* The list item knows which list it is in.  Obtain the list from the list \
+         * item. */                                                                                 \
+        List_t * const pxList = ( pxItemToRemove )->pxContainer;                                    \
+                                                                                                    \
+        ( pxItemToRemove )->pxNext->pxPrevious = ( pxItemToRemove )->pxPrevious;                    \
+        ( pxItemToRemove )->pxPrevious->pxNext = ( pxItemToRemove )->pxNext;                        \
+        /* Make sure the index is left pointing to a valid item. */                                 \
+        if( pxList->pxIndex == ( pxItemToRemove ) )                                                 \
+        {                                                                                           \
+            pxList->pxIndex = ( pxItemToRemove )->pxPrevious;                                       \
+        }                                                                                           \
+                                                                                                    \
+        ( pxItemToRemove )->pxContainer = NULL;                                                     \
+        ( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) - 1U ); \
+    } while( 0 )
+
+/*
+ * Inline version of vListInsertEnd() to provide slight optimisation for
+ * xTaskIncrementTick().
+ *
+ * Insert a list item into a list.  The item will be inserted in a position
+ * such that it will be the last item within the list returned by multiple
+ * calls to listGET_OWNER_OF_NEXT_ENTRY.
+ *
+ * The list member pxIndex is used to walk through a list.  Calling
+ * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
+ * Placing an item in a list using vListInsertEnd effectively places the item
+ * in the list position pointed to by pxIndex.  This means that every other
+ * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
+ * the pxIndex parameter again points to the item being inserted.
+ *
+ * @param pxList The list into which the item is to be inserted.
+ *
+ * @param pxNewListItem The list item to be inserted into the list.
+ *
+ * \page listINSERT_END listINSERT_END
+ * \ingroup LinkedList
+ */
+#define listINSERT_END( pxList, pxNewListItem )           \
+    do {                                                  \
+        ListItem_t * const pxIndex = ( pxList )->pxIndex; \
+                                                          \
+        /* Only effective when configASSERT() is also defined, these tests may catch \
+         * the list data structures being overwritten in memory.  They will not catch \
+         * data errors caused by incorrect configuration or use of FreeRTOS. */ \
+        listTEST_LIST_INTEGRITY( ( pxList ) );                                  \
+        listTEST_LIST_ITEM_INTEGRITY( ( pxNewListItem ) );                      \
+                                                                                \
+        /* Insert a new list item into ( pxList ), but rather than sort the list, \
+         * makes the new list item the last item to be removed by a call to \
+         * listGET_OWNER_OF_NEXT_ENTRY(). */                                                        \
+        ( pxNewListItem )->pxNext = pxIndex;                                                        \
+        ( pxNewListItem )->pxPrevious = pxIndex->pxPrevious;                                        \
+                                                                                                    \
+        pxIndex->pxPrevious->pxNext = ( pxNewListItem );                                            \
+        pxIndex->pxPrevious = ( pxNewListItem );                                                    \
+                                                                                                    \
+        /* Remember which list the item is in. */                                                   \
+        ( pxNewListItem )->pxContainer = ( pxList );                                                \
+                                                                                                    \
+        ( ( pxList )->uxNumberOfItems ) = ( UBaseType_t ) ( ( ( pxList )->uxNumberOfItems ) + 1U ); \
+    } while( 0 )
 
 /*
  * Access function to obtain the owner of the first entry in a list.  Lists
@@ -345,7 +400,7 @@ List_t * const pxConstList = ( pxList );													\
  * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
  * \ingroup LinkedList
  */
-#define listGET_OWNER_OF_HEAD_ENTRY( pxList )  ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
+#define listGET_OWNER_OF_HEAD_ENTRY( pxList )            ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner )
 
 /*
  * Check to see if a list item is within a list.  The list item maintains a
@@ -356,7 +411,7 @@ List_t * const pxConstList = ( pxList );													\
  * @param pxListItem The list item we want to know if is in the list.
  * @return pdTRUE if the list item is in the list, otherwise pdFALSE.
  */
-#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( BaseType_t ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) )
+#define listIS_CONTAINED_WITHIN( pxList, pxListItem )    ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
 
 /*
  * Return the list a list item is contained within (referenced from).
@@ -364,14 +419,14 @@ List_t * const pxConstList = ( pxList );													\
  * @param pxListItem The list item being queried.
  * @return A pointer to the List_t object that references the pxListItem
  */
-#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
+#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
@@ -398,7 +453,7 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
 
 /*
  * Insert a list item into a list.  The item will be inserted into the list in
- * a position determined by its item value (descending item value order).
+ * a position determined by its item value (ascending item value order).
  *
  * @param pxList The list into which the item is to be inserted.
  *
@@ -407,19 +462,20 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
  * \page vListInsert vListInsert
  * \ingroup LinkedList
  */
-void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
+void vListInsert( List_t * const pxList,
+                  ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
 
 /*
  * Insert a list item into a list.  The item will be inserted in a position
  * such that it will be the last item within the list returned by multiple
  * calls to listGET_OWNER_OF_NEXT_ENTRY.
  *
- * The list member pvIndex is used to walk through a list.  Calling
- * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list.
+ * The list member pxIndex is used to walk through a list.  Calling
+ * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
  * Placing an item in a list using vListInsertEnd effectively places the item
- * in the list position pointed to by pvIndex.  This means that every other
+ * in the list position pointed to by pxIndex.  This means that every other
  * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
- * the pvIndex parameter again points to the item being inserted.
+ * the pxIndex parameter again points to the item being inserted.
  *
  * @param pxList The list into which the item is to be inserted.
  *
@@ -428,7 +484,8 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIV
  * \page vListInsertEnd vListInsertEnd
  * \ingroup LinkedList
  */
-void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
+void vListInsertEnd( List_t * const pxList,
+                     ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
 
 /*
  * Remove an item from a list.  The list item has a pointer to the list that
@@ -445,9 +502,10 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) P
  */
 UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
-#endif
-
+    }
 #endif
+/* *INDENT-ON* */
 
+#endif /* ifndef LIST_H */

Source/include/message_buffer.h

@@ -0,0 +1,967 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+
+/*
+ * Message buffers build functionality on top of FreeRTOS stream buffers.
+ * Whereas stream buffers are used to send a continuous stream of data from one
+ * task or interrupt to another, message buffers are used to send variable
+ * length discrete messages from one task or interrupt to another.  Their
+ * implementation is light weight, making them particularly suited for interrupt
+ * to task and core to core communication scenarios.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * timeout to 0.
+ *
+ * Message buffers hold variable length messages.  To enable that, when a
+ * message is written to the message buffer an additional sizeof( size_t ) bytes
+ * are also written to store the message's length (that happens internally, with
+ * the API function).  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so writing a 10 byte message to a message buffer on a 32-bit
+ * architecture will actually reduce the available space in the message buffer
+ * by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
+ * of the message).
+ */
+
+#ifndef 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
+
+/* Message buffers are built onto of stream buffers. */
+#include "stream_buffer.h"
+
+/* *INDENT-OFF* */
+#if defined( __cplusplus )
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
+/**
+ * Type by which message buffers are referenced.  For example, a call to
+ * xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
+ * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
+ * etc. Message buffer is essentially built as a stream buffer hence its handle
+ * is also set to same type as a stream buffer handle.
+ */
+typedef StreamBufferHandle_t MessageBufferHandle_t;
+
+/*-----------------------------------------------------------*/
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
+ * @endcode
+ *
+ * Creates a new message buffer using dynamically allocated memory.  See
+ * xMessageBufferCreateStatic() for a version that uses statically allocated
+ * memory (memory that is allocated at compile time).
+ *
+ * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
+ * FreeRTOSConfig.h for xMessageBufferCreate() to be available.
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferCreate() to be available.
+ *
+ * @param xBufferSizeBytes The total number of bytes (not messages) the message
+ * buffer will be able to hold at any one time.  When a message is written to
+ * the message buffer an additional sizeof( size_t ) bytes are also written to
+ * store the message's length.  sizeof( size_t ) is typically 4 bytes on a
+ * 32-bit architecture, so on most 32-bit architectures a 10 byte message will
+ * take up 14 bytes of message buffer space.
+ *
+ * @param pxSendCompletedCallback Callback invoked when a send operation to the
+ * message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
+ * is called without the parameter, then it will use the default implementation
+ * provided by sbSEND_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @param pxReceiveCompletedCallback Callback invoked when a receive operation from
+ * the message buffer is complete. If the parameter is NULL or xMessageBufferCreate()
+ * is called without the parameter, it will use the default implementation provided
+ * by sbRECEIVE_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @return If NULL is returned, then the message buffer cannot be created
+ * because there is insufficient heap memory available for FreeRTOS to allocate
+ * the message buffer data structures and storage area.  A non-NULL value being
+ * returned indicates that the message buffer has been created successfully -
+ * the returned value should be stored as the handle to the created message
+ * buffer.
+ *
+ * Example use:
+ * @code{c}
+ *
+ * void vAFunction( void )
+ * {
+ * MessageBufferHandle_t xMessageBuffer;
+ * const size_t xMessageBufferSizeBytes = 100;
+ *
+ *  // Create a message buffer that can hold 100 bytes.  The memory used to hold
+ *  // both the message buffer structure and the messages themselves is allocated
+ *  // dynamically.  Each message added to the buffer consumes an additional 4
+ *  // bytes which are used to hold the length of the message.
+ *  xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
+ *
+ *  if( xMessageBuffer == NULL )
+ *  {
+ *      // There was not enough heap memory space available to create the
+ *      // message buffer.
+ *  }
+ *  else
+ *  {
+ *      // The message buffer was created successfully and can now be used.
+ *  }
+ *
+ * @endcode
+ * \defgroup xMessageBufferCreate xMessageBufferCreate
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferCreate( xBufferSizeBytes ) \
+    xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, NULL, NULL )
+
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define xMessageBufferCreateWithCallback( xBufferSizeBytes, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
+    xStreamBufferGenericCreate( ( xBufferSizeBytes ), ( size_t ) 0, sbTYPE_MESSAGE_BUFFER, ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
+#endif
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                                   uint8_t *pucMessageBufferStorageArea,
+ *                                                   StaticMessageBuffer_t *pxStaticMessageBuffer );
+ * @endcode
+ * Creates a new message buffer using statically allocated memory.  See
+ * xMessageBufferCreate() for a version that uses dynamically allocated memory.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferCreateStatic() to be available.
+ *
+ * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
+ * pucMessageBufferStorageArea parameter.  When a message is written to the
+ * message buffer an additional sizeof( size_t ) bytes are also written to store
+ * the message's length.  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so on most 32-bit architecture a 10 byte message will take up
+ * 14 bytes of message buffer space.  The maximum number of bytes that can be
+ * stored in the message buffer is actually (xBufferSizeBytes - 1).
+ *
+ * @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
+ * least xBufferSizeBytes big.  This is the array to which messages are
+ * copied when they are written to the message buffer.
+ *
+ * @param pxStaticMessageBuffer Must point to a variable of type
+ * StaticMessageBuffer_t, which will be used to hold the message buffer's data
+ * structure.
+ *
+ * @param pxSendCompletedCallback Callback invoked when a new message is sent to the message buffer.
+ * If the parameter is NULL or xMessageBufferCreate() is called without the parameter, then it will use the default
+ * implementation provided by sbSEND_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @param pxReceiveCompletedCallback Callback invoked when a message is read from a
+ * message buffer. If the parameter is NULL or xMessageBufferCreate() is called without the parameter, it will
+ * use the default implementation provided by sbRECEIVE_COMPLETED macro. To enable the callback,
+ * configUSE_SB_COMPLETED_CALLBACK must be set to 1 in FreeRTOSConfig.h.
+ *
+ * @return If the message buffer is created successfully then a handle to the
+ * created message buffer is returned. If either pucMessageBufferStorageArea or
+ * pxStaticmessageBuffer are NULL then NULL is returned.
+ *
+ * Example use:
+ * @code{c}
+ *
+ * // Used to dimension the array used to hold the messages.  The available space
+ * // will actually be one less than this, so 999.
+ #define STORAGE_SIZE_BYTES 1000
+ *
+ * // Defines the memory that will actually hold the messages within the message
+ * // buffer.
+ * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+ *
+ * // The variable used to hold the message buffer structure.
+ * StaticMessageBuffer_t xMessageBufferStruct;
+ *
+ * void MyFunction( void )
+ * {
+ * MessageBufferHandle_t xMessageBuffer;
+ *
+ *  xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucStorageBuffer ),
+ *                                               ucStorageBuffer,
+ *                                               &xMessageBufferStruct );
+ *
+ *  // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
+ *  // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
+ *  // reference the created message buffer in other message buffer API calls.
+ *
+ *  // Other code that uses the message buffer can go here.
+ * }
+ *
+ * @endcode
+ * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \
+    xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), NULL, NULL )
+
+#if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
+    #define xMessageBufferCreateStaticWithCallback( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer, pxSendCompletedCallback, pxReceiveCompletedCallback ) \
+    xStreamBufferGenericCreateStatic( ( xBufferSizeBytes ), 0, sbTYPE_MESSAGE_BUFFER, ( pucMessageBufferStorageArea ), ( pxStaticMessageBuffer ), ( pxSendCompletedCallback ), ( pxReceiveCompletedCallback ) )
+#endif
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * BaseType_t xMessageBufferGetStaticBuffers( MessageBufferHandle_t xMessageBuffer,
+ *                                            uint8_t ** ppucMessageBufferStorageArea,
+ *                                            StaticMessageBuffer_t ** ppxStaticMessageBuffer );
+ * @endcode
+ *
+ * Retrieve pointers to a statically created message buffer's data structure
+ * buffer and storage area buffer. These are the same buffers that are supplied
+ * at the time of creation.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferGetStaticBuffers() to be available.
+ *
+ * @param xMessageBuffer The message buffer for which to retrieve the buffers.
+ *
+ * @param ppucMessageBufferStorageArea Used to return a pointer to the
+ * message buffer's storage area buffer.
+ *
+ * @param ppxStaticMessageBuffer Used to return a pointer to the message
+ * buffer's data structure buffer.
+ *
+ * @return pdTRUE if buffers were retrieved, pdFALSE otherwise..
+ *
+ * \defgroup xMessageBufferGetStaticBuffers xMessageBufferGetStaticBuffers
+ * \ingroup MessageBufferManagement
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xMessageBufferGetStaticBuffers( xMessageBuffer, ppucMessageBufferStorageArea, ppxStaticMessageBuffer ) \
+    xStreamBufferGetStaticBuffers( ( xMessageBuffer ), ( ppucMessageBufferStorageArea ), ( ppxStaticMessageBuffer ) )
+#endif /* configSUPPORT_STATIC_ALLOCATION */
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
+ *                            const void *pvTxData,
+ *                            size_t xDataLengthBytes,
+ *                            TickType_t xTicksToWait );
+ * @endcode
+ *
+ * Sends a discrete message to the message buffer.  The message can be any
+ * length that fits within the buffer's free space, and is copied into the
+ * buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferSend() to write to a message buffer from a task.  Use
+ * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
+ * service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferSend() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer to which a message is
+ * being sent.
+ *
+ * @param pvTxData A pointer to the message that is to be copied into the
+ * message buffer.
+ *
+ * @param xDataLengthBytes The length of the message.  That is, the number of
+ * bytes to copy from pvTxData into the message buffer.  When a message is
+ * written to the message buffer an additional sizeof( size_t ) bytes are also
+ * written to store the message's length.  sizeof( size_t ) is typically 4 bytes
+ * on a 32-bit architecture, so on most 32-bit architecture setting
+ * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
+ * bytes (20 bytes of message data and 4 bytes to hold the message length).
+ *
+ * @param xTicksToWait The maximum amount of time the calling task should remain
+ * in the Blocked state to wait for enough space to become available in the
+ * message buffer, should the message buffer have insufficient space when
+ * xMessageBufferSend() is called.  The calling task will never block if
+ * xTicksToWait is zero.  The block time is specified in tick periods, so the
+ * absolute time it represents is dependent on the tick frequency.  The macro
+ * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
+ * a time specified in ticks.  Setting xTicksToWait to portMAX_DELAY will cause
+ * the task to wait indefinitely (without timing out), provided
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+ * CPU time when they are in the Blocked state.
+ *
+ * @return The number of bytes written to the message buffer.  If the call to
+ * xMessageBufferSend() times out before there was enough space to write the
+ * message into the message buffer then zero is returned.  If the call did not
+ * time out then xDataLengthBytes is returned.
+ *
+ * Example use:
+ * @code{c}
+ * void vAFunction( MessageBufferHandle_t xMessageBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ *
+ *  // Send an array to the message buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the message buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xMessageBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written.
+ *  }
+ *
+ *  // Send the string to the message buffer.  Return immediately if there is
+ *  // not enough space in the buffer.
+ *  xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ * }
+ * @endcode
+ * \defgroup xMessageBufferSend xMessageBufferSend
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \
+    xStreamBufferSend( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( xTicksToWait ) )
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                   const void *pvTxData,
+ *                                   size_t xDataLengthBytes,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * Interrupt safe version of the API function that sends a discrete message to
+ * the message buffer.  The message can be any length that fits within the
+ * buffer's free space, and is copied into the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferSend() to write to a message buffer from a task.  Use
+ * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
+ * service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferSendFromISR() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer to which a message is
+ * being sent.
+ *
+ * @param pvTxData A pointer to the message that is to be copied into the
+ * message buffer.
+ *
+ * @param xDataLengthBytes The length of the message.  That is, the number of
+ * bytes to copy from pvTxData into the message buffer.  When a message is
+ * written to the message buffer an additional sizeof( size_t ) bytes are also
+ * written to store the message's length.  sizeof( size_t ) is typically 4 bytes
+ * on a 32-bit architecture, so on most 32-bit architecture setting
+ * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
+ * bytes (20 bytes of message data and 4 bytes to hold the message length).
+ *
+ * @param pxHigherPriorityTaskWoken  It is possible that a message buffer will
+ * have a task blocked on it waiting for data.  Calling
+ * xMessageBufferSendFromISR() can make data available, and so cause a task that
+ * was waiting for data to leave the Blocked state.  If calling
+ * xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
+ * unblocked task has a priority higher than the currently executing task (the
+ * task that was interrupted), then, internally, xMessageBufferSendFromISR()
+ * will set *pxHigherPriorityTaskWoken to pdTRUE.  If
+ * xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
+ * context switch should be performed before the interrupt is exited.  This will
+ * ensure that the interrupt returns directly to the highest priority Ready
+ * state task.  *pxHigherPriorityTaskWoken should be set to pdFALSE before it
+ * is passed into the function.  See the code example below for an example.
+ *
+ * @return The number of bytes actually written to the message buffer.  If the
+ * message buffer didn't have enough free space for the message to be stored
+ * then 0 is returned, otherwise xDataLengthBytes is returned.
+ *
+ * Example use:
+ * @code{c}
+ * // A message buffer that has already been created.
+ * MessageBufferHandle_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ *
+ *  // Attempt to send the string to the message buffer.
+ *  xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
+ *                                          ( void * ) pcStringToSend,
+ *                                          strlen( pcStringToSend ),
+ *                                          &xHigherPriorityTaskWoken );
+ *
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The string could not be added to the message buffer because there was
+ *      // not enough free space in the buffer.
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
+ * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \
+    xStreamBufferSendFromISR( ( xMessageBuffer ), ( pvTxData ), ( xDataLengthBytes ), ( pxHigherPriorityTaskWoken ) )
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
+ *                               void *pvRxData,
+ *                               size_t xBufferLengthBytes,
+ *                               TickType_t xTicksToWait );
+ * @endcode
+ *
+ * Receives a discrete message from a message buffer.  Messages can be of
+ * variable length and are copied out of the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
+ * xMessageBufferReceiveFromISR() to read from a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferReceive() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer from which a message
+ * is being received.
+ *
+ * @param pvRxData A pointer to the buffer into which the received message is
+ * to be copied.
+ *
+ * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
+ * parameter.  This sets the maximum length of the message that can be received.
+ * If xBufferLengthBytes is too small to hold the next message then the message
+ * will be left in the message buffer and 0 will be returned.
+ *
+ * @param xTicksToWait The maximum amount of time the task should remain in the
+ * Blocked state to wait for a message, should the message buffer be empty.
+ * xMessageBufferReceive() will return immediately if xTicksToWait is zero and
+ * the message buffer is empty.  The block time is specified in tick periods, so
+ * the absolute time it represents is dependent on the tick frequency.  The
+ * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
+ * into a time specified in ticks.  Setting xTicksToWait to portMAX_DELAY will
+ * cause the task to wait indefinitely (without timing out), provided
+ * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h.  Tasks do not use any
+ * CPU time when they are in the Blocked state.
+ *
+ * @return The length, in bytes, of the message read from the message buffer, if
+ * any.  If xMessageBufferReceive() times out before a message became available
+ * then zero is returned.  If the length of the message is greater than
+ * xBufferLengthBytes then the message will be left in the message buffer and
+ * zero is returned.
+ *
+ * Example use:
+ * @code{c}
+ * void vAFunction( MessageBuffer_t xMessageBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ *
+ *  // Receive the next message from the message buffer.  Wait in the Blocked
+ *  // state (so not using any CPU processing time) for a maximum of 100ms for
+ *  // a message to become available.
+ *  xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
+ *                                          ( void * ) ucRxData,
+ *                                          sizeof( ucRxData ),
+ *                                          xBlockTime );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ * }
+ * @endcode
+ * \defgroup xMessageBufferReceive xMessageBufferReceive
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \
+    xStreamBufferReceive( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( xTicksToWait ) )
+
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                      void *pvRxData,
+ *                                      size_t xBufferLengthBytes,
+ *                                      BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * An interrupt safe version of the API function that receives a discrete
+ * message from a message buffer.  Messages can be of variable length and are
+ * copied out of the buffer.
+ *
+ * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
+ * implementation (so also the message buffer implementation, as message buffers
+ * are built on top of stream buffers) assumes there is only one task or
+ * interrupt that will write to the buffer (the writer), and only one task or
+ * interrupt that will read from the buffer (the reader).  It is safe for the
+ * writer and reader to be different tasks or interrupts, but, unlike other
+ * FreeRTOS objects, it is not safe to have multiple different writers or
+ * multiple different readers.  If there are to be multiple different writers
+ * then the application writer must place each call to a writing API function
+ * (such as xMessageBufferSend()) inside a critical section and set the send
+ * block time to 0.  Likewise, if there are to be multiple different readers
+ * then the application writer must place each call to a reading API function
+ * (such as xMessageBufferRead()) inside a critical section and set the receive
+ * block time to 0.
+ *
+ * Use xMessageBufferReceive() to read from a message buffer from a task.  Use
+ * xMessageBufferReceiveFromISR() to read from a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferReceiveFromISR() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer from which a message
+ * is being received.
+ *
+ * @param pvRxData A pointer to the buffer into which the received message is
+ * to be copied.
+ *
+ * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
+ * parameter.  This sets the maximum length of the message that can be received.
+ * If xBufferLengthBytes is too small to hold the next message then the message
+ * will be left in the message buffer and 0 will be returned.
+ *
+ * @param pxHigherPriorityTaskWoken  It is possible that a message buffer will
+ * have a task blocked on it waiting for space to become available.  Calling
+ * xMessageBufferReceiveFromISR() can make space available, and so cause a task
+ * that is waiting for space to leave the Blocked state.  If calling
+ * xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
+ * the unblocked task has a priority higher than the currently executing task
+ * (the task that was interrupted), then, internally,
+ * xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
+ * If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
+ * context switch should be performed before the interrupt is exited.  That will
+ * ensure the interrupt returns directly to the highest priority Ready state
+ * task.  *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
+ * passed into the function.  See the code example below for an example.
+ *
+ * @return The length, in bytes, of the message read from the message buffer, if
+ * any.
+ *
+ * Example use:
+ * @code{c}
+ * // A message buffer that has already been created.
+ * MessageBuffer_t xMessageBuffer;
+ *
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ *
+ *  // Receive the next message from the message buffer.
+ *  xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
+ *
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains a message that is xReceivedBytes long.  Process
+ *      // the message here....
+ *  }
+ *
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xMessageBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
+ * @endcode
+ * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \
+    xStreamBufferReceiveFromISR( ( xMessageBuffer ), ( pvRxData ), ( xBufferLengthBytes ), ( pxHigherPriorityTaskWoken ) )
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ *
+ * Deletes a message buffer that was previously created using a call to
+ * xMessageBufferCreate() or xMessageBufferCreateStatic().  If the message
+ * buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
+ * then the allocated memory is freed.
+ *
+ * A message buffer handle must not be used after the message buffer has been
+ * deleted.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * vMessageBufferDelete() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer to be deleted.
+ *
+ */
+#define vMessageBufferDelete( xMessageBuffer ) \
+    vStreamBufferDelete( xMessageBuffer )
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ *
+ * Tests to see if a message buffer is full.  A message buffer is full if it
+ * cannot accept any more messages, of any size, until space is made available
+ * by a message being removed from the message buffer.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferIsFull() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return If the message buffer referenced by xMessageBuffer is full then
+ * pdTRUE is returned.  Otherwise pdFALSE is returned.
+ */
+#define xMessageBufferIsFull( xMessageBuffer ) \
+    xStreamBufferIsFull( xMessageBuffer )
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ *
+ * Tests to see if a message buffer is empty (does not contain any messages).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferIsEmpty() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return If the message buffer referenced by xMessageBuffer is empty then
+ * pdTRUE is returned.  Otherwise pdFALSE is returned.
+ *
+ */
+#define xMessageBufferIsEmpty( xMessageBuffer ) \
+    xStreamBufferIsEmpty( xMessageBuffer )
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ *
+ * Resets a message buffer to its initial empty state, discarding any message it
+ * contained.
+ *
+ * A message buffer can only be reset if there are no tasks blocked on it.
+ *
+ * Use xMessageBufferReset() to reset a message buffer from a task.
+ * Use xMessageBufferResetFromISR() to reset a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferReset() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being reset.
+ *
+ * @return If the message buffer was reset then pdPASS is returned.  If the
+ * message buffer could not be reset because either there was a task blocked on
+ * the message queue to wait for space to become available, or to wait for a
+ * a message to be available, then pdFAIL is returned.
+ *
+ * \defgroup xMessageBufferReset xMessageBufferReset
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferReset( xMessageBuffer ) \
+    xStreamBufferReset( xMessageBuffer )
+
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * BaseType_t xMessageBufferResetFromISR( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ *
+ * An interrupt safe version of the API function that resets the message buffer.
+ * Resets a message buffer to its initial empty state, discarding any message it
+ * contained.
+ *
+ * A message buffer can only be reset if there are no tasks blocked on it.
+ *
+ * Use xMessageBufferReset() to reset a message buffer from a task.
+ * Use xMessageBufferResetFromISR() to reset a message buffer from an
+ * interrupt service routine (ISR).
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferResetFromISR() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being reset.
+ *
+ * @return If the message buffer was reset then pdPASS is returned.  If the
+ * message buffer could not be reset because either there was a task blocked on
+ * the message queue to wait for space to become available, or to wait for a
+ * a message to be available, then pdFAIL is returned.
+ *
+ * \defgroup xMessageBufferResetFromISR xMessageBufferResetFromISR
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferResetFromISR( xMessageBuffer ) \
+    xStreamBufferResetFromISR( xMessageBuffer )
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ * Returns the number of bytes of free space in the message buffer.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferSpaceAvailable() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return The number of bytes that can be written to the message buffer before
+ * the message buffer would be full.  When a message is written to the message
+ * buffer an additional sizeof( size_t ) bytes are also written to store the
+ * message's length.  sizeof( size_t ) is typically 4 bytes on a 32-bit
+ * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
+ * of the largest message that can be written to the message buffer is 6 bytes.
+ *
+ * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferSpaceAvailable( xMessageBuffer ) \
+    xStreamBufferSpacesAvailable( xMessageBuffer )
+#define xMessageBufferSpacesAvailable( xMessageBuffer ) \
+    xStreamBufferSpacesAvailable( xMessageBuffer ) /* Corrects typo in original macro name. */
+
+/**
+ * message_buffer.h
+ * @code{c}
+ * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer );
+ * @endcode
+ * Returns the length (in bytes) of the next message in a message buffer.
+ * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
+ * passed into xMessageBufferReceive() was too small to hold the next message.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferNextLengthBytes() to be available.
+ *
+ * @param xMessageBuffer The handle of the message buffer being queried.
+ *
+ * @return The length (in bytes) of the next message in the message buffer, or 0
+ * if the message buffer is empty.
+ *
+ * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
+ * \ingroup MessageBufferManagement
+ */
+#define xMessageBufferNextLengthBytes( xMessageBuffer ) \
+    xStreamBufferNextMessageLengthBytes( xMessageBuffer )
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * For advanced users only.
+ *
+ * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
+ * data is sent to a message buffer or stream buffer.  If there was a task that
+ * was blocked on the message or stream buffer waiting for data to arrive then
+ * the sbSEND_COMPLETED() macro sends a notification to the task to remove it
+ * from the Blocked state.  xMessageBufferSendCompletedFromISR() does the same
+ * thing.  It is provided to enable application writers to implement their own
+ * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
+ *
+ * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
+ * additional information.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferSendCompletedFromISR() to be available.
+ *
+ * @param xMessageBuffer The handle of the stream buffer to which data was
+ * written.
+ *
+ * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
+ * initialised to pdFALSE before it is passed into
+ * xMessageBufferSendCompletedFromISR().  If calling
+ * xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
+ * and the task has a priority above the priority of the currently running task,
+ * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
+ * context switch should be performed before exiting the ISR.
+ *
+ * @return If a task was removed from the Blocked state then pdTRUE is returned.
+ * Otherwise pdFALSE is returned.
+ *
+ * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
+ * \ingroup StreamBufferManagement
+ */
+#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
+    xStreamBufferSendCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
+
+/**
+ * message_buffer.h
+ *
+ * @code{c}
+ * BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xMessageBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * @endcode
+ *
+ * For advanced users only.
+ *
+ * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
+ * data is read out of a message buffer or stream buffer.  If there was a task
+ * that was blocked on the message or stream buffer waiting for data to arrive
+ * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
+ * remove it from the Blocked state.  xMessageBufferReceiveCompletedFromISR()
+ * does the same thing.  It is provided to enable application writers to
+ * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
+ * ANY OTHER TIME.
+ *
+ * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
+ * additional information.
+ *
+ * configUSE_STREAM_BUFFERS must be set to 1 in for FreeRTOSConfig.h for
+ * xMessageBufferReceiveCompletedFromISR() to be available.
+ *
+ * @param xMessageBuffer The handle of the stream buffer from which data was
+ * read.
+ *
+ * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
+ * initialised to pdFALSE before it is passed into
+ * xMessageBufferReceiveCompletedFromISR().  If calling
+ * xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
+ * and the task has a priority above the priority of the currently running task,
+ * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
+ * context switch should be performed before exiting the ISR.
+ *
+ * @return If a task was removed from the Blocked state then pdTRUE is returned.
+ * Otherwise pdFALSE is returned.
+ *
+ * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
+ * \ingroup StreamBufferManagement
+ */
+#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \
+    xStreamBufferReceiveCompletedFromISR( ( xMessageBuffer ), ( pxHigherPriorityTaskWoken ) )
+
+/* *INDENT-OFF* */
+#if defined( __cplusplus )
+    } /* extern "C" */
+#endif
+/* *INDENT-ON* */
+
+#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */

Source/include/mpu_prototypes.h

@@ -0,0 +1,389 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/*
+ * When the MPU is used the standard (non MPU) API functions are mapped to
+ * equivalents that start "MPU_", the prototypes for which are defined in this
+ * header files.  This will cause the application code to call the MPU_ version
+ * which wraps the non-MPU version with privilege promoting then demoting code,
+ * so the kernel code always runs will full privileges.
+ */
+
+
+#ifndef MPU_PROTOTYPES_H
+#define MPU_PROTOTYPES_H
+
+typedef struct xTaskGenericNotifyParams
+{
+    TaskHandle_t xTaskToNotify;
+    UBaseType_t uxIndexToNotify;
+    uint32_t ulValue;
+    eNotifyAction eAction;
+    uint32_t * pulPreviousNotificationValue;
+} xTaskGenericNotifyParams_t;
+
+typedef struct xTaskGenericNotifyWaitParams
+{
+    UBaseType_t uxIndexToWaitOn;
+    uint32_t ulBitsToClearOnEntry;
+    uint32_t ulBitsToClearOnExit;
+    uint32_t * pulNotificationValue;
+    TickType_t xTicksToWait;
+} xTaskGenericNotifyWaitParams_t;
+
+typedef struct xTimerGenericCommandFromTaskParams
+{
+    TimerHandle_t xTimer;
+    BaseType_t xCommandID;
+    TickType_t xOptionalValue;
+    BaseType_t * pxHigherPriorityTaskWoken;
+    TickType_t xTicksToWait;
+} xTimerGenericCommandFromTaskParams_t;
+
+typedef struct xEventGroupWaitBitsParams
+{
+    EventGroupHandle_t xEventGroup;
+    EventBits_t uxBitsToWaitFor;
+    BaseType_t xClearOnExit;
+    BaseType_t xWaitForAllBits;
+    TickType_t xTicksToWait;
+} xEventGroupWaitBitsParams_t;
+
+/* MPU versions of task.h API functions. */
+void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                                const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskGetInfo( TaskHandle_t xTask,
+                       TaskStatus_t * pxTaskStatus,
+                       BaseType_t xGetFreeStackSpace,
+                       eTaskState eState ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask,
+                                     TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
+TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
+                                            BaseType_t xIndex,
+                                            void * pvValue ) FREERTOS_SYSTEM_CALL;
+void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
+                                               BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                      const UBaseType_t uxArraySize,
+                                      configRUN_TIME_COUNTER_TYPE * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimeCounter( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetRunTimePercent( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
+configRUN_TIME_COUNTER_TYPE MPU_ulTaskGetIdleRunTimePercent( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify,
+                                   UBaseType_t uxIndexToNotify,
+                                   uint32_t ulValue,
+                                   eNotifyAction eAction,
+                                   uint32_t * pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyEntry( const xTaskGenericNotifyParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyWait( UBaseType_t uxIndexToWaitOn,
+                                       uint32_t ulBitsToClearOnEntry,
+                                       uint32_t ulBitsToClearOnExit,
+                                       uint32_t * pulNotificationValue,
+                                       TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyWaitEntry( const xTaskGenericNotifyWaitParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskGenericNotifyTake( UBaseType_t uxIndexToWaitOn,
+                                      BaseType_t xClearCountOnExit,
+                                      TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGenericNotifyStateClear( TaskHandle_t xTask,
+                                             UBaseType_t uxIndexToClear ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
+                                            UBaseType_t uxIndexToClear,
+                                            uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
+void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
+                                     TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Task APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode,
+                            const char * const pcName,
+                            const configSTACK_DEPTH_TYPE uxStackDepth,
+                            void * const pvParameters,
+                            UBaseType_t uxPriority,
+                            TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
+TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode,
+                                    const char * const pcName,
+                                    const configSTACK_DEPTH_TYPE uxStackDepth,
+                                    void * const pvParameters,
+                                    UBaseType_t uxPriority,
+                                    StackType_t * const puxStackBuffer,
+                                    StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
+void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
+void MPU_vTaskPrioritySet( TaskHandle_t xTask,
+                           UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
+TaskHandle_t MPU_xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                             void * pvParameter ) PRIVILEGED_FUNCTION;
+char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+                                      TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+                                            TaskHandle_t * pxCreatedTask ) PRIVILEGED_FUNCTION;
+void MPU_vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
+                                  const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskGetStaticBuffers( TaskHandle_t xTask,
+                                      StackType_t ** ppuxStackBuffer,
+                                      StaticTask_t ** ppxTaskBuffer ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxTaskBasePriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
+TaskHookFunction_t MPU_xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
+                                          UBaseType_t uxIndexToNotify,
+                                          uint32_t ulValue,
+                                          eNotifyAction eAction,
+                                          uint32_t * pulPreviousNotificationValue,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+void MPU_vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
+                                        UBaseType_t uxIndexToNotify,
+                                        BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+
+/* MPU versions of queue.h API functions. */
+BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue,
+                                  const void * const pvItemToQueue,
+                                  TickType_t xTicksToWait,
+                                  const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue,
+                              void * const pvBuffer,
+                              TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue,
+                           void * const pvBuffer,
+                           TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue,
+                                    TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex,
+                                         TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueAddToRegistry( QueueHandle_t xQueue,
+                              const char * pcName ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                               QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
+QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
+                                                const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue,
+                               UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Queue APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+void MPU_vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                           StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                                 const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                       const UBaseType_t uxInitialCount,
+                                                       StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                       const UBaseType_t uxItemSize,
+                                       const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                             const UBaseType_t uxItemSize,
+                                             uint8_t * pucQueueStorage,
+                                             StaticQueue_t * pxStaticQueue,
+                                             const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                    QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue,
+                                   BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGenericGetStaticBuffers( QueueHandle_t xQueue,
+                                              uint8_t ** ppucQueueStorage,
+                                              StaticQueue_t ** ppxStaticQueue ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                         const void * const pvItemToQueue,
+                                         BaseType_t * const pxHigherPriorityTaskWoken,
+                                         const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueGiveFromISR( QueueHandle_t xQueue,
+                                  BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueuePeekFromISR( QueueHandle_t xQueue,
+                                  void * const pvBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                     void * const pvBuffer,
+                                     BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+UBaseType_t MPU_uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+TaskHandle_t MPU_xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
+QueueSetMemberHandle_t MPU_xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+
+/* MPU versions of timers.h API functions. */
+void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+void MPU_vTimerSetTimerID( TimerHandle_t xTimer,
+                           void * pvNewID ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGenericCommandFromTask( TimerHandle_t xTimer,
+                                             const BaseType_t xCommandID,
+                                             const TickType_t xOptionalValue,
+                                             BaseType_t * const pxHigherPriorityTaskWoken,
+                                             const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGenericCommandFromTaskEntry( const xTimerGenericCommandFromTaskParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
+const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+void MPU_vTimerSetReloadMode( TimerHandle_t xTimer,
+                              const BaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Timer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName,
+                                const TickType_t xTimerPeriodInTicks,
+                                const UBaseType_t uxAutoReload,
+                                void * const pvTimerID,
+                                TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
+TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName,
+                                      const TickType_t xTimerPeriodInTicks,
+                                      const UBaseType_t uxAutoReload,
+                                      void * const pvTimerID,
+                                      TimerCallbackFunction_t pxCallbackFunction,
+                                      StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                      StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xTimerGenericCommandFromISR( TimerHandle_t xTimer,
+                                            const BaseType_t xCommandID,
+                                            const TickType_t xOptionalValue,
+                                            BaseType_t * const pxHigherPriorityTaskWoken,
+                                            const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+/* MPU versions of event_group.h API functions. */
+EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
+                                     const EventBits_t uxBitsToWaitFor,
+                                     const BaseType_t xClearOnExit,
+                                     const BaseType_t xWaitForAllBits,
+                                     TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupWaitBitsEntry( const xEventGroupWaitBitsParams_t * pxParams ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup,
+                                      const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup,
+                                    const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
+EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup,
+                                 const EventBits_t uxBitsToSet,
+                                 const EventBits_t uxBitsToWaitFor,
+                                 TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    UBaseType_t MPU_uxEventGroupGetNumber( void * xEventGroup ) FREERTOS_SYSTEM_CALL;
+    void MPU_vEventGroupSetNumber( void * xEventGroup,
+                                   UBaseType_t uxEventGroupNumber ) FREERTOS_SYSTEM_CALL;
+#endif /* ( configUSE_TRACE_FACILITY == 1 )*/
+
+/* Privileged only wrappers for Event Group APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+EventGroupHandle_t MPU_xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
+EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
+void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xEventGroupGetStaticBuffer( EventGroupHandle_t xEventGroup,
+                                           StaticEventGroup_t ** ppxEventGroupBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup,
+                                            const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup,
+                                          const EventBits_t uxBitsToSet,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+EventBits_t MPU_xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
+
+/* MPU versions of message/stream_buffer.h API functions. */
+size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
+                              const void * pvTxData,
+                              size_t xDataLengthBytes,
+                              TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
+                                 void * pvRxData,
+                                 size_t xBufferLengthBytes,
+                                 TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
+                                             size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
+size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
+
+/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes,
+                                                     size_t xTriggerLevelBytes,
+                                                     BaseType_t xStreamBufferType,
+                                                     StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                     StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
+StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
+                                                           size_t xTriggerLevelBytes,
+                                                           BaseType_t xStreamBufferType,
+                                                           uint8_t * const pucStreamBufferStorageArea,
+                                                           StaticStreamBuffer_t * const pxStaticStreamBuffer,
+                                                           StreamBufferCallbackFunction_t pxSendCompletedCallback,
+                                                           StreamBufferCallbackFunction_t pxReceiveCompletedCallback ) PRIVILEGED_FUNCTION;
+void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferGetStaticBuffers( StreamBufferHandle_t xStreamBuffers,
+                                              uint8_t * ppucStreamBufferStorageArea,
+                                              StaticStreamBuffer_t * ppxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+size_t MPU_xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+                                     const void * pvTxData,
+                                     size_t xDataLengthBytes,
+                                     BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+size_t MPU_xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+                                        void * pvRxData,
+                                        size_t xBufferLengthBytes,
+                                        BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                  BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                     BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t MPU_xStreamBufferResetFromISR( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+
+#endif /* MPU_PROTOTYPES_H */

Source/include/mpu_syscall_numbers.h

@@ -0,0 +1,105 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef MPU_SYSCALL_NUMBERS_H
+#define MPU_SYSCALL_NUMBERS_H
+
+/* Numbers assigned to various system calls. */
+#define SYSTEM_CALL_xTaskGenericNotify                     0
+#define SYSTEM_CALL_xTaskGenericNotifyWait                 1
+#define SYSTEM_CALL_xTimerGenericCommandFromTask           2
+#define SYSTEM_CALL_xEventGroupWaitBits                    3
+#define SYSTEM_CALL_xTaskDelayUntil                        4
+#define SYSTEM_CALL_xTaskAbortDelay                        5
+#define SYSTEM_CALL_vTaskDelay                             6
+#define SYSTEM_CALL_uxTaskPriorityGet                      7
+#define SYSTEM_CALL_eTaskGetState                          8
+#define SYSTEM_CALL_vTaskGetInfo                           9
+#define SYSTEM_CALL_xTaskGetIdleTaskHandle                 10
+#define SYSTEM_CALL_vTaskSuspend                           11
+#define SYSTEM_CALL_vTaskResume                            12
+#define SYSTEM_CALL_xTaskGetTickCount                      13
+#define SYSTEM_CALL_uxTaskGetNumberOfTasks                 14
+#define SYSTEM_CALL_ulTaskGetRunTimeCounter                15
+#define SYSTEM_CALL_ulTaskGetRunTimePercent                16
+#define SYSTEM_CALL_ulTaskGetIdleRunTimePercent            17
+#define SYSTEM_CALL_ulTaskGetIdleRunTimeCounter            18
+#define SYSTEM_CALL_vTaskSetApplicationTaskTag             19
+#define SYSTEM_CALL_xTaskGetApplicationTaskTag             20
+#define SYSTEM_CALL_vTaskSetThreadLocalStoragePointer      21
+#define SYSTEM_CALL_pvTaskGetThreadLocalStoragePointer     22
+#define SYSTEM_CALL_uxTaskGetSystemState                   23
+#define SYSTEM_CALL_uxTaskGetStackHighWaterMark            24
+#define SYSTEM_CALL_uxTaskGetStackHighWaterMark2           25
+#define SYSTEM_CALL_xTaskGetCurrentTaskHandle              26
+#define SYSTEM_CALL_xTaskGetSchedulerState                 27
+#define SYSTEM_CALL_vTaskSetTimeOutState                   28
+#define SYSTEM_CALL_xTaskCheckForTimeOut                   29
+#define SYSTEM_CALL_ulTaskGenericNotifyTake                30
+#define SYSTEM_CALL_xTaskGenericNotifyStateClear           31
+#define SYSTEM_CALL_ulTaskGenericNotifyValueClear          32
+#define SYSTEM_CALL_xQueueGenericSend                      33
+#define SYSTEM_CALL_uxQueueMessagesWaiting                 34
+#define SYSTEM_CALL_uxQueueSpacesAvailable                 35
+#define SYSTEM_CALL_xQueueReceive                          36
+#define SYSTEM_CALL_xQueuePeek                             37
+#define SYSTEM_CALL_xQueueSemaphoreTake                    38
+#define SYSTEM_CALL_xQueueGetMutexHolder                   39
+#define SYSTEM_CALL_xQueueTakeMutexRecursive               40
+#define SYSTEM_CALL_xQueueGiveMutexRecursive               41
+#define SYSTEM_CALL_xQueueSelectFromSet                    42
+#define SYSTEM_CALL_xQueueAddToSet                         43
+#define SYSTEM_CALL_vQueueAddToRegistry                    44
+#define SYSTEM_CALL_vQueueUnregisterQueue                  45
+#define SYSTEM_CALL_pcQueueGetName                         46
+#define SYSTEM_CALL_pvTimerGetTimerID                      47
+#define SYSTEM_CALL_vTimerSetTimerID                       48
+#define SYSTEM_CALL_xTimerIsTimerActive                    49
+#define SYSTEM_CALL_xTimerGetTimerDaemonTaskHandle         50
+#define SYSTEM_CALL_pcTimerGetName                         51
+#define SYSTEM_CALL_vTimerSetReloadMode                    52
+#define SYSTEM_CALL_xTimerGetReloadMode                    53
+#define SYSTEM_CALL_uxTimerGetReloadMode                   54
+#define SYSTEM_CALL_xTimerGetPeriod                        55
+#define SYSTEM_CALL_xTimerGetExpiryTime                    56
+#define SYSTEM_CALL_xEventGroupClearBits                   57
+#define SYSTEM_CALL_xEventGroupSetBits                     58
+#define SYSTEM_CALL_xEventGroupSync                        59
+#define SYSTEM_CALL_uxEventGroupGetNumber                  60
+#define SYSTEM_CALL_vEventGroupSetNumber                   61
+#define SYSTEM_CALL_xStreamBufferSend                      62
+#define SYSTEM_CALL_xStreamBufferReceive                   63
+#define SYSTEM_CALL_xStreamBufferIsFull                    64
+#define SYSTEM_CALL_xStreamBufferIsEmpty                   65
+#define SYSTEM_CALL_xStreamBufferSpacesAvailable           66
+#define SYSTEM_CALL_xStreamBufferBytesAvailable            67
+#define SYSTEM_CALL_xStreamBufferSetTriggerLevel           68
+#define SYSTEM_CALL_xStreamBufferNextMessageLengthBytes    69
+#define NUM_SYSTEM_CALLS                                   70  /* Total number of system calls. */
+
+#endif /* MPU_SYSCALL_NUMBERS_H */

Source/include/mpu_wrappers.h

@@ -1,177 +1,276 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 #ifndef MPU_WRAPPERS_H
 #define MPU_WRAPPERS_H
 
 /* This file redefines API functions to be called through a wrapper macro, but
-only for ports that are using the MPU. */
-#ifdef portUSING_MPU_WRAPPERS
+ * only for ports that are using the MPU. */
+#if ( portUSING_MPU_WRAPPERS == 1 )
 
-	/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
-	included from queue.c or task.c to prevent it from having an effect within
-	those files. */
-	#ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
+ * included from queue.c or task.c to prevent it from having an effect within
+ * those files. */
+    #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
-		#define xTaskGenericCreate				MPU_xTaskGenericCreate
-		#define vTaskAllocateMPURegions			MPU_vTaskAllocateMPURegions
-		#define vTaskDelete						MPU_vTaskDelete
-		#define vTaskDelayUntil					MPU_vTaskDelayUntil
-		#define vTaskDelay						MPU_vTaskDelay
-		#define uxTaskPriorityGet				MPU_uxTaskPriorityGet
-		#define vTaskPrioritySet				MPU_vTaskPrioritySet
-		#define eTaskGetState					MPU_eTaskGetState
-		#define vTaskSuspend					MPU_vTaskSuspend
-		#define vTaskResume						MPU_vTaskResume
-		#define vTaskSuspendAll					MPU_vTaskSuspendAll
-		#define xTaskResumeAll					MPU_xTaskResumeAll
-		#define xTaskGetTickCount				MPU_xTaskGetTickCount
-		#define uxTaskGetNumberOfTasks			MPU_uxTaskGetNumberOfTasks
-		#define vTaskList						MPU_vTaskList
-		#define vTaskGetRunTimeStats			MPU_vTaskGetRunTimeStats
-		#define vTaskSetApplicationTaskTag		MPU_vTaskSetApplicationTaskTag
-		#define xTaskGetApplicationTaskTag		MPU_xTaskGetApplicationTaskTag
-		#define xTaskCallApplicationTaskHook	MPU_xTaskCallApplicationTaskHook
-		#define uxTaskGetStackHighWaterMark		MPU_uxTaskGetStackHighWaterMark
-		#define xTaskGetCurrentTaskHandle		MPU_xTaskGetCurrentTaskHandle
-		#define xTaskGetSchedulerState			MPU_xTaskGetSchedulerState
-		#define xTaskGetIdleTaskHandle			MPU_xTaskGetIdleTaskHandle
-		#define uxTaskGetSystemState			MPU_uxTaskGetSystemState
-		#define xTaskGenericNotify				MPU_xTaskGenericNotify
-		#define xTaskNotifyWait					MPU_xTaskNotifyWait
-		#define ulTaskNotifyTake				MPU_ulTaskNotifyTake
+/*
+ * Map standard (non MPU) API functions to equivalents that start
+ * "MPU_".  This will cause the application code to call the MPU_
+ * version, which wraps the non-MPU version with privilege promoting
+ * then demoting code, so the kernel code always runs will full
+ * privileges.
+ */
 
-		#define xQueueGenericCreate				MPU_xQueueGenericCreate
-		#define xQueueCreateMutex				MPU_xQueueCreateMutex
-		#define xQueueGiveMutexRecursive		MPU_xQueueGiveMutexRecursive
-		#define xQueueTakeMutexRecursive		MPU_xQueueTakeMutexRecursive
-		#define xQueueCreateCountingSemaphore	MPU_xQueueCreateCountingSemaphore
-		#define xQueueGenericSend				MPU_xQueueGenericSend
-		#define xQueueAltGenericSend			MPU_xQueueAltGenericSend
-		#define xQueueAltGenericReceive			MPU_xQueueAltGenericReceive
-		#define xQueueGenericReceive			MPU_xQueueGenericReceive
-		#define uxQueueMessagesWaiting			MPU_uxQueueMessagesWaiting
-		#define vQueueDelete					MPU_vQueueDelete
-		#define xQueueGenericReset				MPU_xQueueGenericReset
-		#define xQueueCreateSet					MPU_xQueueCreateSet
-		#define xQueueSelectFromSet				MPU_xQueueSelectFromSet
-		#define xQueueAddToSet					MPU_xQueueAddToSet
-		#define xQueueRemoveFromSet				MPU_xQueueRemoveFromSet
-		#define xQueueGetMutexHolder			MPU_xQueueGetMutexHolder
-		#define xQueueGetMutexHolder			MPU_xQueueGetMutexHolder
+/* Map standard task.h API functions to the MPU equivalents. */
+        #define vTaskDelay                            MPU_vTaskDelay
+        #define xTaskDelayUntil                       MPU_xTaskDelayUntil
+        #define xTaskAbortDelay                       MPU_xTaskAbortDelay
+        #define uxTaskPriorityGet                     MPU_uxTaskPriorityGet
+        #define eTaskGetState                         MPU_eTaskGetState
+        #define vTaskGetInfo                          MPU_vTaskGetInfo
+        #define vTaskSuspend                          MPU_vTaskSuspend
+        #define vTaskResume                           MPU_vTaskResume
+        #define xTaskGetTickCount                     MPU_xTaskGetTickCount
+        #define uxTaskGetNumberOfTasks                MPU_uxTaskGetNumberOfTasks
+        #define uxTaskGetStackHighWaterMark           MPU_uxTaskGetStackHighWaterMark
+        #define uxTaskGetStackHighWaterMark2          MPU_uxTaskGetStackHighWaterMark2
+        #define vTaskSetApplicationTaskTag            MPU_vTaskSetApplicationTaskTag
+        #define xTaskGetApplicationTaskTag            MPU_xTaskGetApplicationTaskTag
+        #define vTaskSetThreadLocalStoragePointer     MPU_vTaskSetThreadLocalStoragePointer
+        #define pvTaskGetThreadLocalStoragePointer    MPU_pvTaskGetThreadLocalStoragePointer
+        #define xTaskGetIdleTaskHandle                MPU_xTaskGetIdleTaskHandle
+        #define uxTaskGetSystemState                  MPU_uxTaskGetSystemState
+        #define ulTaskGetIdleRunTimeCounter           MPU_ulTaskGetIdleRunTimeCounter
+        #define ulTaskGetIdleRunTimePercent           MPU_ulTaskGetIdleRunTimePercent
+        #define xTaskGenericNotify                    MPU_xTaskGenericNotify
+        #define xTaskGenericNotifyWait                MPU_xTaskGenericNotifyWait
+        #define ulTaskGenericNotifyTake               MPU_ulTaskGenericNotifyTake
+        #define xTaskGenericNotifyStateClear          MPU_xTaskGenericNotifyStateClear
+        #define ulTaskGenericNotifyValueClear         MPU_ulTaskGenericNotifyValueClear
+        #define vTaskSetTimeOutState                  MPU_vTaskSetTimeOutState
+        #define xTaskCheckForTimeOut                  MPU_xTaskCheckForTimeOut
+        #define xTaskGetCurrentTaskHandle             MPU_xTaskGetCurrentTaskHandle
+        #define xTaskGetSchedulerState                MPU_xTaskGetSchedulerState
 
-		#define pvPortMalloc					MPU_pvPortMalloc
-		#define vPortFree						MPU_vPortFree
-		#define xPortGetFreeHeapSize			MPU_xPortGetFreeHeapSize
-		#define vPortInitialiseBlocks			MPU_vPortInitialiseBlocks
-		#define xPortGetMinimumEverFreeHeapSize	MPU_xPortGetMinimumEverFreeHeapSize
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define ulTaskGetRunTimeCounter           MPU_ulTaskGetRunTimeCounter
+            #define ulTaskGetRunTimePercent           MPU_ulTaskGetRunTimePercent
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-		#if configQUEUE_REGISTRY_SIZE > 0
-			#define vQueueAddToRegistry				MPU_vQueueAddToRegistry
-			#define vQueueUnregisterQueue			MPU_vQueueUnregisterQueue
-		#endif
+/* Privileged only wrappers for Task APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #define xTaskCreate                              MPU_xTaskCreate
+        #define xTaskCreateStatic                        MPU_xTaskCreateStatic
+        #define vTaskDelete                              MPU_vTaskDelete
+        #define vTaskPrioritySet                         MPU_vTaskPrioritySet
+        #define xTaskGetHandle                           MPU_xTaskGetHandle
+        #define xTaskCallApplicationTaskHook             MPU_xTaskCallApplicationTaskHook
 
-		#define xTimerCreate					MPU_xTimerCreate
-		#define pvTimerGetTimerID				MPU_pvTimerGetTimerID
-		#define vTimerSetTimerID				MPU_vTimerSetTimerID
-		#define xTimerIsTimerActive				MPU_xTimerIsTimerActive
-		#define xTimerGetTimerDaemonTaskHandle	MPU_xTimerGetTimerDaemonTaskHandle
-		#define xTimerPendFunctionCall			MPU_xTimerPendFunctionCall
-		#define pcTimerGetTimerName				MPU_pcTimerGetTimerName
-		#define xTimerGenericCommand			MPU_xTimerGenericCommand
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define pcTaskGetName                        MPU_pcTaskGetName
+            #define xTaskCreateRestricted                MPU_xTaskCreateRestricted
+            #define xTaskCreateRestrictedStatic          MPU_xTaskCreateRestrictedStatic
+            #define vTaskAllocateMPURegions              MPU_vTaskAllocateMPURegions
+            #define xTaskGetStaticBuffers                MPU_xTaskGetStaticBuffers
+            #define uxTaskPriorityGetFromISR             MPU_uxTaskPriorityGetFromISR
+            #define uxTaskBasePriorityGet                MPU_uxTaskBasePriorityGet
+            #define uxTaskBasePriorityGetFromISR         MPU_uxTaskBasePriorityGetFromISR
+            #define xTaskResumeFromISR                   MPU_xTaskResumeFromISR
+            #define xTaskGetApplicationTaskTagFromISR    MPU_xTaskGetApplicationTaskTagFromISR
+            #define xTaskGenericNotifyFromISR            MPU_xTaskGenericNotifyFromISR
+            #define vTaskGenericNotifyGiveFromISR        MPU_vTaskGenericNotifyGiveFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-		#define xEventGroupCreate				MPU_xEventGroupCreate
-		#define xEventGroupWaitBits				MPU_xEventGroupWaitBits
-		#define xEventGroupClearBits			MPU_xEventGroupClearBits
-		#define xEventGroupSetBits				MPU_xEventGroupSetBits
-		#define xEventGroupSync					MPU_xEventGroupSync
-		#define vEventGroupDelete				MPU_vEventGroupDelete
+/* Map standard queue.h API functions to the MPU equivalents. */
+        #define xQueueGenericSend            MPU_xQueueGenericSend
+        #define xQueueReceive                MPU_xQueueReceive
+        #define xQueuePeek                   MPU_xQueuePeek
+        #define xQueueSemaphoreTake          MPU_xQueueSemaphoreTake
+        #define uxQueueMessagesWaiting       MPU_uxQueueMessagesWaiting
+        #define uxQueueSpacesAvailable       MPU_uxQueueSpacesAvailable
+        #define xQueueGetMutexHolder         MPU_xQueueGetMutexHolder
+        #define xQueueTakeMutexRecursive     MPU_xQueueTakeMutexRecursive
+        #define xQueueGiveMutexRecursive     MPU_xQueueGiveMutexRecursive
+        #define xQueueAddToSet               MPU_xQueueAddToSet
+        #define xQueueSelectFromSet          MPU_xQueueSelectFromSet
 
-		/* Remove the privileged function macro. */
-		#define PRIVILEGED_FUNCTION
+        #if ( configQUEUE_REGISTRY_SIZE > 0 )
+            #define vQueueAddToRegistry      MPU_vQueueAddToRegistry
+            #define vQueueUnregisterQueue    MPU_vQueueUnregisterQueue
+            #define pcQueueGetName           MPU_pcQueueGetName
+        #endif /* #if ( configQUEUE_REGISTRY_SIZE > 0 ) */
 
-	#else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+/* Privileged only wrappers for Queue APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #define vQueueDelete                           MPU_vQueueDelete
+        #define xQueueCreateMutex                      MPU_xQueueCreateMutex
+        #define xQueueCreateMutexStatic                MPU_xQueueCreateMutexStatic
+        #define xQueueCreateCountingSemaphore          MPU_xQueueCreateCountingSemaphore
+        #define xQueueCreateCountingSemaphoreStatic    MPU_xQueueCreateCountingSemaphoreStatic
+        #define xQueueGenericCreate                    MPU_xQueueGenericCreate
+        #define xQueueGenericCreateStatic              MPU_xQueueGenericCreateStatic
+        #define xQueueGenericReset                     MPU_xQueueGenericReset
+        #define xQueueCreateSet                        MPU_xQueueCreateSet
+        #define xQueueRemoveFromSet                    MPU_xQueueRemoveFromSet
 
-		/* Ensure API functions go in the privileged execution section. */
-		#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
-		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xQueueGenericGetStaticBuffers      MPU_xQueueGenericGetStaticBuffers
+            #define xQueueGenericSendFromISR           MPU_xQueueGenericSendFromISR
+            #define xQueueGiveFromISR                  MPU_xQueueGiveFromISR
+            #define xQueuePeekFromISR                  MPU_xQueuePeekFromISR
+            #define xQueueReceiveFromISR               MPU_xQueueReceiveFromISR
+            #define xQueueIsQueueEmptyFromISR          MPU_xQueueIsQueueEmptyFromISR
+            #define xQueueIsQueueFullFromISR           MPU_xQueueIsQueueFullFromISR
+            #define uxQueueMessagesWaitingFromISR      MPU_uxQueueMessagesWaitingFromISR
+            #define xQueueGetMutexHolderFromISR        MPU_xQueueGetMutexHolderFromISR
+            #define xQueueSelectFromSetFromISR         MPU_xQueueSelectFromSetFromISR
+        #endif /* if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
 
-	#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+/* Map standard timer.h API functions to the MPU equivalents. */
+        #define pvTimerGetTimerID                 MPU_pvTimerGetTimerID
+        #define vTimerSetTimerID                  MPU_vTimerSetTimerID
+        #define xTimerIsTimerActive               MPU_xTimerIsTimerActive
+        #define xTimerGetTimerDaemonTaskHandle    MPU_xTimerGetTimerDaemonTaskHandle
+        #define xTimerGenericCommandFromTask      MPU_xTimerGenericCommandFromTask
+        #define pcTimerGetName                    MPU_pcTimerGetName
+        #define vTimerSetReloadMode               MPU_vTimerSetReloadMode
+        #define uxTimerGetReloadMode              MPU_uxTimerGetReloadMode
+        #define xTimerGetPeriod                   MPU_xTimerGetPeriod
+        #define xTimerGetExpiryTime               MPU_xTimerGetExpiryTime
+
+/* Privileged only wrappers for Timer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xTimerGetReloadMode            MPU_xTimerGetReloadMode
+            #define xTimerCreate                   MPU_xTimerCreate
+            #define xTimerCreateStatic             MPU_xTimerCreateStatic
+            #define xTimerGetStaticBuffer          MPU_xTimerGetStaticBuffer
+            #define xTimerGenericCommandFromISR    MPU_xTimerGenericCommandFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Map standard event_group.h API functions to the MPU equivalents. */
+        #define xEventGroupWaitBits          MPU_xEventGroupWaitBits
+        #define xEventGroupClearBits         MPU_xEventGroupClearBits
+        #define xEventGroupSetBits           MPU_xEventGroupSetBits
+        #define xEventGroupSync              MPU_xEventGroupSync
+
+        #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+            #define uxEventGroupGetNumber    MPU_uxEventGroupGetNumber
+            #define vEventGroupSetNumber     MPU_vEventGroupSetNumber
+        #endif /* #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
+
+/* Privileged only wrappers for Event Group APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+        #define xEventGroupCreate                  MPU_xEventGroupCreate
+        #define xEventGroupCreateStatic            MPU_xEventGroupCreateStatic
+        #define vEventGroupDelete                  MPU_vEventGroupDelete
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xEventGroupGetStaticBuffer     MPU_xEventGroupGetStaticBuffer
+            #define xEventGroupClearBitsFromISR    MPU_xEventGroupClearBitsFromISR
+            #define xEventGroupSetBitsFromISR      MPU_xEventGroupSetBitsFromISR
+            #define xEventGroupGetBitsFromISR      MPU_xEventGroupGetBitsFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+/* Map standard message/stream_buffer.h API functions to the MPU
+ * equivalents. */
+        #define xStreamBufferSend                      MPU_xStreamBufferSend
+        #define xStreamBufferReceive                   MPU_xStreamBufferReceive
+        #define xStreamBufferIsFull                    MPU_xStreamBufferIsFull
+        #define xStreamBufferIsEmpty                   MPU_xStreamBufferIsEmpty
+        #define xStreamBufferSpacesAvailable           MPU_xStreamBufferSpacesAvailable
+        #define xStreamBufferBytesAvailable            MPU_xStreamBufferBytesAvailable
+        #define xStreamBufferSetTriggerLevel           MPU_xStreamBufferSetTriggerLevel
+        #define xStreamBufferNextMessageLengthBytes    MPU_xStreamBufferNextMessageLengthBytes
+
+/* Privileged only wrappers for Stream Buffer APIs. These are needed so that
+ * the application can use opaque handles maintained in mpu_wrappers.c
+ * with all the APIs. */
+
+        #define xStreamBufferGenericCreate                  MPU_xStreamBufferGenericCreate
+        #define xStreamBufferGenericCreateStatic            MPU_xStreamBufferGenericCreateStatic
+        #define vStreamBufferDelete                         MPU_vStreamBufferDelete
+        #define xStreamBufferReset                          MPU_xStreamBufferReset
+
+        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
+            #define xStreamBufferGetStaticBuffers           MPU_xStreamBufferGetStaticBuffers
+            #define xStreamBufferSendFromISR                MPU_xStreamBufferSendFromISR
+            #define xStreamBufferReceiveFromISR             MPU_xStreamBufferReceiveFromISR
+            #define xStreamBufferSendCompletedFromISR       MPU_xStreamBufferSendCompletedFromISR
+            #define xStreamBufferReceiveCompletedFromISR    MPU_xStreamBufferReceiveCompletedFromISR
+            #define xStreamBufferResetFromISR               MPU_xStreamBufferResetFromISR
+        #endif /* #if ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
+
+        #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )
+
+            #define vGrantAccessToTask( xTask, xTaskToGrantAccess )                        vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToGrantAccess ) )
+            #define vRevokeAccessToTask( xTask, xTaskToRevokeAccess )                      vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTaskToRevokeAccess ) )
+
+            #define vGrantAccessToSemaphore( xTask, xSemaphoreToGrantAccess )              vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToGrantAccess ) )
+            #define vRevokeAccessToSemaphore( xTask, xSemaphoreToRevokeAccess )            vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xSemaphoreToRevokeAccess ) )
+
+            #define vGrantAccessToQueue( xTask, xQueueToGrantAccess )                      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToGrantAccess ) )
+            #define vRevokeAccessToQueue( xTask, xQueueToRevokeAccess )                    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueToRevokeAccess ) )
+
+            #define vGrantAccessToQueueSet( xTask, xQueueSetToGrantAccess )                vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToGrantAccess ) )
+            #define vRevokeAccessToQueueSet( xTask, xQueueSetToRevokeAccess )              vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xQueueSetToRevokeAccess ) )
+
+            #define vGrantAccessToEventGroup( xTask, xEventGroupToGrantAccess )            vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToGrantAccess ) )
+            #define vRevokeAccessToEventGroup( xTask, xEventGroupToRevokeAccess )          vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xEventGroupToRevokeAccess ) )
+
+            #define vGrantAccessToStreamBuffer( xTask, xStreamBufferToGrantAccess )        vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToGrantAccess ) )
+            #define vRevokeAccessToStreamBuffer( xTask, xStreamBufferToRevokeAccess )      vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xStreamBufferToRevokeAccess ) )
+
+            #define vGrantAccessToMessageBuffer( xTask, xMessageBufferToGrantAccess )      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToGrantAccess ) )
+            #define vRevokeAccessToMessageBuffer( xTask, xMessageBufferToRevokeAccess )    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xMessageBufferToRevokeAccess ) )
+
+            #define vGrantAccessToTimer( xTask, xTimerToGrantAccess )                      vGrantAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToGrantAccess ) )
+            #define vRevokeAccessToTimer( xTask, xTimerToRevokeAccess )                    vRevokeAccessToKernelObject( ( xTask ), ( int32_t ) ( xTimerToRevokeAccess ) )
+
+        #endif /* #if ( ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
+
+    #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
+
+    #define PRIVILEGED_FUNCTION     __attribute__( ( section( "privileged_functions" ) ) )
+    #define PRIVILEGED_DATA         __attribute__( ( section( "privileged_data" ) ) )
+    #define FREERTOS_SYSTEM_CALL    __attribute__( ( section( "freertos_system_calls" ) ) )
 
 #else /* portUSING_MPU_WRAPPERS */
 
-	#define PRIVILEGED_FUNCTION
-	#define PRIVILEGED_DATA
-	#define portUSING_MPU_WRAPPERS 0
+    #define PRIVILEGED_FUNCTION
+    #define PRIVILEGED_DATA
+    #define FREERTOS_SYSTEM_CALL
 
 #endif /* portUSING_MPU_WRAPPERS */
 
 
 #endif /* MPU_WRAPPERS_H */
-

Source/include/newlib-freertos.h

@@ -0,0 +1,62 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef INC_NEWLIB_FREERTOS_H
+#define INC_NEWLIB_FREERTOS_H
+
+/* Note Newlib support has been included by popular demand, but is not
+ * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
+ * responsible for resulting newlib operation.  User must be familiar with
+ * newlib and must provide system-wide implementations of the necessary
+ * stubs. Be warned that (at the time of writing) the current newlib design
+ * implements a system-wide malloc() that must be provided with locks.
+ *
+ * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+ * for additional information. */
+
+#include <reent.h>
+
+#define configUSE_C_RUNTIME_TLS_SUPPORT    1
+
+#ifndef configTLS_BLOCK_TYPE
+    #define configTLS_BLOCK_TYPE           struct _reent
+#endif
+
+#ifndef configINIT_TLS_BLOCK
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )    _REENT_INIT_PTR( &( xTLSBlock ) )
+#endif
+
+#ifndef configSET_TLS_BLOCK
+    #define configSET_TLS_BLOCK( xTLSBlock )    ( _impure_ptr = &( xTLSBlock ) )
+#endif
+
+#ifndef configDEINIT_TLS_BLOCK
+    #define configDEINIT_TLS_BLOCK( xTLSBlock )    _reclaim_reent( &( xTLSBlock ) )
+#endif
+
+#endif /* INC_NEWLIB_FREERTOS_H */

Source/include/picolibc-freertos.h

@@ -0,0 +1,91 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef INC_PICOLIBC_FREERTOS_H
+#define INC_PICOLIBC_FREERTOS_H
+
+/* Use picolibc TLS support to allocate space for __thread variables,
+ * initialize them at thread creation and set the TLS context at
+ * thread switch time.
+ *
+ * See the picolibc TLS docs:
+ * https://github.com/picolibc/picolibc/blob/main/doc/tls.md
+ * for additional information. */
+
+#include <picotls.h>
+
+#define configUSE_C_RUNTIME_TLS_SUPPORT    1
+
+#define configTLS_BLOCK_TYPE               void *
+
+#define picolibcTLS_SIZE                   ( ( portPOINTER_SIZE_TYPE ) _tls_size() )
+#define picolibcSTACK_ALIGNMENT_MASK       ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
+
+#if __PICOLIBC_MAJOR__ > 1 || __PICOLIBC_MINOR__ >= 8
+
+/* Picolibc 1.8 and newer have explicit alignment values provided
+ * by the _tls_align() inline */
+    #define picolibcTLS_ALIGNMENT_MASK    ( ( portPOINTER_SIZE_TYPE ) ( _tls_align() - 1 ) )
+#else
+
+/* For older Picolibc versions, use the general port alignment value */
+    #define picolibcTLS_ALIGNMENT_MASK    ( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK )
+#endif
+
+/* Allocate thread local storage block off the end of the
+ * stack. The picolibcTLS_SIZE macro returns the size (in
+ * bytes) of the total TLS area used by the application.
+ * Calculate the top of stack address. */
+#if ( portSTACK_GROWTH < 0 )
+
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )                                  \
+    do {                                                                                     \
+        xTLSBlock = ( void * ) ( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) -              \
+                                   picolibcTLS_SIZE ) &                                      \
+                                 ~picolibcTLS_ALIGNMENT_MASK );                              \
+        pxTopOfStack = ( StackType_t * ) ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) - 1 ) & \
+                                           ~picolibcSTACK_ALIGNMENT_MASK );                  \
+        _init_tls( xTLSBlock );                                                              \
+    } while( 0 )
+#else /* portSTACK_GROWTH */
+    #define configINIT_TLS_BLOCK( xTLSBlock, pxTopOfStack )                                          \
+    do {                                                                                             \
+        xTLSBlock = ( void * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack +                          \
+                                   picolibcTLS_ALIGNMENT_MASK ) & ~picolibcTLS_ALIGNMENT_MASK );     \
+        pxTopOfStack = ( StackType_t * ) ( ( ( ( ( portPOINTER_SIZE_TYPE ) xTLSBlock ) +             \
+                                               picolibcTLS_SIZE ) + picolibcSTACK_ALIGNMENT_MASK ) & \
+                                           ~picolibcSTACK_ALIGNMENT_MASK );                          \
+        _init_tls( xTLSBlock );                                                                      \
+    } while( 0 )
+#endif /* portSTACK_GROWTH */
+
+#define configSET_TLS_BLOCK( xTLSBlock )    _set_tls( xTLSBlock )
+
+#define configDEINIT_TLS_BLOCK( xTLSBlock )
+
+#endif /* INC_PICOLIBC_FREERTOS_H */

Source/include/portable.h

@@ -1,156 +1,161 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 /*-----------------------------------------------------------
- * Portable layer API.  Each function must be defined for each port.
- *----------------------------------------------------------*/
+* Portable layer API.  Each function must be defined for each port.
+*----------------------------------------------------------*/
 
 #ifndef PORTABLE_H
 #define PORTABLE_H
 
 /* Each FreeRTOS port has a unique portmacro.h header file.  Originally a
-pre-processor definition was used to ensure the pre-processor found the correct
-portmacro.h file for the port being used.  That scheme was deprecated in favour
-of setting the compiler's include path such that it found the correct
-portmacro.h file - removing the need for the constant and allowing the
-portmacro.h file to be located anywhere in relation to the port being used.
-Purely for reasons of backward compatibility the old method is still valid, but
-to make it clear that new projects should not use it, support for the port
-specific constants has been moved into the deprecated_definitions.h header
-file. */
+ * pre-processor definition was used to ensure the pre-processor found the correct
+ * portmacro.h file for the port being used.  That scheme was deprecated in favour
+ * of setting the compiler's include path such that it found the correct
+ * portmacro.h file - removing the need for the constant and allowing the
+ * portmacro.h file to be located anywhere in relation to the port being used.
+ * Purely for reasons of backward compatibility the old method is still valid, but
+ * to make it clear that new projects should not use it, support for the port
+ * specific constants has been moved into the deprecated_definitions.h header
+ * file. */
 #include "deprecated_definitions.h"
 
 /* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
-did not result in a portmacro.h header file being included - and it should be
-included here.  In this case the path to the correct portmacro.h header file
-must be set in the compiler's include path. */
+ * did not result in a portmacro.h header file being included - and it should be
+ * included here.  In this case the path to the correct portmacro.h header file
+ * must be set in the compiler's include path. */
 #ifndef portENTER_CRITICAL
-	#include "portmacro.h"
+    #include "portmacro.h"
 #endif
 
 #if portBYTE_ALIGNMENT == 32
-	#define portBYTE_ALIGNMENT_MASK ( 0x001f )
-#endif
+    #define portBYTE_ALIGNMENT_MASK    ( 0x001f )
+#elif portBYTE_ALIGNMENT == 16
+    #define portBYTE_ALIGNMENT_MASK    ( 0x000f )
+#elif portBYTE_ALIGNMENT == 8
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0007 )
+#elif portBYTE_ALIGNMENT == 4
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0003 )
+#elif portBYTE_ALIGNMENT == 2
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0001 )
+#elif portBYTE_ALIGNMENT == 1
+    #define portBYTE_ALIGNMENT_MASK    ( 0x0000 )
+#else /* if portBYTE_ALIGNMENT == 32 */
+    #error "Invalid portBYTE_ALIGNMENT definition"
+#endif /* if portBYTE_ALIGNMENT == 32 */
 
-#if portBYTE_ALIGNMENT == 16
-	#define portBYTE_ALIGNMENT_MASK ( 0x000f )
-#endif
-
-#if portBYTE_ALIGNMENT == 8
-	#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
-#endif
-
-#if portBYTE_ALIGNMENT == 4
-	#define portBYTE_ALIGNMENT_MASK	( 0x0003 )
-#endif
-
-#if portBYTE_ALIGNMENT == 2
-	#define portBYTE_ALIGNMENT_MASK	( 0x0001 )
-#endif
-
-#if portBYTE_ALIGNMENT == 1
-	#define portBYTE_ALIGNMENT_MASK	( 0x0000 )
-#endif
-
-#ifndef portBYTE_ALIGNMENT_MASK
-	#error "Invalid portBYTE_ALIGNMENT definition"
+#ifndef portUSING_MPU_WRAPPERS
+    #define portUSING_MPU_WRAPPERS    0
 #endif
 
 #ifndef portNUM_CONFIGURABLE_REGIONS
-	#define portNUM_CONFIGURABLE_REGIONS 1
+    #define portNUM_CONFIGURABLE_REGIONS    1
 #endif
 
-#ifdef __cplusplus
-extern "C" {
+#ifndef portHAS_STACK_OVERFLOW_CHECKING
+    #define portHAS_STACK_OVERFLOW_CHECKING    0
+#endif
+
+#ifndef portARCH_NAME
+    #define portARCH_NAME    NULL
+#endif
+
+#ifndef configSTACK_DEPTH_TYPE
+    #define configSTACK_DEPTH_TYPE    StackType_t
+#endif
+
+#ifndef configSTACK_ALLOCATION_FROM_SEPARATE_HEAP
+    /* Defaults to 0 for backward compatibility. */
+    #define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP    0
 #endif
 
 #include "mpu_wrappers.h"
 
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    extern "C" {
+#endif
+/* *INDENT-ON* */
+
 /*
  * Setup the stack of a new task so it is ready to be placed under the
  * scheduler control.  The registers have to be placed on the stack in
  * the order that the port expects to find them.
  *
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
-#else
-	StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
-#endif
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             StackType_t * pxEndOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters,
+                                             BaseType_t xRunPrivileged,
+                                             xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
+    #else
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters,
+                                             BaseType_t xRunPrivileged,
+                                             xMPU_SETTINGS * xMPUSettings ) PRIVILEGED_FUNCTION;
+    #endif /* if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) */
+#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */
+    #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             StackType_t * pxEndOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters ) PRIVILEGED_FUNCTION;
+    #else
+        StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
+                                             TaskFunction_t pxCode,
+                                             void * pvParameters ) PRIVILEGED_FUNCTION;
+    #endif
+#endif /* if ( portUSING_MPU_WRAPPERS == 1 ) */
 
-/* Used by heap_5.c. */
+/* 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;
+    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;
+
 /*
  * Used to define multiple heap regions for use by heap_5.c.  This function
  * must be called before any calls to pvPortMalloc() - not creating a task,
@@ -164,16 +169,50 @@ typedef struct HeapRegion
  */
 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 );
 
 /*
  * Map to the memory management routines required for the port.
  */
-void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
-void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
+void * pvPortMalloc( size_t xWantedSize ) PRIVILEGED_FUNCTION;
+void * pvPortCalloc( size_t xNum,
+                     size_t xSize ) PRIVILEGED_FUNCTION;
+void vPortFree( void * pv ) PRIVILEGED_FUNCTION;
 void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
 
+#if ( configSTACK_ALLOCATION_FROM_SEPARATE_HEAP == 1 )
+    void * pvPortMallocStack( size_t xSize ) PRIVILEGED_FUNCTION;
+    void vPortFreeStack( void * pv ) PRIVILEGED_FUNCTION;
+#else
+    #define pvPortMallocStack    pvPortMalloc
+    #define vPortFreeStack       vPortFree
+#endif
+
+/*
+ * This function resets the internal state of the heap module. It must be called
+ * by the application before restarting the scheduler.
+ */
+void vPortHeapResetState( void ) PRIVILEGED_FUNCTION;
+
+#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationMallocFailedHook( void )
+ * @endcode
+ *
+ * This hook function is called when allocation failed.
+ */
+    void vApplicationMallocFailedHook( void );
+#endif
+
 /*
  * Setup the hardware ready for the scheduler to take control.  This generally
  * sets up a tick interrupt and sets timers for the correct tick frequency.
@@ -194,14 +233,49 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
  * Fills the xMPUSettings structure with the memory region information
  * contained in xRegions.
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	struct xMEMORY_REGION;
-	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint16_t usStackDepth ) PRIVILEGED_FUNCTION;
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    struct xMEMORY_REGION;
+    void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
+                                    const struct xMEMORY_REGION * const xRegions,
+                                    StackType_t * pxBottomOfStack,
+                                    configSTACK_DEPTH_TYPE uxStackDepth ) PRIVILEGED_FUNCTION;
 #endif
 
-#ifdef __cplusplus
-}
+/**
+ * @brief Checks if the calling task is authorized to access the given buffer.
+ *
+ * @param pvBuffer The buffer which the calling task wants to access.
+ * @param ulBufferLength The length of the pvBuffer.
+ * @param ulAccessRequested The permissions that the calling task wants.
+ *
+ * @return pdTRUE if the calling task is authorized to access the buffer,
+ *         pdFALSE otherwise.
+ */
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
+                                                uint32_t ulBufferLength,
+                                                uint32_t ulAccessRequested ) PRIVILEGED_FUNCTION;
 #endif
 
+/**
+ * @brief Checks if the calling task is authorized to access the given kernel object.
+ *
+ * @param lInternalIndexOfKernelObject The index of the kernel object in the kernel
+ *                                     object handle pool.
+ *
+ * @return pdTRUE if the calling task is authorized to access the kernel object,
+ *         pdFALSE otherwise.
+ */
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
+
+    BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
+
 #endif /* PORTABLE_H */
-

Source/include/projdefs.h

@@ -1,71 +1,30 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 #ifndef PROJDEFS_H
 #define PROJDEFS_H
@@ -74,83 +33,106 @@
  * Defines the prototype to which task functions must conform.  Defined in this
  * file to ensure the type is known before portable.h is included.
  */
-typedef void (*TaskFunction_t)( void * );
+typedef void (* TaskFunction_t)( void * arg );
 
-/* Converts a time in milliseconds to a time in ticks. */
-#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
+/* Converts a time in milliseconds to a time in ticks.  This macro can be
+ * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
+ * definition here is not suitable for your application. */
+#ifndef pdMS_TO_TICKS
+    #define pdMS_TO_TICKS( xTimeInMs )    ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInMs ) * ( uint64_t ) configTICK_RATE_HZ ) / ( uint64_t ) 1000U ) )
+#endif
 
-#define pdFALSE			( ( BaseType_t ) 0 )
-#define pdTRUE			( ( BaseType_t ) 1 )
+/* Converts a time in ticks to a time in milliseconds.  This macro can be
+ * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
+ * definition here is not suitable for your application. */
+#ifndef pdTICKS_TO_MS
+    #define pdTICKS_TO_MS( xTimeInTicks )    ( ( TickType_t ) ( ( ( uint64_t ) ( xTimeInTicks ) * ( uint64_t ) 1000U ) / ( uint64_t ) configTICK_RATE_HZ ) )
+#endif
 
-#define pdPASS			( pdTRUE )
-#define pdFAIL			( pdFALSE )
-#define errQUEUE_EMPTY	( ( BaseType_t ) 0 )
-#define errQUEUE_FULL	( ( BaseType_t ) 0 )
+#define pdFALSE                                  ( ( BaseType_t ) 0 )
+#define pdTRUE                                   ( ( BaseType_t ) 1 )
+#define pdFALSE_SIGNED                           ( ( BaseType_t ) 0 )
+#define pdTRUE_SIGNED                            ( ( BaseType_t ) 1 )
+#define pdFALSE_UNSIGNED                         ( ( UBaseType_t ) 0 )
+#define pdTRUE_UNSIGNED                          ( ( UBaseType_t ) 1 )
+
+#define pdPASS                                   ( pdTRUE )
+#define pdFAIL                                   ( pdFALSE )
+#define errQUEUE_EMPTY                           ( ( BaseType_t ) 0 )
+#define errQUEUE_FULL                            ( ( BaseType_t ) 0 )
 
 /* FreeRTOS error definitions. */
-#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY	( -1 )
-#define errQUEUE_BLOCKED						( -4 )
-#define errQUEUE_YIELD							( -5 )
+#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY    ( -1 )
+#define errQUEUE_BLOCKED                         ( -4 )
+#define errQUEUE_YIELD                           ( -5 )
 
 /* Macros used for basic data corruption checks. */
 #ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
-	#define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
+    #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES    0
 #endif
 
-#if( configUSE_16_BIT_TICKS == 1 )
-	#define pdINTEGRITY_CHECK_VALUE 0x5a5a
+#if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a5a5aUL
+#elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_64_BITS )
+    #define pdINTEGRITY_CHECK_VALUE    0x5a5a5a5a5a5a5a5aULL
 #else
-	#define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
+    #error configTICK_TYPE_WIDTH_IN_BITS set to unsupported tick type width.
 #endif
 
 /* The following errno values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_ERRNO_NONE			0	/* No errors */
-#define	pdFREERTOS_ERRNO_ENOENT			2	/* No such file or directory */
-#define	pdFREERTOS_ERRNO_EIO			5	/* I/O error */
-#define	pdFREERTOS_ERRNO_ENXIO			6	/* No such device or address */
-#define	pdFREERTOS_ERRNO_EBADF			9	/* Bad file number */
-#define	pdFREERTOS_ERRNO_EAGAIN			11	/* No more processes */
-#define	pdFREERTOS_ERRNO_EWOULDBLOCK	11	/* Operation would block */
-#define	pdFREERTOS_ERRNO_ENOMEM			12	/* Not enough memory */
-#define	pdFREERTOS_ERRNO_EACCES			13	/* Permission denied */
-#define	pdFREERTOS_ERRNO_EFAULT			14	/* Bad address */
-#define	pdFREERTOS_ERRNO_EBUSY			16	/* Mount device busy */
-#define	pdFREERTOS_ERRNO_EEXIST			17	/* File exists */
-#define	pdFREERTOS_ERRNO_EXDEV			18	/* Cross-device link */
-#define	pdFREERTOS_ERRNO_ENODEV			19	/* No such device */
-#define	pdFREERTOS_ERRNO_ENOTDIR		20	/* Not a directory */
-#define	pdFREERTOS_ERRNO_EISDIR			21	/* Is a directory */
-#define	pdFREERTOS_ERRNO_EINVAL			22	/* Invalid argument */
-#define	pdFREERTOS_ERRNO_ENOSPC			28	/* No space left on device */
-#define	pdFREERTOS_ERRNO_ESPIPE			29	/* Illegal seek */
-#define	pdFREERTOS_ERRNO_EROFS			30	/* Read only file system */
-#define	pdFREERTOS_ERRNO_EUNATCH		42	/* Protocol driver not attached */
-#define	pdFREERTOS_ERRNO_EBADE			50	/* Invalid exchange */
-#define	pdFREERTOS_ERRNO_EFTYPE			79	/* Inappropriate file type or format */
-#define	pdFREERTOS_ERRNO_ENMFILE		89	/* No more files */
-#define	pdFREERTOS_ERRNO_ENOTEMPTY		90	/* Directory not empty */
-#define	pdFREERTOS_ERRNO_ENAMETOOLONG 	91	/* File or path name too long */
-#define	pdFREERTOS_ERRNO_EOPNOTSUPP		95	/* Operation not supported on transport endpoint */
-#define	pdFREERTOS_ERRNO_ENOBUFS		105	/* No buffer space available */
-#define	pdFREERTOS_ERRNO_ENOPROTOOPT	109	/* Protocol not available */
-#define	pdFREERTOS_ERRNO_EADDRINUSE		112	/* Address already in use */
-#define	pdFREERTOS_ERRNO_ETIMEDOUT		116	/* Connection timed out */
-#define	pdFREERTOS_ERRNO_EINPROGRESS	119	/* Connection already in progress */
-#define	pdFREERTOS_ERRNO_EALREADY		120	/* Socket already connected */
-#define	pdFREERTOS_ERRNO_EADDRNOTAVAIL 	125	/* Address not available */
-#define	pdFREERTOS_ERRNO_EISCONN		127	/* Socket is already connected */
-#define	pdFREERTOS_ERRNO_ENOTCONN		128	/* Socket is not connected */
-#define	pdFREERTOS_ERRNO_ENOMEDIUM		135	/* No medium inserted */
-#define	pdFREERTOS_ERRNO_EILSEQ			138	/* An invalid UTF-16 sequence was encountered. */
-#define	pdFREERTOS_ERRNO_ECANCELED		140	/* Operation canceled. */
+ * itself. */
+#define pdFREERTOS_ERRNO_NONE             0   /* No errors */
+#define pdFREERTOS_ERRNO_ENOENT           2   /* No such file or directory */
+#define pdFREERTOS_ERRNO_EINTR            4   /* Interrupted system call */
+#define pdFREERTOS_ERRNO_EIO              5   /* I/O error */
+#define pdFREERTOS_ERRNO_ENXIO            6   /* No such device or address */
+#define pdFREERTOS_ERRNO_EBADF            9   /* Bad file number */
+#define pdFREERTOS_ERRNO_EAGAIN           11  /* No more processes */
+#define pdFREERTOS_ERRNO_EWOULDBLOCK      11  /* Operation would block */
+#define pdFREERTOS_ERRNO_ENOMEM           12  /* Not enough memory */
+#define pdFREERTOS_ERRNO_EACCES           13  /* Permission denied */
+#define pdFREERTOS_ERRNO_EFAULT           14  /* Bad address */
+#define pdFREERTOS_ERRNO_EBUSY            16  /* Mount device busy */
+#define pdFREERTOS_ERRNO_EEXIST           17  /* File exists */
+#define pdFREERTOS_ERRNO_EXDEV            18  /* Cross-device link */
+#define pdFREERTOS_ERRNO_ENODEV           19  /* No such device */
+#define pdFREERTOS_ERRNO_ENOTDIR          20  /* Not a directory */
+#define pdFREERTOS_ERRNO_EISDIR           21  /* Is a directory */
+#define pdFREERTOS_ERRNO_EINVAL           22  /* Invalid argument */
+#define pdFREERTOS_ERRNO_ENOSPC           28  /* No space left on device */
+#define pdFREERTOS_ERRNO_ESPIPE           29  /* Illegal seek */
+#define pdFREERTOS_ERRNO_EROFS            30  /* Read only file system */
+#define pdFREERTOS_ERRNO_EUNATCH          42  /* Protocol driver not attached */
+#define pdFREERTOS_ERRNO_EBADE            50  /* Invalid exchange */
+#define pdFREERTOS_ERRNO_EFTYPE           79  /* Inappropriate file type or format */
+#define pdFREERTOS_ERRNO_ENMFILE          89  /* No more files */
+#define pdFREERTOS_ERRNO_ENOTEMPTY        90  /* Directory not empty */
+#define pdFREERTOS_ERRNO_ENAMETOOLONG     91  /* File or path name too long */
+#define pdFREERTOS_ERRNO_EOPNOTSUPP       95  /* Operation not supported on transport endpoint */
+#define pdFREERTOS_ERRNO_EAFNOSUPPORT     97  /* Address family not supported by protocol */
+#define pdFREERTOS_ERRNO_ENOBUFS          105 /* No buffer space available */
+#define pdFREERTOS_ERRNO_ENOPROTOOPT      109 /* Protocol not available */
+#define pdFREERTOS_ERRNO_EADDRINUSE       112 /* Address already in use */
+#define pdFREERTOS_ERRNO_ETIMEDOUT        116 /* Connection timed out */
+#define pdFREERTOS_ERRNO_EINPROGRESS      119 /* Connection already in progress */
+#define pdFREERTOS_ERRNO_EALREADY         120 /* Socket already connected */
+#define pdFREERTOS_ERRNO_EADDRNOTAVAIL    125 /* Address not available */
+#define pdFREERTOS_ERRNO_EISCONN          127 /* Socket is already connected */
+#define pdFREERTOS_ERRNO_ENOTCONN         128 /* Socket is not connected */
+#define pdFREERTOS_ERRNO_ENOMEDIUM        135 /* No medium inserted */
+#define pdFREERTOS_ERRNO_EILSEQ           138 /* An invalid UTF-16 sequence was encountered. */
+#define pdFREERTOS_ERRNO_ECANCELED        140 /* Operation canceled. */
 
 /* The following endian values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_LITTLE_ENDIAN	0
-#define pdFREERTOS_BIG_ENDIAN		1
+ * itself. */
+#define pdFREERTOS_LITTLE_ENDIAN          0
+#define pdFREERTOS_BIG_ENDIAN             1
+
+/* Re-defining endian values for generic naming. */
+#define pdLITTLE_ENDIAN                   pdFREERTOS_LITTLE_ENDIAN
+#define pdBIG_ENDIAN                      pdFREERTOS_BIG_ENDIAN
+
 
 #endif /* PROJDEFS_H */
-
-
-

Source/include/stack_macros.h

@@ -0,0 +1,141 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+#ifndef STACK_MACROS_H
+#define STACK_MACROS_H
+
+/*
+ * Call the stack overflow hook function if the stack of the task being swapped
+ * out is currently overflowed, or looks like it might have overflowed in the
+ * past.
+ *
+ * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
+ * the current stack state only - comparing the current top of stack value to
+ * the stack limit.  Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
+ * will also cause the last few stack bytes to be checked to ensure the value
+ * to which the bytes were set when the task was created have not been
+ * overwritten.  Note this second test does not guarantee that an overflowed
+ * stack will always be recognised.
+ */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * portSTACK_LIMIT_PADDING is a number of extra words to consider to be in
+ * use on the stack.
+ */
+#ifndef portSTACK_LIMIT_PADDING
+    #define portSTACK_LIMIT_PADDING    0
+#endif
+
+#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+/* Only the current stack state is to be checked. */
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                      \
+    do {                                                                                        \
+        /* Is the currently saved stack pointer within the stack limit? */                      \
+        if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack + portSTACK_LIMIT_PADDING )     \
+        {                                                                                       \
+            char * pcOverflowTaskName = pxCurrentTCB->pcTaskName;                               \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
+        }                                                                                       \
+    } while( 0 )
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+/*-----------------------------------------------------------*/
+
+#if ( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
+
+/* Only the current stack state is to be checked. */
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                       \
+    do {                                                                                         \
+                                                                                                 \
+        /* Is the currently saved stack pointer within the stack limit? */                       \
+        if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack - portSTACK_LIMIT_PADDING ) \
+        {                                                                                        \
+            char * pcOverflowTaskName = pxCurrentTCB->pcTaskName;                                \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName );  \
+        }                                                                                        \
+    } while( 0 )
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
+/*-----------------------------------------------------------*/
+
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
+
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                      \
+    do {                                                                                        \
+        const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack;                 \
+        const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5U;                                 \
+                                                                                                \
+        if( ( pulStack[ 0 ] != ulCheckValue ) ||                                                \
+            ( pulStack[ 1 ] != ulCheckValue ) ||                                                \
+            ( pulStack[ 2 ] != ulCheckValue ) ||                                                \
+            ( pulStack[ 3 ] != ulCheckValue ) )                                                 \
+        {                                                                                       \
+            char * pcOverflowTaskName = pxCurrentTCB->pcTaskName;                               \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName ); \
+        }                                                                                       \
+    } while( 0 )
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
+
+    #define taskCHECK_FOR_STACK_OVERFLOW()                                                                                                \
+    do {                                                                                                                                  \
+        int8_t * pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack;                                                                  \
+        static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
+                                                                                                                                          \
+                                                                                                                                          \
+        pcEndOfStack -= sizeof( ucExpectedStackBytes );                                                                                   \
+                                                                                                                                          \
+        /* Has the extremity of the task stack ever been written over? */                                                                 \
+        if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )                     \
+        {                                                                                                                                 \
+            char * pcOverflowTaskName = pxCurrentTCB->pcTaskName;                                                                         \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pcOverflowTaskName );                                           \
+        }                                                                                                                                 \
+    } while( 0 )
+
+#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
+/*-----------------------------------------------------------*/
+
+/* Remove stack overflow macro if not being used. */
+#ifndef taskCHECK_FOR_STACK_OVERFLOW
+    #define taskCHECK_FOR_STACK_OVERFLOW()
+#endif
+
+
+
+#endif /* STACK_MACROS_H */

Source/include/stdint.readme

@@ -1,3 +1,30 @@
+/*
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 #ifndef FREERTOS_STDINT
 #define FREERTOS_STDINT
@@ -10,7 +37,7 @@
  * To use this file:
  *
  *    1) Copy this file into the directory that contains your FreeRTOSConfig.h
- *       header file, as that directory will already be in the compilers include
+ *       header file, as that directory will already be in the compiler's include
  *       path.
  *
  *    2) Rename the copied file stdint.h.
@@ -24,4 +51,8 @@ typedef unsigned short uint16_t;
 typedef long int32_t;
 typedef unsigned long uint32_t;
 
+#ifndef SIZE_MAX
+    #define SIZE_MAX    ( ( size_t ) -1 )
+#endif
+
 #endif /* FREERTOS_STDINT */

Source/include/timers.h

@@ -1,112 +1,71 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 
 #ifndef TIMERS_H
 #define TIMERS_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include timers.h"
+    #error "include FreeRTOS.h must appear in source files before include timers.h"
 #endif
 
-/*lint -e537 This headers are only multiply included if the application code
-happens to also be including task.h. */
 #include "task.h"
-/*lint +e537 */
 
+
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
+* MACROS AND DEFINITIONS
+*----------------------------------------------------------*/
 
 /* IDs for commands that can be sent/received on the timer queue.  These are to
-be used solely through the macros that make up the public software timer API,
-as defined below.  The commands that are sent from interrupts must use the
-highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
-or interrupt version of the queue send function should be used. */
-#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR 	( ( BaseType_t ) -2 )
-#define tmrCOMMAND_EXECUTE_CALLBACK				( ( BaseType_t ) -1 )
-#define tmrCOMMAND_START_DONT_TRACE				( ( BaseType_t ) 0 )
-#define tmrCOMMAND_START					    ( ( BaseType_t ) 1 )
-#define tmrCOMMAND_RESET						( ( BaseType_t ) 2 )
-#define tmrCOMMAND_STOP							( ( BaseType_t ) 3 )
-#define tmrCOMMAND_CHANGE_PERIOD				( ( BaseType_t ) 4 )
-#define tmrCOMMAND_DELETE						( ( BaseType_t ) 5 )
+ * be used solely through the macros that make up the public software timer API,
+ * as defined below.  The commands that are sent from interrupts must use the
+ * highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
+ * or interrupt version of the queue send function should be used. */
+#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR    ( ( BaseType_t ) -2 )
+#define tmrCOMMAND_EXECUTE_CALLBACK             ( ( BaseType_t ) -1 )
+#define tmrCOMMAND_START_DONT_TRACE             ( ( BaseType_t ) 0 )
+#define tmrCOMMAND_START                        ( ( BaseType_t ) 1 )
+#define tmrCOMMAND_RESET                        ( ( BaseType_t ) 2 )
+#define tmrCOMMAND_STOP                         ( ( BaseType_t ) 3 )
+#define tmrCOMMAND_CHANGE_PERIOD                ( ( BaseType_t ) 4 )
+#define tmrCOMMAND_DELETE                       ( ( BaseType_t ) 5 )
 
-#define tmrFIRST_FROM_ISR_COMMAND				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_START_FROM_ISR				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_RESET_FROM_ISR				( ( BaseType_t ) 7 )
-#define tmrCOMMAND_STOP_FROM_ISR				( ( BaseType_t ) 8 )
-#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR		( ( BaseType_t ) 9 )
+#define tmrFIRST_FROM_ISR_COMMAND               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_START_FROM_ISR               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_RESET_FROM_ISR               ( ( BaseType_t ) 7 )
+#define tmrCOMMAND_STOP_FROM_ISR                ( ( BaseType_t ) 8 )
+#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR       ( ( BaseType_t ) 9 )
 
 
 /**
@@ -115,29 +74,39 @@ or interrupt version of the queue send function should be used. */
  * reference the subject timer in calls to other software timer API functions
  * (for example, xTimerStart(), xTimerReset(), etc.).
  */
-typedef void * TimerHandle_t;
+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 );
+typedef void (* TimerCallbackFunction_t)( TimerHandle_t xTimer );
 
 /*
  * Defines the prototype to which functions used with the
  * xTimerPendFunctionCallFromISR() function must conform.
  */
-typedef void (*PendedFunction_t)( void *, uint32_t );
+typedef void (* PendedFunction_t)( void * arg1,
+                                   uint32_t arg2 );
 
 /**
- * TimerHandle_t xTimerCreate( 	const char * const pcTimerName,
- * 								TickType_t xTimerPeriodInTicks,
- * 								UBaseType_t uxAutoReload,
- * 								void * pvTimerID,
- * 								TimerCallbackFunction_t pxCallbackFunction );
+ * TimerHandle_t xTimerCreate(  const char * const pcTimerName,
+ *                              TickType_t xTimerPeriodInTicks,
+ *                              BaseType_t xAutoReload,
+ *                              void * pvTimerID,
+ *                              TimerCallbackFunction_t pxCallbackFunction );
  *
- * Creates a new software timer instance.  This allocates the storage required
- * by the new timer, initialises the new timers internal state, and returns a
- * handle by which the new timer can be referenced.
+ * 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
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
+ * xTimerCreateStatic() then the application writer must provide the memory that
+ * will get used by the software timer.  xTimerCreateStatic() therefore allows a
+ * software timer to be created without using any dynamic memory allocation.
  *
  * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
  * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
@@ -154,11 +123,11 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * 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.
+ * equal to 1000.  Time timer period must be greater than 0.
  *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * @param xAutoReload If xAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
- * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * If xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
  * enter the dormant state after it expires.
  *
  * @param pvTimerID An identifier that is assigned to the timer being created.
@@ -168,12 +137,12 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  * @param pxCallbackFunction The function to call when the timer expires.
  * Callback functions must have the prototype defined by TimerCallbackFunction_t,
- * which is	"void vCallbackFunction( TimerHandle_t xTimer );".
+ * which is "void vCallbackFunction( TimerHandle_t xTimer );".
  *
  * @return If the timer is successfully created then a handle to the newly
- * created timer is returned.  If the timer cannot be created (because either
- * there is insufficient FreeRTOS heap remaining to allocate the timer
- * structures, or the timer period was set to 0) then NULL is returned.
+ * 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
@@ -194,8 +163,8 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * int32_t lArrayIndex;
  * const int32_t xMaxExpiryCountBeforeStopping = 10;
  *
- * 	   // Optionally do something if the pxTimer parameter is NULL.
- * 	   configASSERT( pxTimer );
+ *     // Optionally do something if the pxTimer parameter is NULL.
+ *     configASSERT( pxTimer );
  *
  *     // Which timer expired?
  *     lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
@@ -221,11 +190,11 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *     // the scheduler starts.
  *     for( x = 0; x < NUM_TIMERS; x++ )
  *     {
- *         xTimers[ x ] = xTimerCreate(    "Timer",       // Just a text name, not used by the kernel.
- *                                         ( 100 * x ),   // The timer period in ticks.
- *                                         pdTRUE,        // The timers will auto-reload themselves when they expire.
- *                                         ( void * ) x,  // Assign each timer a unique id equal to its array index.
- *                                         vTimerCallback // Each timer calls the same callback when it expires.
+ *         xTimers[ x ] = xTimerCreate(    "Timer",             // Just a text name, not used by the kernel.
+ *                                         ( 100 * ( x + 1 ) ), // The timer period in ticks.
+ *                                         pdTRUE,              // The timers will auto-reload themselves when they expire.
+ *                                         ( void * ) x,        // Assign each timer a unique id equal to its array index.
+ *                                         vTimerCallback       // Each timer calls the same callback when it expires.
  *                                     );
  *
  *         if( xTimers[ x ] == NULL )
@@ -250,14 +219,151 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  *     // Starting the scheduler will start the timers running as they have already
  *     // been set into the active state.
- *     xTaskStartScheduler();
+ *     vTaskStartScheduler();
  *
  *     // Should not reach here.
  *     for( ;; );
  * }
  * @endverbatim
  */
-TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    TimerHandle_t xTimerCreate( const char * const pcTimerName,
+                                const TickType_t xTimerPeriodInTicks,
+                                const BaseType_t xAutoReload,
+                                void * const pvTimerID,
+                                TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
+#endif
+
+/**
+ * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
+ *                                  TickType_t xTimerPeriodInTicks,
+ *                                  BaseType_t xAutoReload,
+ *                                  void * pvTimerID,
+ *                                  TimerCallbackFunction_t pxCallbackFunction,
+ *                                  StaticTimer_t *pxTimerBuffer );
+ *
+ * Creates a new software timer instance, and returns a handle by which the
+ * created software timer can be referenced.
+ *
+ * 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
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
+ * xTimerCreateStatic() then the application writer must provide the memory that
+ * will get used by the software timer.  xTimerCreateStatic() therefore allows a
+ * software timer to be created without using any dynamic memory allocation.
+ *
+ * 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 xAutoReload If xAutoReload is set to pdTRUE then the timer will
+ * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
+ * If xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * enter the dormant state after it expires.
+ *
+ * @param pvTimerID An identifier that is assigned to the timer being created.
+ * 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,
+                                      const TickType_t xTimerPeriodInTicks,
+                                      const BaseType_t xAutoReload,
+                                      void * const pvTimerID,
+                                      TimerCallbackFunction_t pxCallbackFunction,
+                                      StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
  * void *pvTimerGetTimerID( TimerHandle_t xTimer );
@@ -279,7 +385,7 @@ TimerHandle_t xTimerCreate( const char * const pcTimerName, const TickType_t xTi
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
  * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
@@ -300,7 +406,8 @@ void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION;
+void vTimerSetTimerID( TimerHandle_t xTimer,
+                       void * pvNewID ) PRIVILEGED_FUNCTION;
 
 /**
  * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
@@ -342,9 +449,6 @@ BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 /**
  * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
  *
- * xTimerGetTimerDaemonTaskHandle() is only available if
- * INCLUDE_xTimerGetTimerDaemonTaskHandle is set to 1 in FreeRTOSConfig.h.
- *
  * Simply returns the handle of the timer service/daemon task.  It it not valid
  * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started.
  */
@@ -400,7 +504,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerStart( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -442,12 +547,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
+#define xTimerStop( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
 
 /**
- * BaseType_t xTimerChangePeriod( 	TimerHandle_t xTimer,
- *										TickType_t xNewPeriod,
- *										TickType_t xTicksToWait );
+ * BaseType_t xTimerChangePeriod(   TimerHandle_t xTimer,
+ *                                  TickType_t xNewPeriod,
+ *                                  TickType_t xTicksToWait );
  *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
@@ -522,7 +628,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
- #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
+#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -560,7 +667,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerChangePeriod() API function example usage scenario.
  */
-#define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+#define xTimerDelete( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
 
 /**
  * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
@@ -677,18 +785,19 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  *     // Starting the scheduler will start the timer running as it has already
  *     // been set into the active state.
- *     xTaskStartScheduler();
+ *     vTaskStartScheduler();
  *
  *     // Should not reach here.
  *     for( ;; );
  * }
  * @endverbatim
  */
-#define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerReset( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
- * BaseType_t xTimerStartFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerStartFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerStart() that can be called from an interrupt service
  * routine.
@@ -770,11 +879,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
- * BaseType_t xTimerStopFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerStopFromISR(    TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerStop() that can be called from an interrupt service
  * routine.
@@ -833,12 +943,13 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
  * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer,
- *										 TickType_t xNewPeriod,
- *										 BaseType_t *pxHigherPriorityTaskWoken );
+ *                                       TickType_t xNewPeriod,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerChangePeriod() that can be called from an interrupt
  * service routine.
@@ -906,11 +1017,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
- * BaseType_t xTimerResetFromISR( 	TimerHandle_t xTimer,
- *									BaseType_t *pxHigherPriorityTaskWoken );
+ * BaseType_t xTimerResetFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
  *
  * A version of xTimerReset() that can be called from an interrupt service
  * routine.
@@ -992,7 +1104,8 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * }
  * @endverbatim
  */
-#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 
 /**
@@ -1045,82 +1158,92 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * Example usage:
  * @verbatim
  *
- *	// The callback function that will execute in the context of the daemon task.
+ *  // The callback function that will execute in the context of the daemon task.
  *  // Note callback functions must all use this same prototype.
  *  void vProcessInterface( void *pvParameter1, uint32_t ulParameter2 )
- *	{
- *		BaseType_t xInterfaceToService;
+ *  {
+ *      BaseType_t xInterfaceToService;
  *
- *		// The interface that requires servicing is passed in the second
+ *      // The interface that requires servicing is passed in the second
  *      // parameter.  The first parameter is not used in this case.
- *		xInterfaceToService = ( BaseType_t ) ulParameter2;
+ *      xInterfaceToService = ( BaseType_t ) ulParameter2;
  *
- *		// ...Perform the processing here...
- *	}
+ *      // ...Perform the processing here...
+ *  }
  *
- *	// An ISR that receives data packets from multiple interfaces
+ *  // An ISR that receives data packets from multiple interfaces
  *  void vAnISR( void )
- *	{
- *		BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
+ *  {
+ *      BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
  *
- *		// Query the hardware to determine which interface needs processing.
- *		xInterfaceToService = prvCheckInterfaces();
+ *      // Query the hardware to determine which interface needs processing.
+ *      xInterfaceToService = prvCheckInterfaces();
  *
  *      // The actual processing is to be deferred to a task.  Request the
  *      // vProcessInterface() callback function is executed, passing in the
- *		// number of the interface that needs processing.  The interface to
- *		// service is passed in the second parameter.  The first parameter is
- *		// not used in this case.
- *		xHigherPriorityTaskWoken = pdFALSE;
- *		xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
+ *      // number of the interface that needs processing.  The interface to
+ *      // service is passed in the second parameter.  The first parameter is
+ *      // not used in this case.
+ *      xHigherPriorityTaskWoken = pdFALSE;
+ *      xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
  *
- *		// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
- *		// switch should be requested.  The macro used is port specific and will
- *		// be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
- *		// the documentation page for the port being used.
- *		portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ *      // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
+ *      // switch should be requested.  The macro used is port specific and will
+ *      // be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
+ *      // the documentation page for the port being used.
+ *      portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  *
- *	}
+ *  }
  * @endverbatim
  */
-BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
- /**
-  * BaseType_t 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;
+#if ( INCLUDE_xTimerPendFunctionCall == 1 )
+    BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+                                              void * pvParameter1,
+                                              uint32_t ulParameter2,
+                                              BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+#endif
 
 /**
- * const char * const pcTimerGetTimerName( TimerHandle_t xTimer );
+ * 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.
+ *
+ */
+#if ( INCLUDE_xTimerPendFunctionCall == 1 )
+    BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+                                       void * pvParameter1,
+                                       uint32_t ulParameter2,
+                                       TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+#endif
+
+/**
+ * const char * const pcTimerGetName( TimerHandle_t xTimer );
  *
  * Returns the name that was assigned to a timer when the timer was created.
  *
@@ -1128,19 +1251,181 @@ BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvPar
  *
  * @return The name assigned to the timer specified by the xTimer parameter.
  */
-const char * pcTimerGetTimerName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * void vTimerSetReloadMode( TimerHandle_t xTimer, const BaseType_t xAutoReload );
+ *
+ * Updates a timer to be either an auto-reload timer, in which case the timer
+ * automatically resets itself each time it expires, or a one-shot timer, in
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being updated.
+ *
+ * @param xAutoReload If xAutoReload is set to pdTRUE then the timer will
+ * expire repeatedly with a frequency set by the timer's period (see the
+ * xTimerPeriodInTicks parameter of the xTimerCreate() API function).  If
+ * xAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * enter the dormant state after it expires.
+ */
+void vTimerSetReloadMode( TimerHandle_t xTimer,
+                          const BaseType_t xAutoReload ) PRIVILEGED_FUNCTION;
+
+/**
+ * BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer );
+ *
+ * Queries a timer to determine if it is an auto-reload timer, in which case the timer
+ * automatically resets itself each time it expires, or a one-shot timer, in
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
+ * pdFALSE is returned.
+ */
+BaseType_t xTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
+ *
+ * Queries a timer to determine if it is an auto-reload timer, in which case the timer
+ * automatically resets itself each time it expires, or a one-shot timer, in
+ * which case the timer will only expire once unless it is manually restarted.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
+ * pdFALSE is returned.
+ */
+UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * 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;
+
+/**
+ * BaseType_t xTimerGetStaticBuffer( TimerHandle_t xTimer,
+ *                                   StaticTimer_t ** ppxTimerBuffer );
+ *
+ * Retrieve pointer to a statically created timer's data structure
+ * buffer. This is the same buffer that is supplied at the time of
+ * creation.
+ *
+ * @param xTimer The timer for which to retrieve the buffer.
+ *
+ * @param ppxTaskBuffer Used to return a pointer to the timers's data
+ * structure buffer.
+ *
+ * @return pdTRUE if the buffer was retrieved, pdFALSE otherwise.
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    BaseType_t xTimerGetStaticBuffer( TimerHandle_t xTimer,
+                                      StaticTimer_t ** ppxTimerBuffer ) PRIVILEGED_FUNCTION;
+#endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /*
  * Functions beyond this part are not part of the public API and are intended
  * for use by the kernel only.
  */
 BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
-#ifdef __cplusplus
-}
+/*
+ * Splitting the xTimerGenericCommand into two sub functions and making it a macro
+ * removes a recursion path when called from ISRs. This is primarily for the XCore
+ * XCC port which detects the recursion path and throws an error during compilation
+ * when this is not split.
+ */
+BaseType_t xTimerGenericCommandFromTask( TimerHandle_t xTimer,
+                                         const BaseType_t xCommandID,
+                                         const TickType_t xOptionalValue,
+                                         BaseType_t * const pxHigherPriorityTaskWoken,
+                                         const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+BaseType_t xTimerGenericCommandFromISR( TimerHandle_t xTimer,
+                                        const BaseType_t xCommandID,
+                                        const TickType_t xOptionalValue,
+                                        BaseType_t * const pxHigherPriorityTaskWoken,
+                                        const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+
+#define xTimerGenericCommand( xTimer, xCommandID, xOptionalValue, pxHigherPriorityTaskWoken, xTicksToWait )         \
+    ( ( xCommandID ) < tmrFIRST_FROM_ISR_COMMAND ?                                                                  \
+      xTimerGenericCommandFromTask( xTimer, xCommandID, xOptionalValue, pxHigherPriorityTaskWoken, xTicksToWait ) : \
+      xTimerGenericCommandFromISR( xTimer, xCommandID, xOptionalValue, pxHigherPriorityTaskWoken, xTicksToWait ) )
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vTimerSetTimerNumber( TimerHandle_t xTimer,
+                               UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 #endif
+
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+
+/**
+ * task.h
+ * @code{c}
+ * void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer, StackType_t ** ppxTimerTaskStackBuffer, configSTACK_DEPTH_TYPE * puxTimerTaskStackSize )
+ * @endcode
+ *
+ * This function is used to provide a statically allocated block of memory to FreeRTOS to hold the Timer Task TCB.  This function is required when
+ * configSUPPORT_STATIC_ALLOCATION is set.  For more information see this URI: https://www.FreeRTOS.org/a00110.html#configSUPPORT_STATIC_ALLOCATION
+ *
+ * @param ppxTimerTaskTCBBuffer   A handle to a statically allocated TCB buffer
+ * @param ppxTimerTaskStackBuffer A handle to a statically allocated Stack buffer for the idle task
+ * @param puxTimerTaskStackSize   A pointer to the number of elements that will fit in the allocated stack buffer
+ */
+    void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                         StackType_t ** ppxTimerTaskStackBuffer,
+                                         configSTACK_DEPTH_TYPE * puxTimerTaskStackSize );
+
+#endif
+
+#if ( configUSE_DAEMON_TASK_STARTUP_HOOK != 0 )
+
+/**
+ *  timers.h
+ * @code{c}
+ * void vApplicationDaemonTaskStartupHook( void );
+ * @endcode
+ *
+ * This hook function is called form the timer task once when the task starts running.
+ */
+    /* MISRA Ref 8.6.1 [External linkage] */
+    /* More details at: https://github.com/FreeRTOS/FreeRTOS-Kernel/blob/main/MISRA.md#rule-86 */
+    /* coverity[misra_c_2012_rule_8_6_violation] */
+    void vApplicationDaemonTaskStartupHook( void );
+
+#endif
+
+/*
+ * This function resets the internal state of the timer module. It must be called
+ * by the application before restarting the scheduler.
+ */
+void vTimerResetState( void ) PRIVILEGED_FUNCTION;
+
+/* *INDENT-OFF* */
+#ifdef __cplusplus
+    }
+#endif
+/* *INDENT-ON* */
 #endif /* TIMERS_H */
-
-
-

Source/list.c

@@ -1,241 +1,248 @@
 /*
-    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
-    All rights reserved
-
-    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
-
-    This file is part of the FreeRTOS distribution.
-
-    FreeRTOS is free software; you can redistribute it and/or modify it under
-    the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
-
-    ***************************************************************************
-    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
-    >>!   distribute a combined work that includes FreeRTOS without being   !<<
-    >>!   obliged to provide the source code for proprietary components     !<<
-    >>!   outside of the FreeRTOS kernel.                                   !<<
-    ***************************************************************************
-
-    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
-    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
-    link: http://www.freertos.org/a00114.html
-
-    ***************************************************************************
-     *                                                                       *
-     *    FreeRTOS provides completely free yet professionally developed,    *
-     *    robust, strictly quality controlled, supported, and cross          *
-     *    platform software that is more than just the market leader, it     *
-     *    is the industry's de facto standard.                               *
-     *                                                                       *
-     *    Help yourself get started quickly while simultaneously helping     *
-     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
-     *    tutorial book, reference manual, or both:                          *
-     *    http://www.FreeRTOS.org/Documentation                              *
-     *                                                                       *
-    ***************************************************************************
-
-    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
-    the FAQ page "My application does not run, what could be wrong?".  Have you
-    defined configASSERT()?
-
-    http://www.FreeRTOS.org/support - In return for receiving this top quality
-    embedded software for free we request you assist our global community by
-    participating in the support forum.
-
-    http://www.FreeRTOS.org/training - Investing in training allows your team to
-    be as productive as possible as early as possible.  Now you can receive
-    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
-    Ltd, and the world's leading authority on the world's leading RTOS.
-
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
-    compatible FAT file system, and our tiny thread aware UDP/IP stack.
-
-    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
-    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
-
-    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
-    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
-    licenses offer ticketed support, indemnification and commercial middleware.
-
-    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
-    engineered and independently SIL3 certified version for use in safety and
-    mission critical applications that require provable dependability.
-
-    1 tab == 4 spaces!
-*/
+ * FreeRTOS Kernel <DEVELOPMENT BRANCH>
+ * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+ *
+ * SPDX-License-Identifier: MIT
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
 
 
 #include <stdlib.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+ * all the API functions to use the MPU wrappers.  That should only be done when
+ * task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
 #include "FreeRTOS.h"
 #include "list.h"
 
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
+/* The MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be
+ * defined for the header files above, but not in this file, in order to
+ * generate the correct privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+/*-----------------------------------------------------------
+* PUBLIC LIST API documented in list.h
+*----------------------------------------------------------*/
 
 void vListInitialise( List_t * const pxList )
 {
-	/* The list structure contains a list item which is used to mark the
-	end of the list.  To initialise the list the list end is inserted
-	as the only list entry. */
-	pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd );			/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+    traceENTER_vListInitialise( pxList );
 
-	/* The list end value is the highest possible value in the list to
-	ensure it remains at the end of the list. */
-	pxList->xListEnd.xItemValue = portMAX_DELAY;
+    /* The list structure contains a list item which is used to mark the
+     * end of the list.  To initialise the list the list end is inserted
+     * as the only list entry. */
+    pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd );
 
-	/* The list end next and previous pointers point to itself so we know
-	when the list is empty. */
-	pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );	/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
-	pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+    listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
 
-	pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
+    /* The list end value is the highest possible value in the list to
+     * ensure it remains at the end of the list. */
+    pxList->xListEnd.xItemValue = portMAX_DELAY;
 
-	/* Write known values into the list if
-	configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
-	listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
+    /* The list end next and previous pointers point to itself so we know
+     * when the list is empty. */
+    pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );
+    pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );
+
+    /* Initialize the remaining fields of xListEnd when it is a proper ListItem_t */
+    #if ( configUSE_MINI_LIST_ITEM == 0 )
+    {
+        pxList->xListEnd.pvOwner = NULL;
+        pxList->xListEnd.pxContainer = NULL;
+        listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( &( pxList->xListEnd ) );
+    }
+    #endif
+
+    pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
+
+    /* Write known values into the list if
+     * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
+    listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
+
+    traceRETURN_vListInitialise();
 }
 /*-----------------------------------------------------------*/
 
 void vListInitialiseItem( ListItem_t * const pxItem )
 {
-	/* Make sure the list item is not recorded as being on a list. */
-	pxItem->pvContainer = NULL;
+    traceENTER_vListInitialiseItem( pxItem );
 
-	/* Write known values into the list item if
-	configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-	listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
-	listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
+    /* Make sure the list item is not recorded as being on a list. */
+    pxItem->pxContainer = NULL;
+
+    /* Write known values into the list item if
+     * configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
+    listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
+    listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
+
+    traceRETURN_vListInitialiseItem();
 }
 /*-----------------------------------------------------------*/
 
-void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
+void vListInsertEnd( List_t * const pxList,
+                     ListItem_t * const pxNewListItem )
 {
-ListItem_t * const pxIndex = pxList->pxIndex;
+    ListItem_t * const pxIndex = pxList->pxIndex;
 
-	/* Only effective when configASSERT() is also defined, these tests may catch
-	the list data structures being overwritten in memory.  They will not catch
-	data errors caused by incorrect configuration or use of FreeRTOS. */
-	listTEST_LIST_INTEGRITY( pxList );
-	listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
+    traceENTER_vListInsertEnd( pxList, pxNewListItem );
 
-	/* Insert a new list item into pxList, but rather than sort the list,
-	makes the new list item the last item to be removed by a call to
-	listGET_OWNER_OF_NEXT_ENTRY(). */
-	pxNewListItem->pxNext = pxIndex;
-	pxNewListItem->pxPrevious = pxIndex->pxPrevious;
+    /* Only effective when configASSERT() is also defined, these tests may catch
+     * the list data structures being overwritten in memory.  They will not catch
+     * data errors caused by incorrect configuration or use of FreeRTOS. */
+    listTEST_LIST_INTEGRITY( pxList );
+    listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
 
-	/* Only used during decision coverage testing. */
-	mtCOVERAGE_TEST_DELAY();
+    /* Insert a new list item into pxList, but rather than sort the list,
+     * makes the new list item the last item to be removed by a call to
+     * listGET_OWNER_OF_NEXT_ENTRY(). */
+    pxNewListItem->pxNext = pxIndex;
+    pxNewListItem->pxPrevious = pxIndex->pxPrevious;
 
-	pxIndex->pxPrevious->pxNext = pxNewListItem;
-	pxIndex->pxPrevious = pxNewListItem;
+    /* Only used during decision coverage testing. */
+    mtCOVERAGE_TEST_DELAY();
 
-	/* Remember which list the item is in. */
-	pxNewListItem->pvContainer = ( void * ) pxList;
+    pxIndex->pxPrevious->pxNext = pxNewListItem;
+    pxIndex->pxPrevious = pxNewListItem;
 
-	( pxList->uxNumberOfItems )++;
+    /* Remember which list the item is in. */
+    pxNewListItem->pxContainer = pxList;
+
+    ( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
+
+    traceRETURN_vListInsertEnd();
 }
 /*-----------------------------------------------------------*/
 
-void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
+void vListInsert( List_t * const pxList,
+                  ListItem_t * const pxNewListItem )
 {
-ListItem_t *pxIterator;
-const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
+    ListItem_t * pxIterator;
+    const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
 
-	/* Only effective when configASSERT() is also defined, these tests may catch
-	the list data structures being overwritten in memory.  They will not catch
-	data errors caused by incorrect configuration or use of FreeRTOS. */
-	listTEST_LIST_INTEGRITY( pxList );
-	listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
+    traceENTER_vListInsert( pxList, pxNewListItem );
 
-	/* Insert the new list item into the list, sorted in xItemValue order.
+    /* Only effective when configASSERT() is also defined, these tests may catch
+     * the list data structures being overwritten in memory.  They will not catch
+     * data errors caused by incorrect configuration or use of FreeRTOS. */
+    listTEST_LIST_INTEGRITY( pxList );
+    listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
 
-	If the list already contains a list item with the same item value then the
-	new list item should be placed after it.  This ensures that TCB's which are
-	stored in ready lists (all of which have the same xItemValue value) get a
-	share of the CPU.  However, if the xItemValue is the same as the back marker
-	the iteration loop below will not end.  Therefore the value is checked
-	first, and the algorithm slightly modified if necessary. */
-	if( xValueOfInsertion == portMAX_DELAY )
-	{
-		pxIterator = pxList->xListEnd.pxPrevious;
-	}
-	else
-	{
-		/* *** NOTE ***********************************************************
-		If you find your application is crashing here then likely causes are
-		listed below.  In addition see http://www.freertos.org/FAQHelp.html for
-		more tips, and ensure configASSERT() is defined!
-		http://www.freertos.org/a00110.html#configASSERT
+    /* Insert the new list item into the list, sorted in xItemValue order.
+     *
+     * If the list already contains a list item with the same item value then the
+     * new list item should be placed after it.  This ensures that TCBs which are
+     * stored in ready lists (all of which have the same xItemValue value) get a
+     * share of the CPU.  However, if the xItemValue is the same as the back marker
+     * the iteration loop below will not end.  Therefore the value is checked
+     * first, and the algorithm slightly modified if necessary. */
+    if( xValueOfInsertion == portMAX_DELAY )
+    {
+        pxIterator = pxList->xListEnd.pxPrevious;
+    }
+    else
+    {
+        /* *** NOTE ***********************************************************
+        *  If you find your application is crashing here then likely causes are
+        *  listed below.  In addition see https://www.FreeRTOS.org/FAQHelp.html for
+        *  more tips, and ensure configASSERT() is defined!
+        *  https://www.FreeRTOS.org/a00110.html#configASSERT
+        *
+        *   1) Stack overflow -
+        *      see https://www.FreeRTOS.org/Stacks-and-stack-overflow-checking.html
+        *   2) Incorrect interrupt priority assignment, especially on Cortex-M
+        *      parts where numerically high priority values denote low actual
+        *      interrupt priorities, which can seem counter intuitive.  See
+        *      https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html and the definition
+        *      of configMAX_SYSCALL_INTERRUPT_PRIORITY on
+        *      https://www.FreeRTOS.org/a00110.html
+        *   3) Calling an API function from within a critical section or when
+        *      the scheduler is suspended, or calling an API function that does
+        *      not end in "FromISR" from an interrupt.
+        *   4) Using a queue or semaphore before it has been initialised or
+        *      before the scheduler has been started (are interrupts firing
+        *      before vTaskStartScheduler() has been called?).
+        *   5) If the FreeRTOS port supports interrupt nesting then ensure that
+        *      the priority of the tick interrupt is at or below
+        *      configMAX_SYSCALL_INTERRUPT_PRIORITY.
+        **********************************************************************/
 
-			1) Stack overflow -
-			   see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
-			2) Incorrect interrupt priority assignment, especially on Cortex-M
-			   parts where numerically high priority values denote low actual
-			   interrupt priorities, which can seem counter intuitive.  See
-			   http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
-			   of configMAX_SYSCALL_INTERRUPT_PRIORITY on
-			   http://www.freertos.org/a00110.html
-			3) Calling an API function from within a critical section or when
-			   the scheduler is suspended, or calling an API function that does
-			   not end in "FromISR" from an interrupt.
-			4) Using a queue or semaphore before it has been initialised or
-			   before the scheduler has been started (are interrupts firing
-			   before vTaskStartScheduler() has been called?).
-		**********************************************************************/
+        for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
+        {
+            /* There is nothing to do here, just iterating to the wanted
+             * insertion position.
+             * IF YOU FIND YOUR CODE STUCK HERE, SEE THE NOTE JUST ABOVE.
+             */
+        }
+    }
 
-		for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
-		{
-			/* There is nothing to do here, just iterating to the wanted
-			insertion position. */
-		}
-	}
+    pxNewListItem->pxNext = pxIterator->pxNext;
+    pxNewListItem->pxNext->pxPrevious = pxNewListItem;
+    pxNewListItem->pxPrevious = pxIterator;
+    pxIterator->pxNext = pxNewListItem;
 
-	pxNewListItem->pxNext = pxIterator->pxNext;
-	pxNewListItem->pxNext->pxPrevious = pxNewListItem;
-	pxNewListItem->pxPrevious = pxIterator;
-	pxIterator->pxNext = pxNewListItem;
+    /* Remember which list the item is in.  This allows fast removal of the
+     * item later. */
+    pxNewListItem->pxContainer = pxList;
 
-	/* Remember which list the item is in.  This allows fast removal of the
-	item later. */
-	pxNewListItem->pvContainer = ( void * ) pxList;
+    ( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems + 1U );
 
-	( pxList->uxNumberOfItems )++;
+    traceRETURN_vListInsert();
 }
 /*-----------------------------------------------------------*/
 
+
 UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
 {
-/* The list item knows which list it is in.  Obtain the list from the list
-item. */
-List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer;
+    /* The list item knows which list it is in.  Obtain the list from the list
+     * item. */
+    List_t * const pxList = pxItemToRemove->pxContainer;
 
-	pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
-	pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
+    traceENTER_uxListRemove( pxItemToRemove );
 
-	/* Only used during decision coverage testing. */
-	mtCOVERAGE_TEST_DELAY();
+    pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
+    pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
 
-	/* Make sure the index is left pointing to a valid item. */
-	if( pxList->pxIndex == pxItemToRemove )
-	{
-		pxList->pxIndex = pxItemToRemove->pxPrevious;
-	}
-	else
-	{
-		mtCOVERAGE_TEST_MARKER();
-	}
+    /* Only used during decision coverage testing. */
+    mtCOVERAGE_TEST_DELAY();
 
-	pxItemToRemove->pvContainer = NULL;
-	( pxList->uxNumberOfItems )--;
+    /* Make sure the index is left pointing to a valid item. */
+    if( pxList->pxIndex == pxItemToRemove )
+    {
+        pxList->pxIndex = pxItemToRemove->pxPrevious;
+    }
+    else
+    {
+        mtCOVERAGE_TEST_MARKER();
+    }
 
-	return pxList->uxNumberOfItems;
+    pxItemToRemove->pxContainer = NULL;
+    ( pxList->uxNumberOfItems ) = ( UBaseType_t ) ( pxList->uxNumberOfItems - 1U );
+
+    traceRETURN_uxListRemove( pxList->uxNumberOfItems );
+
+    return pxList->uxNumberOfItems;
 }
 /*-----------------------------------------------------------*/
-

__f

@@ -41,10 +41,21 @@
 ./Source/include/prescaler.h
 ./Source/include/timer.h
 ./Source/include/uart.h
+./Source/include/CMakeLists.txt
+./Source/include/atomic.h
+./Source/include/message_buffer.h
+./Source/include/mpu_prototypes.h
+./Source/include/mpu_syscall_numbers.h
+./Source/include/newlib-freertos.h
+./Source/include/picolibc-freertos.h
+./Source/include/stack_macros.h
+./Source/include/stream_buffer.h
 ./Source/readme.txt
 ./Source/list.c
 ./Source/croutine.c
+./Source/stream_buffer.c
 ./Source/tasks.c
+./Source/.tasks.c.swp
 ./Demo
 ./Demo/arch
 ./Demo/arch/clib.c
@@ -62,13 +73,208 @@
 ./Demo/Common
 ./Demo/Common/.gdb_history
 ./Demo/Common/FreeRTOS-openocd.c
+./Demo/Common/bin
+./Demo/Common/X.hpp
+./Demo/Common/X.cpp
+./Demo/Common/FreeRTOSStreamBuf.hpp
+./Demo/Common/SimpleOStream.hpp
+./Demo/Common/include
+./Demo/Common/include/Timer.hpp
+./Demo/Common/include/FreeRTOS
+./Demo/Common/include/FreeRTOS/EventGroups.hpp
+./Demo/Common/include/FreeRTOS/MessageBuffer.hpp
+./Demo/Common/include/FreeRTOS/Mutex.hpp
+./Demo/Common/include/FreeRTOS/Queue.hpp
+./Demo/Common/include/FreeRTOS/Semaphore.hpp
+./Demo/Common/include/FreeRTOS/StreamBuffer.hpp
+./Demo/Common/include/FreeRTOS/Timer.hpp
+./Demo/Common/include/FreeRTOS/Task.hpp
+./Demo/Common/include/FreeRTOS/Kernel.hpp
+./Demo/Common/lib
+./Demo/Common/lib/cJSON_Utils.c
+./Demo/Common/lib/cJSON.c
+./Demo/Common/lib/cJSON.h
+./Demo/Common/lib/cJSON_Utils.h
 ./Demo/Common/Makefile
 ./Demo/Common/main.cpp
-./Demo/Common/bin
 ./Demo/conf
 ./Demo/conf/FreeRTOSConfig.h
 ./gdb.txt
-./.gdb_history
 ./tags
 ./__t
 ./__f
+./.git
+./.git/branches
+./.git/description
+./.git/hooks
+./.git/hooks/applypatch-msg.sample
+./.git/hooks/commit-msg.sample
+./.git/hooks/fsmonitor-watchman.sample
+./.git/hooks/post-update.sample
+./.git/hooks/pre-applypatch.sample
+./.git/hooks/pre-commit.sample
+./.git/hooks/pre-merge-commit.sample
+./.git/hooks/pre-push.sample
+./.git/hooks/pre-rebase.sample
+./.git/hooks/pre-receive.sample
+./.git/hooks/prepare-commit-msg.sample
+./.git/hooks/push-to-checkout.sample
+./.git/hooks/update.sample
+./.git/info
+./.git/info/exclude
+./.git/refs
+./.git/refs/heads
+./.git/refs/heads/master
+./.git/refs/heads/starter
+./.git/refs/tags
+./.git/refs/remotes
+./.git/refs/remotes/v
+./.git/refs/remotes/v/starter
+./.git/objects
+./.git/objects/pack
+./.git/objects/info
+./.git/objects/45
+./.git/objects/45/b37b0d298b4e8e3d6cfba6efd43cc8a80d0487
+./.git/objects/a0
+./.git/objects/a0/e3d5165b78e9718c77332a680dbdecb0f75009
+./.git/objects/e5
+./.git/objects/e5/954a793ab23574d479dfd8a5476b441045e49b
+./.git/objects/81
+./.git/objects/81/a3ab77abb8b95eea85b07e854c77d74771cad0
+./.git/objects/81/518ecb4339e35363d844853fde09116e314cea
+./.git/objects/3a
+./.git/objects/3a/b4146ec1632a8561c32b00a02aa5ef10f3753b
+./.git/objects/ba
+./.git/objects/ba/a5f136424add9d1b77d934183834fe23ef290c
+./.git/objects/fa
+./.git/objects/fa/e73fe5c5b97fc397b2e246efc67b6326bb3c86
+./.git/objects/fa/7ab0256f76a61285dea9ebb840a60ad9b5368b
+./.git/objects/5c
+./.git/objects/5c/21ce7485473baef33bc70b06ab35c068d8d400
+./.git/objects/48
+./.git/objects/48/fc14bbf73c235e7ff83c24f03442bb1f4954f1
+./.git/objects/8c
+./.git/objects/8c/9261a196bc5f790ecba87be0728df775f16994
+./.git/objects/13
+./.git/objects/13/5b620e1f9a9e0a3c08e4dce18ad3b8379f876b
+./.git/objects/13/59090c321f3f7497d5edc97542bc0dd516356f
+./.git/objects/34
+./.git/objects/34/348fec0aa202b4b0d716239da3504b2effdb71
+./.git/objects/23
+./.git/objects/23/b7d277ae8e8981f8860f0a012fa475ca6607a5
+./.git/objects/fb
+./.git/objects/fb/fdf3e7a32e66ca2c714b136827267fbe3e6740
+./.git/objects/6b
+./.git/objects/6b/d9694a7fea3f9a53fd2da420b0fceba4480d7d
+./.git/objects/15
+./.git/objects/15/77535c524b8f7f8328509632390360e5e268e8
+./.git/objects/c3
+./.git/objects/c3/a30a56f42678fbf403a431874af64c4f925391
+./.git/objects/7a
+./.git/objects/7a/7a2ea49058caaea65402f0e804ea6d4847539c
+./.git/objects/e2
+./.git/objects/e2/f75e4445e79b67c5cfe46f5f67f611fbaf646a
+./.git/objects/4d
+./.git/objects/4d/6d4d7e25a81d87fb9ace7573b1eb9b0fdba38f
+./.git/objects/62
+./.git/objects/62/5548c56c78b594a09f5c2899b9a328edbca57c
+./.git/objects/7d
+./.git/objects/7d/34ec63bb51796ff02f130e26c23ccd0f291e3d
+./.git/objects/78
+./.git/objects/78/c78ff5fc463de1a9a6c87f682fd81d0a68f818
+./.git/objects/56
+./.git/objects/56/07e07b123a7476c484168e29103a4d232f022f
+./.git/objects/dc
+./.git/objects/dc/655ae20c83666f2b45c475850acce797c31712
+./.git/objects/dc/85497503cf1dec9e79aa32e19830d18627b7a1
+./.git/objects/0f
+./.git/objects/0f/ad862693692a2a00d134252d24245429a38933
+./.git/objects/0f/da74c35c06a8af6b913da649275801ea364b9b
+./.git/objects/a3
+./.git/objects/a3/81ed0726010521968e55fc974332b2c4156490
+./.git/objects/75
+./.git/objects/75/d391d4ce4e4d281ea1a9eeacee36fb57fd31ed
+./.git/objects/5b
+./.git/objects/5b/2ad474d848a7d690dc14dacb2edbe61b9d66c6
+./.git/objects/cd
+./.git/objects/cd/6a9344c4d2b7ea59069ca8eef52bc3c14d5db6
+./.git/objects/95
+./.git/objects/95/6264b953a110f90c92e44c09e979aa33e5f58f
+./.git/objects/2d
+./.git/objects/2d/7b5e90a70c06b879216f0381a0b1ed5f708cee
+./.git/objects/ab
+./.git/objects/ab/00d09d76ce0debee162e1770de2c11b5031572
+./.git/objects/ab/b56f10c3eb0a28a7193a0d482edcc553b3b954
+./.git/objects/6d
+./.git/objects/6d/86149ca6bcc6719648f0ca98d3263f706d273c
+./.git/objects/b8
+./.git/objects/b8/d6dd89094179130a8ddcfac6ccda5bd341be98
+./.git/objects/3c
+./.git/objects/3c/6c6bf308576cf9936700040b4385041042dce8
+./.git/objects/67
+./.git/objects/67/d3b7342c2bdce013c4b04c2b54daedf1f7715c
+./.git/objects/37
+./.git/objects/37/06184d9dbea321cae9592a7c6599dbde2a6b7a
+./.git/objects/d2
+./.git/objects/d2/feaddba00c34854b3a106e3d5d2946da292277
+./.git/objects/ae
+./.git/objects/ae/ca28735c9913d0418a62cf69f9ae731a2294c9
+./.git/objects/d9
+./.git/objects/d9/f52c1f2e05816b8dd193f22f5d1acb2764a0c0
+./.git/objects/df
+./.git/objects/df/3a9460cddec035804bb122af8ddcffd713e4a6
+./.git/objects/f1
+./.git/objects/f1/39ef0512d9b11f7a9a6d7b015ca6c7a9edaeef
+./.git/objects/2f
+./.git/objects/2f/7b50abf0fbafcbd186bad9441665ba6f7569bd
+./.git/objects/41
+./.git/objects/41/855c26ad9bebd897c9412bc4e7f5be69b4ad21
+./.git/objects/e0
+./.git/objects/e0/18d1ff244e1696cd85273cb36a1f71601c9ee1
+./.git/objects/c7
+./.git/objects/c7/ab9023f007fb4f2a3083d398243985b806f724
+./.git/objects/f3
+./.git/objects/f3/1fd927646698c28970e2a9de2fb126854ced84
+./.git/objects/f2
+./.git/objects/f2/814eb6ec114655e87ffdea55fee06c753032ae
+./.git/objects/89
+./.git/objects/89/c2735a8f73706f2a01f15f1359dd08bb56676b
+./.git/objects/9e
+./.git/objects/9e/035cca58ac05b855842b1052979661e57005ec
+./.git/objects/ec
+./.git/objects/ec/531c45cdea82edc87747207b5d15b5e0aef062
+./.git/objects/bd
+./.git/objects/bd/3dfdb012139317c927d6ca42330fef67b19902
+./.git/objects/28
+./.git/objects/28/849eb45410f46b5cc41ba6a67f5071dfec5e7a
+./.git/objects/12
+./.git/objects/12/fd856f80e1862f09fc8f56765a40029997726c
+./.git/objects/99
+./.git/objects/99/20965ed94cb7c6ddd8f6241dc0e4e92bb2013c
+./.git/objects/e8
+./.git/objects/e8/77421c109080020054ccd81b92f73f27849ed0
+./.git/objects/5f
+./.git/objects/5f/3e7e9a0a47f25fc50b1d39542d654cfed861dc
+./.git/objects/bf
+./.git/objects/bf/d3073292a71eadb70fae0323087586bfb78996
+./.git/objects/42
+./.git/objects/42/369fa558663fda06848be22706c80eab8ff09f
+./.git/objects/61
+./.git/objects/61/d00c335518254b1154756ee1487eb0b64bb521
+./.git/objects/17
+./.git/objects/17/448b4161ecd3ad249ff4de2e34ebce71c1122a
+./.git/COMMIT_EDITMSG
+./.git/logs
+./.git/logs/HEAD
+./.git/logs/refs
+./.git/logs/refs/heads
+./.git/logs/refs/heads/master
+./.git/logs/refs/heads/starter
+./.git/logs/refs/remotes
+./.git/logs/refs/remotes/v
+./.git/logs/refs/remotes/v/starter
+./.git/config
+./.git/HEAD
+./.git/index
+./.gdb_history
+./1