diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/FreeRTOSConfig.h b/Demo/XMOS_XS1_XCC/XC-1_multithread/FreeRTOSConfig.h deleted file mode 100644 index 44c398c..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/FreeRTOSConfig.h +++ /dev/null @@ -1,98 +0,0 @@ -/* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. - - *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * - *************************************************************************** - - 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. - - 1 tab == 4 spaces! - - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. - - http://www.SafeRTOS.com - A version that is certified for use in safety - critical systems. - - http://www.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. -*/ - -#ifndef FREERTOS_CONFIG_H -#define FREERTOS_CONFIG_H - -/*----------------------------------------------------------- - * Application specific definitions. - * - * These definitions should be adjusted for your particular hardware and - * application requirements. - * - * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE - * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. - * - * See http://www.freertos.org/a00110.html. - *----------------------------------------------------------*/ - -#define configUSE_PREEMPTION 1 -#define configUSE_IDLE_HOOK 1 -#define configUSE_TICK_HOOK 0 -#define configCPU_CLOCK_HZ ( ( unsigned long ) 400000000 ) -#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) -#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) -#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 85 ) -#define configMAX_TASK_NAME_LEN ( 8 ) -#define configUSE_TRACE_FACILITY 0 -#define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configQUEUE_REGISTRY_SIZE 0 - -/* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 1 -#define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) - -/* Set the following definitions to 1 to include the API function, or zero -to exclude the API function. */ - -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 1 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 - - -#endif /* FREERTOS_CONFIG_H */ diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/ParTest/ParTest.xc b/Demo/XMOS_XS1_XCC/XC-1_multithread/ParTest/ParTest.xc deleted file mode 100644 index d0e15a9..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/ParTest/ParTest.xc +++ /dev/null @@ -1,49 +0,0 @@ -#include -#include - -#if defined(XC_1) -on stdcore[0] : out port leds = XS1_PORT_8D; -unsigned long mask = 0xF0; -#elif defined(XC_1A) -on stdcore[0] : out port leds = XS1_PORT_4C; -unsigned long mask = 0x0F; -#elif defined(XC_2) -on stdcore[0] : out port leds = XS1_PORT_1E; -unsigned long mask = 0x01; -#elif defined(XC_3) -on stdcore[0] : out port leds = -unsigned long mask = -#elif defined(XC_5) -on stdcore[0] : out port leds = XS1_PORT_4E; -unsigned long mask = 0x0F; -#elif defined(XK_1) -on stdcore[0] : out port leds = XS1_PORT_4F; -unsigned long mask = 0x0F; -#elif defined(XDK) -on stdcore[0] : out port leds = XS1_PORT_1F; -unsigned long mask = 0x01; -#elif defined(STARTKIT) -on stdcore[0] : out port leds = XS1_PORT_1A; -unsigned long mask = 0x01; -#else -on stdcore[0] : out port leds = -unsigned long mask = -#endif - -int vParTestInitialise( void ) -{ - return 0; -} - -int vParTestSetLed(unsigned long value) -{ - if (value != 0) { - leds <: mask; - } else { - leds <: 0x00; - } - - return 0; -} - - diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.c b/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.c deleted file mode 100644 index 9b777cc..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.c +++ /dev/null @@ -1,49 +0,0 @@ -#include "FreeRTOS.h" -#include "task.h" -#include "queue.h" - - -static void blockingProducer(void *arg); -static void blockingConsumer(void *arg); - -unsigned long block_result; -unsigned long prev_block_result; - -void vStartBlockedQueueTest(unsigned portBASE_TYPE priority) -{ - xQueueHandle block_handle; - block_handle = xQueueCreate(1, sizeof(unsigned long)); - xTaskCreate(blockingProducer, (signed char *)"bprod", 85, (void *)block_handle, priority, NULL); - xTaskCreate(blockingConsumer, (signed char *)"bcons", 85, (void *)block_handle, priority, NULL); -} - -static void blockingProducer(void *arg) -{ - unsigned long sendbuf = 1; - - while (1) { - xQueueSend((xQueueHandle)arg, &sendbuf, 10000); - sendbuf++; - vTaskDelay(50); - } -} - -static void blockingConsumer(void *arg) -{ - unsigned long recbuf; - - while (1) { - xQueueReceive((xQueueHandle)arg, &recbuf, 10000); - block_result = recbuf; - } -} - -portBASE_TYPE xAreBlockingQueuesStillRunning() -{ - if (block_result != prev_block_result) { - prev_block_result = block_result; - return pdTRUE; - } else { - return pdFALSE; - } -} diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.h b/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.h deleted file mode 100644 index 214ca7c..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/BlockQ.h +++ /dev/null @@ -1,7 +0,0 @@ -#ifndef BLOCKQ_H -#define BLOCKQ_H - -void vStartBlockedQueueTest(unsigned portBASE_TYPE priority); -portBASE_TYPE xAreBlockingQueuesStillRunning(); - -#endif diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.c b/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.c deleted file mode 100644 index c809930..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.c +++ /dev/null @@ -1,51 +0,0 @@ -#include "FreeRTOS.h" -#include "task.h" -#include "queue.h" - - -static void pollingProducer(void *arg); -static void pollingConsumer(void *arg); - -unsigned long poll_result; -unsigned long prev_poll_result; - -void vStartPolledQueueTest(unsigned portBASE_TYPE priority) -{ - xQueueHandle poll_handle; - poll_handle = xQueueCreate(1, sizeof(unsigned long)); - xTaskCreate(pollingProducer, (signed char *)"cprod", 85, (void *)poll_handle, priority, NULL); - xTaskCreate(pollingConsumer, (signed char *)"ccons", 85, (void *)poll_handle, priority, NULL); -} - -static void pollingProducer(void *arg) -{ - unsigned long sendbuf = 1; - - while (1) { - xQueueSend((xQueueHandle)arg, &sendbuf, 0); - sendbuf++; - vTaskDelay(50); - } -} - -static void pollingConsumer(void *arg) -{ - unsigned long recbuf; - - while (1) { - if (xQueueReceive((xQueueHandle)arg, &recbuf, 0) == pdTRUE) { - poll_result = recbuf; - } - vTaskDelay(25); - } -} - -portBASE_TYPE xArePollingQueuesStillRunning() -{ - if (poll_result != prev_poll_result) { - prev_poll_result = poll_result; - return pdTRUE; - } else { - return pdFALSE; - } -} diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.h b/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.h deleted file mode 100644 index 7332da0..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/QueueTest/PollQ.h +++ /dev/null @@ -1,7 +0,0 @@ -#ifndef POLLQ_H -#define POLLQ_H - -void vStartPolledQueueTest(unsigned portBASE_TYPE priority); -portBASE_TYPE xArePollingQueuesStillRunning(); - -#endif diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/main.c b/Demo/XMOS_XS1_XCC/XC-1_multithread/main.c deleted file mode 100644 index baae65c..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/main.c +++ /dev/null @@ -1,90 +0,0 @@ -/****************************************************************************** - * File: main.c * - * Author: Bianco Zandbergen (bianco [at] zandbergen [dot] name) * - * Changes: 17 feb 2010, initial release * - * * - * Simple demo running a integer task and tasks to test blocked and * - * polled queues. One or more LED's on the board will blink if nothing goes * - * wrong. * - * * - * EDIT: main() has been renamed to start_FreeRTOS() for the parallel test. * - * See par.xc * - ******************************************************************************/ -#include -#include "FreeRTOS.h" -#include "task.h" -#include "croutine.h" -#include "queue.h" - -/* tests */ -#include "integer.h" -#include "QueueTest/BlockQ.h" -#include "QueueTest/PollQ.h" - -#define mainMATH_PRIORITY (tskIDLE_PRIORITY + 1) -#define mainBLOCKED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) -#define mainPOLLED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) -#define mainCHECK_PRIORITY (tskIDLE_PRIORITY + 3) - -void vCheckTasks(); - -/* renamed main routine */ -int start_FreeRTOS(void) -{ - vParTestInitialise(); - vStartIntegerMathTasks(mainMATH_PRIORITY); - vStartBlockedQueueTest(mainBLOCKED_QUEUE_PRIORITY); - vStartPolledQueueTest(mainPOLLED_QUEUE_PRIORITY); - xTaskCreate(vCheckTasks, (signed char *) "check", 85, NULL, mainCHECK_PRIORITY, NULL); - vTaskStartScheduler(); - - return 0; /* should not reach */ -} - -/* check if tasks are still running OK. - * If everything is Ok the LED's will blink on 1HZ. - * If something is wrong it will not blink. - */ -void vCheckTasks() -{ - #define TEST_ERROR 1 - #define TEST_FINE 0 - - int led_state = 0; - int test_state = TEST_FINE; - - while(1) { - - vTaskDelay(500); - - if (test_state == TEST_FINE) { - if (xAreIntegerMathsTaskStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } - - if (xAreBlockingQueuesStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } - - if (xArePollingQueuesStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } - - } - - if (test_state == TEST_FINE) { - if (led_state) { - led_state = 0; - vParTestSetLed((unsigned long)led_state); - } else { - led_state = 1; - vParTestSetLed((unsigned long)led_state); - } - } - } -} - -void vApplicationIdleHook(void) -{ - while(1); -} diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/makefile b/Demo/XMOS_XS1_XCC/XC-1_multithread/makefile deleted file mode 100644 index 34dd82a..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/makefile +++ /dev/null @@ -1,113 +0,0 @@ -# Makefile for the FreeRTOS XMOS XS1 port -# Works on GNU/Linux and Mac OS X. -# Might need modification on Windows. - -# valid options with configured LED output are: -# XC_1, XC_1A, XC_2, XC_5, XK_1, XDK -# Use CUSTOM to specify own target (need to modify ParTest.xc in this case) -# -# Edit: this demo only runs on the XC-1 board without code modification -BOARD=XC_1 - -# specify target processor here if board is CUSTOM -ifeq ($(BOARD),CUSTOM) - TARGET= -endif -ifeq ($(BOARD),XC_1) - TARGET=XS1-G04B-FB512-C4 -endif -ifeq ($(BOARD),XC_1A) - TARGET=XC-1A -endif -ifeq ($(BOARD),XC_2) - TARGET=XC-2 -endif -ifeq ($(BOARD),XC_5) - TARGET=XC-5 -endif -ifeq ($(BOARD),XK_1) - TARGET=XK-1 -endif -ifeq ($(BOARD),XDK) - TARGET=XDK -endif - -# program executable name -PROGRAM=demo.xe - -# compiler optimisation -SRC_OPT=-O0 - -# debug options -DEBUG=-g - -SOURCE_DIR=../../../Source -PORT_DIR=../../../Source/portable/XCC/XMOS_XS1 -DEMO_DIR=../../Common/Minimal -INCLUDE=-I . -I $(SOURCE_DIR)/include -I $(PORT_DIR) -INCLUDE_COMMON=-I ../../Common/include -CFLAGS= $(DEBUG) -D XCC_XMOS_XS1 -target=$(TARGET) $(INCLUDE) - -REMOVE=rm -f - -OBJS=tasks.o queue.o list.o croutine.o heap_3.o port.o port_asm.o port_xc.o \ - main.o ParTest.o par.o - -# tests -OBJS+=integer.o BlockQ.o PollQ.o - -all: $(PROGRAM) - -$(PROGRAM): $(OBJS) - xcc -report $(DEBUG) $(CFLAGS) $(OBJS) -o $(PROGRAM) - -tasks.o: $(SOURCE_DIR)/tasks.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(SOURCE_DIR)/tasks.c - -queue.o: $(SOURCE_DIR)/queue.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(SOURCE_DIR)/queue.c - -list.o: $(SOURCE_DIR)/list.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(SOURCE_DIR)/list.c - -croutine.o: $(SOURCE_DIR)/croutine.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(SOURCE_DIR)/croutine.c - -heap_3.o: $(SOURCE_DIR)/portable/MemMang/heap_3.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(SOURCE_DIR)/portable/MemMang/heap_3.c - -port.o: $(PORT_DIR)/port.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(PORT_DIR)/port.c - -port_asm.o: $(PORT_DIR)/port_asm.S FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(PORT_DIR)/port_asm.S - -port_xc.o: $(PORT_DIR)/port_xc.xc FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(PORT_DIR)/port_xc.xc - -main.o: main.c FreeRTOSConfig.h - xcc -c $(SRC_OPT) $(CFLAGS) $(INCLUDE_COMMON) main.c - -ParTest.o: ParTest/ParTest.xc - xcc -c $(SRC_OPT) $(CFLAGS) -D $(BOARD) ParTest/ParTest.xc - -integer.o: $(DEMO_DIR)/integer.c - xcc -c $(SRC_OPT) $(CFLAGS) $(INCLUDE_COMMON) $(DEMO_DIR)/integer.c - -BlockQ.o: QueueTest/BlockQ.c - xcc -c $(SRC_OPT) $(CFLAGS) QueueTest/BlockQ.c - -PollQ.o: QueueTest/PollQ.c - xcc -c $(SRC_OPT) $(CFLAGS) QueueTest/PollQ.c - -par.o: par.xc - xcc -c $(SRC_OPT) $(CFLAGS) par.xc - -clean: - $(REMOVE) $(OBJS) $(PROGRAM) - -run: - xrun --io $(PROGRAM) - -runsim: - xsim -t $(PROGRAM) diff --git a/Demo/XMOS_XS1_XCC/XC-1_multithread/par.xc b/Demo/XMOS_XS1_XCC/XC-1_multithread/par.xc deleted file mode 100644 index f738941..0000000 --- a/Demo/XMOS_XS1_XCC/XC-1_multithread/par.xc +++ /dev/null @@ -1,92 +0,0 @@ -/****************************************************************************** - * File: main.c * - * Author: Bianco Zandbergen (bianco [at] zandbergen [dot] name) * - * Changes: 18 feb 2010, initial release * - * * - * Demo that demonstrates the use of FreeRTOS in a single hardware thread * - * together with multiple other hardware threads on the same and other cores. * - * The FreeRTOS system runs the same demo as in the simple directory. * - * * - * FreeRTOS runs on core 0 (cannot run on other cores.) * - * Three LED controller functions run on core 0 whereby the timing for the * - * blinking is generated by three timing threads running on core 1, 2, 3. * - * * - * Note: This demo runs only correctly on the XC-1 (not XC-1A!) board. * - * * - ******************************************************************************/ -#include -#include - -#define DELAY_500MS 50000000 -#define DELAY_250MS 25000000 -#define DELAY_125MS 12500000 - -/* port declarations for the clock LED's connected to core 0 */ -on stdcore[0] : out port clock_led1 = XS1_PORT_4A; -on stdcore[0] : out port clock_led2 = XS1_PORT_4B; -on stdcore[0] : out port clock_led3 = XS1_PORT_4C; -on stdcore[0] : out port select_green = XS1_PORT_1E; - -/* the renamed main() function of FreeRTOS */ -int start_FreeRTOS(void); - -/* receive the LED state from the channel and set the LED state */ -void led_controller(out port p, chanend c) -{ - unsigned long data; - - while(1) { - c :> data; - - if (data == 0) { - p <: 0x00; - } else { - p <: 0x0F; - } - } -} - -/* send the LED state on timed intervals through the channel */ -void timing_generator(unsigned long delay, chanend c) -{ - timer t; - unsigned long time; - - t :> time; - - while (1) { - - t when timerafter(time) :> void; - c <: 1; - time += delay; - - t when timerafter(time) :> void; - c <: 0; - time += delay; - - } -} - -int main(void) -{ - - /* channels for communication between timing generators and led controllers */ - chan c1, c2, c3; - - /* start these statements as concurrent hardware threads, among them the FreeRTOS OS */ - par { - /* tasks on core 0 */ - on stdcore[0] : start_FreeRTOS(); - on stdcore[0] : select_green <: 1; /* enable the green clock leds */ - on stdcore[0] : led_controller(clock_led1, c1); - on stdcore[0] : led_controller(clock_led2, c2); - on stdcore[0] : led_controller(clock_led3, c3); - - /* tasks on core 1, 2, 3 */ - on stdcore[1] : timing_generator(DELAY_500MS, c1); - on stdcore[2] : timing_generator(DELAY_250MS, c2); - on stdcore[3] : timing_generator(DELAY_125MS, c3); - } - - return 0; -} diff --git a/Demo/XMOS_XS1_XCC/readme.txt b/Demo/XMOS_XS1_XCC/readme.txt index 64f191e..3aa443b 100644 --- a/Demo/XMOS_XS1_XCC/readme.txt +++ b/Demo/XMOS_XS1_XCC/readme.txt @@ -1,5 +1,3 @@ -This directory contains two demo's for the XMOS XS1 architecture port. - The demo in the simple directory contains the basic demonstration. The demo runs three tests: @@ -16,12 +14,6 @@ This can be defined in the makefile. Supported boards are: XC-1, XC-1A, XC2, XC-5, XK-1, XDK (not all of them are tested though) -The demo in the XC1_multithread directory shows how -to use FreeRTOS together with other hardware threads -on the same and other cores. This demo can only be run from -the XC-1 (not XC-1A!) board without modification. The main routine -is moved from main.c to par.xc. - Current API calls tested on this port: xTaskCreate @@ -33,8 +25,7 @@ xQueueReceive Modifications to the common code that breaks with other ports: -xQueueHandle is defined as struct QueueDefinition{} * instead of void * -in Source/include/queue.h +Currently none For any questions contact the author of this port at bianco [at] zandbergen [dot] name diff --git a/Demo/XMOS_XS1_XCC/simple/FreeRTOSConfig.h b/Demo/XMOS_XS1_XCC/simple/FreeRTOSConfig.h index 44c398c..0628bdd 100644 --- a/Demo/XMOS_XS1_XCC/simple/FreeRTOSConfig.h +++ b/Demo/XMOS_XS1_XCC/simple/FreeRTOSConfig.h @@ -1,54 +1,66 @@ /* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * *************************************************************************** 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + 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 from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** - http://www.SafeRTOS.com - A version that is certified for use in safety - critical systems. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. - http://www.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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 FREERTOS_CONFIG_H @@ -66,33 +78,33 @@ * See http://www.freertos.org/a00110.html. *----------------------------------------------------------*/ -#define configUSE_PREEMPTION 1 -#define configUSE_IDLE_HOOK 1 -#define configUSE_TICK_HOOK 0 -#define configCPU_CLOCK_HZ ( ( unsigned long ) 400000000 ) -#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) -#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) -#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 85 ) -#define configMAX_TASK_NAME_LEN ( 8 ) -#define configUSE_TRACE_FACILITY 0 -#define configUSE_16_BIT_TICKS 0 -#define configIDLE_SHOULD_YIELD 1 -#define configQUEUE_REGISTRY_SIZE 0 +#define configUSE_PREEMPTION 1 +#define configUSE_IDLE_HOOK 1 +#define configUSE_TICK_HOOK 0 +#define configCPU_CLOCK_HZ ( ( unsigned long ) 400000000 ) +#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) +#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) +#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 85 ) +#define configMAX_TASK_NAME_LEN ( 8 ) +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 1 +#define configQUEUE_REGISTRY_SIZE 0 /* Co-routine definitions. */ -#define configUSE_CO_ROUTINES 1 +#define configUSE_CO_ROUTINES 1 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 ) /* Set the following definitions to 1 to include the API function, or zero to exclude the API function. */ -#define INCLUDE_vTaskPrioritySet 1 -#define INCLUDE_uxTaskPriorityGet 1 -#define INCLUDE_vTaskDelete 1 -#define INCLUDE_vTaskCleanUpResources 1 -#define INCLUDE_vTaskSuspend 1 -#define INCLUDE_vTaskDelayUntil 1 -#define INCLUDE_vTaskDelay 1 +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 #endif /* FREERTOS_CONFIG_H */ diff --git a/Demo/XMOS_XS1_XCC/simple/main.c b/Demo/XMOS_XS1_XCC/simple/main.c index 70bad59..f63636a 100644 --- a/Demo/XMOS_XS1_XCC/simple/main.c +++ b/Demo/XMOS_XS1_XCC/simple/main.c @@ -20,24 +20,24 @@ #include "QueueTest/PollQ.h" #include "partest.h" -#define mainMATH_PRIORITY (tskIDLE_PRIORITY + 1) -#define mainBLOCKED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) -#define mainPOLLED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) -#define mainCHECK_PRIORITY (tskIDLE_PRIORITY + 3) +#define mainMATH_PRIORITY (tskIDLE_PRIORITY + 1) +#define mainBLOCKED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) +#define mainPOLLED_QUEUE_PRIORITY (tskIDLE_PRIORITY + 2) +#define mainCHECK_PRIORITY (tskIDLE_PRIORITY + 3) void vCheckTasks(); int vParTestSetLed(unsigned long value); int main(void) { - vParTestInitialise(); - vStartIntegerMathTasks(mainMATH_PRIORITY); - vStartBlockedQueueTest(mainBLOCKED_QUEUE_PRIORITY); - vStartPolledQueueTest(mainPOLLED_QUEUE_PRIORITY); - xTaskCreate(vCheckTasks, (signed char *) "check", 85, NULL, mainCHECK_PRIORITY, NULL); - vTaskStartScheduler(); + vParTestInitialise(); + vStartIntegerMathTasks(mainMATH_PRIORITY); + vStartBlockedQueueTest(mainBLOCKED_QUEUE_PRIORITY); + vStartPolledQueueTest(mainPOLLED_QUEUE_PRIORITY); + xTaskCreate(vCheckTasks, (signed char *) "check", 85, NULL, mainCHECK_PRIORITY, NULL); + vTaskStartScheduler(); - return 0; /* should not reach */ + return 0; /* should not reach */ } /* check if tasks are still running OK. @@ -46,44 +46,44 @@ int main(void) */ void vCheckTasks() { - #define TEST_ERROR 1 - #define TEST_FINE 0 + #define TEST_ERROR 1 + #define TEST_FINE 0 - int led_state = 0; - int test_state = TEST_FINE; + int led_state = 0; + int test_state = TEST_FINE; - while(1) { - - vTaskDelay(500); + while(1) { + + vTaskDelay(100); - if (test_state == TEST_FINE) { - if (xAreIntegerMathsTaskStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } + if (test_state == TEST_FINE) { + if (xAreIntegerMathsTaskStillRunning() != pdTRUE) { + test_state = TEST_ERROR; + } - if (xAreBlockingQueuesStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } - - if (xArePollingQueuesStillRunning() != pdTRUE) { - test_state = TEST_ERROR; - } - - } + if (xAreBlockingQueuesStillRunning() != pdTRUE) { + test_state = TEST_ERROR; + } + + if (xArePollingQueuesStillRunning() != pdTRUE) { + test_state = TEST_ERROR; + } + + } - if (test_state == TEST_FINE) { - if (led_state) { - led_state = 0; - vParTestSetLed((unsigned long)led_state); - } else { - led_state = 1; - vParTestSetLed((unsigned long)led_state); - } - } - } + if (test_state == TEST_FINE) { + if (led_state) { + led_state = 0; + vParTestSetLed((unsigned long)led_state); + } else { + led_state = 1; + vParTestSetLed((unsigned long)led_state); + } + } + } } void vApplicationIdleHook(void) { - while(1); + while(1); } diff --git a/Demo/XMOS_XS1_XCC/simple/makefile b/Demo/XMOS_XS1_XCC/simple/makefile index 03a0e63..d82ecb4 100644 --- a/Demo/XMOS_XS1_XCC/simple/makefile +++ b/Demo/XMOS_XS1_XCC/simple/makefile @@ -1,9 +1,8 @@ # Makefile for the FreeRTOS XMOS XS1 port. -# Works on GNU/Linux and Mac OS X. -# Might need modification on Windows. +# Works on GNU/Linux, Mac OS X and Windows # valid options with configured LED output are: -# XC_1, XC_1A, XC_2, XC_5, XK_1, XDK +# XC_1, XC_1A, XC_2, XC_5, XK_1, XK_1A, XDK, STARTKIT # Use CUSTOM to specify own target (need to modify ParTest.xc in this case) BOARD=STARTKIT diff --git a/License/license.txt b/License/license.txt index 84f354c..be959bb 100644 --- a/License/license.txt +++ b/License/license.txt @@ -1,58 +1,54 @@ -The FreeRTOS.org source code is licensed by the modified GNU General Public -License (GPL) text provided below. The FreeRTOS download also includes -demo application source code, some of which is provided by third parties -AND IS LICENSED SEPARATELY FROM FREERTOS.ORG. +The FreeRTOS source code is licensed by a *modified* GNU General Public +License (GPL). The modification is provided in the form of an exception. -For the avoidance of any doubt refer to the comment included at the top -of each source and header file for license and copyright information. +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. -This is a list of files for which Real Time Engineers Ltd are not the -copyright owner and are NOT COVERED BY THE GPL. -1) Various header files provided by silicon manufacturers and tool vendors - that define processor specific memory addresses and utility macros. - Permission has been granted by the various copyright holders for these - files to be included in the FreeRTOS download. Users must ensure license - conditions are adhered to for any use other than compilation of the - FreeRTOS demo applications. +---------------------------------------------------------------------------- -2) The uIP TCP/IP stack the copyright of which is held by Adam Dunkels. - Users must ensure the open source license conditions stated at the top - of each uIP source file is understood and adhered to. +The FreeRTOS GPL Exception Text: -3) The lwIP TCP/IP stack the copyright of which is held by the Swedish - Institute of Computer Science. Users must ensure the open source license - conditions stated at the top of each lwIP source file is understood and - adhered to. +Any FreeRTOS source code, whether modified or in it's original release form, +or whether in whole or in part, can only be distributed by you under the terms +of the GNU General Public License plus this exception. An independent module is +a module which is not derived from or based on FreeRTOS. -4) Various peripheral driver source files and binaries provided by silicon - manufacturers and tool vendors. Permission has been granted by the - various copyright holders for these files to be included in the FreeRTOS - download. Users must ensure license conditions are adhered to for any - use other than compilation of the FreeRTOS demo applications. +Clause 1: -5) The files contained within FreeRTOS\Demo\WizNET_DEMO_TERN_186\tern_code, - which are slightly modified versions of code provided by and copyright to - Tern Inc. +Linking FreeRTOS statically or dynamically with other modules is making a +combined work based on FreeRTOS. Thus, the terms and conditions of the GNU +General Public License cover the whole combination. -Errors and omissions should be reported to Richard Barry, contact details for -whom can be obtained from http://www.FreeRTOS.org. +As a special exception, the copyright holder of FreeRTOS gives you permission +to link FreeRTOS with independent modules that communicate with FreeRTOS +solely through the FreeRTOS API interface, regardless of the license terms of +these independent modules, and to copy and distribute the resulting combined +work under terms of your choice, provided that + + Every copy of the combined work is accompanied by a written statement that + details to the recipient the version of FreeRTOS used and an offer by yourself + to provide the FreeRTOS source code (including any modifications you may have + made) should the recipient request it. + + The combined work is not itself an RTOS, scheduler, kernel or related product. + + The independent modules add significant and primary functionality to FreeRTOS + and do not merely extend the existing functionality already present in FreeRTOS. +Clause 2: -The GPL license text follows. +FreeRTOS may not be used for any competitive or comparative purpose, including the +publication of any form of run time or compile time metric, without the express +permission of Real Time Engineers Ltd. (this is the norm within the industry and +is intended to ensure information accuracy). -A special exception 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 any proprietary components. See the licensing section -of http://www.FreeRTOS.org for full details. The exception text is also -included at the bottom of this file. -------------------------------------------------------------------- +The standard GPL exception text: GNU GENERAL PUBLIC LICENSE @@ -396,40 +392,3 @@ consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Library General Public License instead of this License. ----------------------------------------------------------------------------- - -The FreeRTOS GPL Exception Text: - -Any FreeRTOS source code, whether modified or in it's original release form, -or whether in whole or in part, can only be distributed by you under the terms -of the GNU General Public License plus this exception. An independent module is -a module which is not derived from or based on FreeRTOS. - -Clause 1: - -Linking FreeRTOS statically or dynamically with other modules is making a -combined work based on FreeRTOS. Thus, the terms and conditions of the GNU -General Public License cover the whole combination. - -As a special exception, the copyright holder of FreeRTOS gives you permission -to link FreeRTOS with independent modules that communicate with FreeRTOS -solely through the FreeRTOS API interface, regardless of the license terms of -these independent modules, and to copy and distribute the resulting combined -work under terms of your choice, provided that - - + Every copy of the combined work is accompanied by a written statement that - details to the recipient the version of FreeRTOS used and an offer by yourself - to provide the FreeRTOS source code (including any modifications you may have - made) should the recipient request it. - - + The combined work is not itself an RTOS, scheduler, kernel or related product. - - + The independent modules add significant and primary functionality to FreeRTOS - and do not merely extend the existing functionality already present in FreeRTOS. - -Clause 2: - -FreeRTOS may not be used for any competitive or comparative purpose, including the -publication of any form of run time or compile time metric, without the express -permission of Real Time Engineers Ltd. (this is the norm within the industry and -is intended to ensure information accuracy). diff --git a/Source/croutine.c b/Source/croutine.c index b289691..54d8b54 100644 --- a/Source/croutine.c +++ b/Source/croutine.c @@ -1,54 +1,66 @@ /* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * *************************************************************************** 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + 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 from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. - http://www.SafeRTOS.com - A version that is certified for use in safety - critical systems. + 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.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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! */ #include "FreeRTOS.h" @@ -70,7 +82,7 @@ static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */ static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ -static xList 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 xList 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. --------------------------------*/ corCRCB * pxCurrentCoRoutine = NULL; @@ -94,7 +106,7 @@ static portTickType xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ } \ vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ -} +} /* * Utility to ready all the lists used by the scheduler. This is called @@ -160,10 +172,10 @@ corCRCB *pxCoRoutine; in a list. */ listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); - + /* Event lists are always in priority order. */ listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); - + /* Now the co-routine has been initialised it can be added to the ready list at the correct priority. */ prvAddCoRoutineToReadyQueue( pxCoRoutine ); @@ -171,11 +183,11 @@ corCRCB *pxCoRoutine; xReturn = pdPASS; } else - { + { xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; } - - return xReturn; + + return xReturn; } /*-----------------------------------------------------------*/ @@ -190,7 +202,7 @@ portTickType 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. */ - vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + ( void ) uxListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); /* The list item will be inserted in wake time order. */ listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); @@ -222,20 +234,20 @@ 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 ) ) + while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE ) { corCRCB *pxUnblockedCRCB; /* The pending ready list can be accessed by an ISR. */ portDISABLE_INTERRUPTS(); - { - pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); - vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + { + pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); } portENABLE_INTERRUPTS(); - vListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); - prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); } } /*-----------------------------------------------------------*/ @@ -263,13 +275,15 @@ corCRCB *pxCRCB; } /* See if this tick has made a timeout expire. */ - while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL ) - { - if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) - { - /* Timeout not yet expired. */ - break; - } + while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE ) + { + pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ); + + if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) + { + /* Timeout not yet expired. */ + break; + } portDISABLE_INTERRUPTS(); { @@ -278,18 +292,18 @@ corCRCB *pxCRCB; 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. */ - vListRemove( &( pxCRCB->xGenericListItem ) ); + uxListRemove( &( pxCRCB->xGenericListItem ) ); - /* Is the co-routine waiting on an event also? */ - if( pxCRCB->xEventListItem.pvContainer ) - { - vListRemove( &( pxCRCB->xEventListItem ) ); + /* Is the co-routine waiting on an event also? */ + if( pxCRCB->xEventListItem.pvContainer ) + { + ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); } } portENABLE_INTERRUPTS(); - prvAddCoRoutineToReadyQueue( pxCRCB ); - } + prvAddCoRoutineToReadyQueue( pxCRCB ); + } } xLastTickCount = xCoRoutineTickCount; @@ -352,9 +366,10 @@ corCRCB *pxUnblockedCRCB; signed portBASE_TYPE xReturn; /* This function is called from within an interrupt. It can only access - event lists and the pending ready list. */ + event lists and the pending ready list. This function assumes that a + check has already been made to ensure pxEventList is not empty. */ pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) diff --git a/Source/include/FreeRTOS.h b/Source/include/FreeRTOS.h index 03c102d..781db62 100644 --- a/Source/include/FreeRTOS.h +++ b/Source/include/FreeRTOS.h @@ -1,54 +1,66 @@ /* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * *************************************************************************** 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + 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 from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.SafeRTOS.com - A version that is certified for use in safety - critical systems. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. - http://www.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. + 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 INC_FREERTOS_H @@ -66,6 +78,12 @@ /* Application specific configuration options. */ #include "FreeRTOSConfig.h" +/* configUSE_PORT_OPTIMISED_TASK_SELECTION must be defined before portable.h +is included as it is used by the port layer. */ +#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 +#endif + /* Definitions specific to the port being used. */ #include "portable.h" @@ -108,15 +126,11 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif -#ifndef INCLUDE_vTaskDelete +#ifndef INCLUDE_vTaskDelete #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif -#ifndef INCLUDE_vTaskCleanUpResources - #error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. -#endif - -#ifndef INCLUDE_vTaskSuspend +#ifndef INCLUDE_vTaskSuspend #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif @@ -132,6 +146,26 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif +#ifndef INCLUDE_xTaskGetIdleTaskHandle + #define INCLUDE_xTaskGetIdleTaskHandle 0 +#endif + +#ifndef INCLUDE_xTimerGetTimerDaemonTaskHandle + #define INCLUDE_xTimerGetTimerDaemonTaskHandle 0 +#endif + +#ifndef INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xQueueGetMutexHolder 0 +#endif + +#ifndef INCLUDE_xSemaphoreGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder +#endif + +#ifndef INCLUDE_pcTaskGetTaskName + #define INCLUDE_pcTaskGetTaskName 0 +#endif + #ifndef configUSE_APPLICATION_TASK_TAG #define configUSE_APPLICATION_TASK_TAG 0 #endif @@ -140,6 +174,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif +#ifndef INCLUDE_eTaskGetState + #define INCLUDE_eTaskGetState 0 +#endif + #ifndef configUSE_RECURSIVE_MUTEXES #define configUSE_RECURSIVE_MUTEXES 0 #endif @@ -148,6 +186,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define configUSE_MUTEXES 0 #endif +#ifndef configUSE_TIMERS + #define configUSE_TIMERS 0 +#endif + #ifndef configUSE_COUNTING_SEMAPHORES #define configUSE_COUNTING_SEMAPHORES 0 #endif @@ -169,27 +211,43 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #endif #if configMAX_TASK_NAME_LEN < 1 - #undef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 1 + #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h #endif #ifndef INCLUDE_xTaskResumeFromISR #define INCLUDE_xTaskResumeFromISR 1 #endif +#ifndef configASSERT + #define configASSERT( x ) + #define configASSERT_DEFINED 0 +#else + #define configASSERT_DEFINED 1 +#endif + +/* The timers module relies on xTaskGetSchedulerState(). */ +#if configUSE_TIMERS == 1 + + #ifndef configTIMER_TASK_PRIORITY + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. + #endif /* configTIMER_TASK_PRIORITY */ + + #ifndef configTIMER_QUEUE_LENGTH + #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. + #endif /* configTIMER_QUEUE_LENGTH */ + + #ifndef configTIMER_TASK_STACK_DEPTH + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. + #endif /* configTIMER_TASK_STACK_DEPTH */ + +#endif /* configUSE_TIMERS */ + #ifndef INCLUDE_xTaskGetSchedulerState #define INCLUDE_xTaskGetSchedulerState 0 #endif -#if ( configUSE_MUTEXES == 1 ) - /* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism - within the mutex implementation so must be available if mutexes are used. */ - #undef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 1 -#else - #ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 - #endif +#ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 #endif @@ -201,17 +259,26 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue #endif +#ifndef portCLEAN_UP_TCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB +#endif + +#ifndef portSETUP_TCB + #define portSETUP_TCB( pxTCB ) ( void ) pxTCB +#endif #ifndef configQUEUE_REGISTRY_SIZE - #define configQUEUE_REGISTRY_SIZE 0 + #define configQUEUE_REGISTRY_SIZE 0U #endif -#if configQUEUE_REGISTRY_SIZE < 1 - #define configQUEUE_REGISTRY_SIZE 0 +#if ( configQUEUE_REGISTRY_SIZE < 1 ) #define vQueueAddToRegistry( xQueue, pcName ) #define vQueueUnregisterQueue( xQueue ) #endif +#ifndef portPOINTER_SIZE_TYPE + #define portPOINTER_SIZE_TYPE unsigned long +#endif /* Remove any unused trace macros. */ #ifndef traceSTART @@ -232,24 +299,57 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceTASK_SWITCHED_IN() #endif +#ifndef traceINCREASE_TICK_COUNT + /* Called before stepping the tick count after waking from tickless idle + sleep. */ + #define traceINCREASE_TICK_COUNT( x ) +#endif + +#ifndef traceLOW_POWER_IDLE_BEGIN + /* Called immediately before entering tickless idle. */ + #define traceLOW_POWER_IDLE_BEGIN() +#endif + +#ifndef traceLOW_POWER_IDLE_END + /* Called when returning to the Idle task after a tickless idle. */ + #define traceLOW_POWER_IDLE_END() +#endif + #ifndef traceTASK_SWITCHED_OUT /* Called before a task has been selected to run. pxCurrentTCB holds a pointer to the task control block of the task being switched out. */ #define traceTASK_SWITCHED_OUT() #endif +#ifndef traceTASK_PRIORITY_INHERIT + /* Called when a task attempts to take a mutex that is already held by a + lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task + that holds the mutex. uxInheritedPriority is the priority the mutex holder + will inherit (the priority of the task that is attempting to obtain the + muted. */ + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) +#endif + +#ifndef traceTASK_PRIORITY_DISINHERIT + /* Called when a task releases a mutex, the holding of which had resulted in + the task inheriting the priority of a higher priority task. + pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the + mutex. uxOriginalPriority is the task's configured (base) priority. */ + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) +#endif + #ifndef traceBLOCKING_ON_QUEUE_RECEIVE - /* Task is about to block because it cannot read from a + /* Task is about to block because it cannot read from a queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the + upon which the read was attempted. pxCurrentTCB points to the TCB of the task that attempted the read. */ #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) #endif #ifndef traceBLOCKING_ON_QUEUE_SEND - /* Task is about to block because it cannot write to a + /* Task is about to block because it cannot write to a queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the write was attempted. pxCurrentTCB points to the TCB of the + upon which the write was attempted. pxCurrentTCB points to the TCB of the task that attempted the write. */ #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) #endif @@ -260,12 +360,16 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); /* The following event macros are embedded in the kernel API calls. */ -#ifndef traceQUEUE_CREATE +#ifndef traceMOVED_TASK_TO_READY_STATE + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) +#endif + +#ifndef traceQUEUE_CREATE #define traceQUEUE_CREATE( pxNewQueue ) #endif #ifndef traceQUEUE_CREATE_FAILED - #define traceQUEUE_CREATE_FAILED() + #define traceQUEUE_CREATE_FAILED( ucQueueType ) #endif #ifndef traceCREATE_MUTEX @@ -288,6 +392,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) #endif +#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) +#endif + #ifndef traceCREATE_COUNTING_SEMAPHORE #define traceCREATE_COUNTING_SEMAPHORE() #endif @@ -312,6 +420,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceQUEUE_PEEK( pxQueue ) #endif +#ifndef traceQUEUE_PEEK_FROM_ISR + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) +#endif + #ifndef traceQUEUE_RECEIVE_FAILED #define traceQUEUE_RECEIVE_FAILED( pxQueue ) #endif @@ -332,6 +444,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) #endif +#ifndef traceQUEUE_PEEK_FROM_ISR_FAILED + #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) +#endif + #ifndef traceQUEUE_DELETE #define traceQUEUE_DELETE( pxQueue ) #endif @@ -341,7 +457,7 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #endif #ifndef traceTASK_CREATE_FAILED - #define traceTASK_CREATE_FAILED( pxNewTCB ) + #define traceTASK_CREATE_FAILED() #endif #ifndef traceTASK_DELETE @@ -376,6 +492,34 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceTASK_INCREMENT_TICK( xTickCount ) #endif +#ifndef traceTIMER_CREATE + #define traceTIMER_CREATE( pxNewTimer ) +#endif + +#ifndef traceTIMER_CREATE_FAILED + #define traceTIMER_CREATE_FAILED() +#endif + +#ifndef traceTIMER_COMMAND_SEND + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) +#endif + +#ifndef traceTIMER_EXPIRED + #define traceTIMER_EXPIRED( pxTimer ) +#endif + +#ifndef traceTIMER_COMMAND_RECEIVED + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) +#endif + +#ifndef traceMALLOC + #define traceMALLOC( pvAddress, uiSize ) +#endif + +#ifndef traceFREE + #define traceFREE( pvAddress, uiSize ) +#endif + #ifndef configGENERATE_RUN_TIME_STATS #define configGENERATE_RUN_TIME_STATS 0 #endif @@ -387,7 +531,9 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ #ifndef portGET_RUN_TIME_COUNTER_VALUE - #error If configGENERATE_RUN_TIME_STATS is defined then portGET_RUN_TIME_COUNTER_VALUE must also be defined. portGET_RUN_TIME_COUNTER_VALUE should evaluate to the counter value of the timer/counter peripheral used as the run time counter time base. + #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE + #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. + #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ #endif /* portGET_RUN_TIME_COUNTER_VALUE */ #endif /* configGENERATE_RUN_TIME_STATS */ @@ -409,12 +555,67 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #endif #ifndef pvPortMallocAligned - #define pvPortMallocAligned( xSize, pvBuffer ) pvPortMalloc( xSize ); ( void ) pvBuffer + #define pvPortMallocAligned( x, puxStackBuffer ) ( ( ( puxStackBuffer ) == NULL ) ? ( pvPortMalloc( ( x ) ) ) : ( puxStackBuffer ) ) #endif #ifndef vPortFreeAligned #define vPortFreeAligned( pvBlockToFree ) vPortFree( pvBlockToFree ) #endif +#ifndef portSUPPRESS_TICKS_AND_SLEEP + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) +#endif + +#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP + #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 +#endif + +#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 + #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 +#endif + +#ifndef configUSE_TICKLESS_IDLE + #define configUSE_TICKLESS_IDLE 0 +#endif + +#ifndef configPRE_SLEEP_PROCESSING + #define configPRE_SLEEP_PROCESSING( x ) +#endif + +#ifndef configPOST_SLEEP_PROCESSING + #define configPOST_SLEEP_PROCESSING( x ) +#endif + +#ifndef configUSE_QUEUE_SETS + #define configUSE_QUEUE_SETS 0 +#endif + +#ifndef portTASK_USES_FLOATING_POINT + #define portTASK_USES_FLOATING_POINT() +#endif + +#ifndef configUSE_TIME_SLICING + #define configUSE_TIME_SLICING 1 +#endif + +#ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS + #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 +#endif + +#ifndef configUSE_NEWLIB_REENTRANT + #define configUSE_NEWLIB_REENTRANT 0 +#endif + +#ifndef configUSE_STATS_FORMATTING_FUNCTIONS + #define configUSE_STATS_FORMATTING_FUNCTIONS 0 +#endif + +#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() +#endif + +/* For backward compatability. */ +#define eTaskStateGet eTaskGetState + #endif /* INC_FREERTOS_H */ diff --git a/Source/include/StackMacros.h b/Source/include/StackMacros.h index 0caf31e..df46dfa 100644 --- a/Source/include/StackMacros.h +++ b/Source/include/StackMacros.h @@ -1,54 +1,66 @@ /* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * *************************************************************************** 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + 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 from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** + + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. - http://www.SafeRTOS.com - A version that is certified for use in safety - critical systems. + 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. - http://www.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. + 1 tab == 4 spaces! */ #ifndef STACK_MACROS_H @@ -63,7 +75,7 @@ * 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 + * 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. */ @@ -93,8 +105,6 @@ /* Only the current stack state is to be checked. */ #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ { \ - extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ - \ /* Is the currently saved stack pointer within the stack limit? */ \ if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \ { \ @@ -110,7 +120,6 @@ /* Only the current stack state is to be checked. */ #define taskFIRST_CHECK_FOR_STACK_OVERFLOW() \ { \ - extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ \ /* Is the currently saved stack pointer within the stack limit? */ \ if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \ @@ -124,21 +133,20 @@ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) ) - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ - { \ - extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ + #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ + { \ static const unsigned char 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 }; \ - \ - \ - /* Has the extremity of the task stack ever been written over? */ \ - if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ - { \ - vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ + 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 }; \ + \ + \ + /* Has the extremity of the task stack ever been written over? */ \ + if( memcmp( ( void * ) pxCurrentTCB->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \ + { \ + vApplicationStackOverflowHook( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ } #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ @@ -146,24 +154,23 @@ #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) ) - #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ - { \ - extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName ); \ - char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \ + #define taskSECOND_CHECK_FOR_STACK_OVERFLOW() \ + { \ + char *pcEndOfStack = ( char * ) pxCurrentTCB->pxEndOfStack; \ static const unsigned char 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( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ - } \ + 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( ( xTaskHandle ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \ + } \ } #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */ diff --git a/Source/include/croutine.h b/Source/include/croutine.h index ee9557d..5179859 100644 --- a/Source/include/croutine.h +++ b/Source/include/croutine.h @@ -1,66 +1,75 @@ /* - FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved + + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** - * * - * If you are: * - * * - * + New to FreeRTOS, * - * + Wanting to learn FreeRTOS or multitasking in general quickly * - * + Looking for basic training, * - * + Wanting to improve your FreeRTOS skills and productivity * - * * - * then take a look at the FreeRTOS eBook * - * * - * "Using the FreeRTOS Real Time Kernel - a Practical Guide" * - * http://www.FreeRTOS.org/Documentation * - * * - * A pdf reference manual is also available. Both are usually delivered * - * to your inbox within 20 minutes to two hours when purchased between 8am * - * and 8pm GMT (although please allow up to 24 hours in case of * - * exceptional circumstances). Thank you for your support! * - * * + * * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * + * * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * + * * + * Thank you! * + * * *************************************************************************** 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 exception 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. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. - 1 tab == 4 spaces! + >>! 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. - http://www.FreeRTOS.org - Documentation, latest information, license and - contact details. + 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 from the following + link: http://www.freertos.org/a00114.html - http://www.SafeRTOS.com - A version that is certified for use in safety - critical systems. + 1 tab == 4 spaces! - http://www.OpenRTOS.com - Commercial support, development, porting, - licensing and training services. -*/ + *************************************************************************** + * * + * Having a problem? Start by reading the FAQ "My application does * + * not run, what could be wrong?" * + * * + * http://www.FreeRTOS.org/FAQHelp.html * + * * + *************************************************************************** -#ifndef INC_FREERTOS_H - #error "#include FreeRTOS.h" must appear in source files before "#include croutine.h" -#endif + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. + 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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and 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 CO_ROUTINE_H #define CO_ROUTINE_H +#ifndef INC_FREERTOS_H + #error "include FreeRTOS.h must appear in source files before include croutine.h" +#endif + #include "list.h" #ifdef __cplusplus @@ -119,7 +128,7 @@ typedef struct corCoRoutineControlBlock // Variables in co-routines must be declared static if they must maintain value across a blocking call. // This may not be necessary for const variables. static const char cLedToFlash[ 2 ] = { 5, 6 }; - static const portTickType xTimeToDelay[ 2 ] = { 200, 400 }; + static const portTickType uxFlashRates[ 2 ] = { 200, 400 }; // Must start every co-routine with a call to crSTART(); crSTART( xHandle ); @@ -230,7 +239,7 @@ void vCoRoutineSchedule( void ); * \defgroup crSTART crSTART * \ingroup Tasks */ -#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0: +#define crSTART( pxCRCB ) switch( ( ( corCRCB * )( pxCRCB ) )->uxState ) { case 0: /** * croutine. h @@ -267,8 +276,8 @@ void vCoRoutineSchedule( void ); * These macros are intended for internal use by the co-routine implementation * only. The macros should not be used directly by application writers. */ -#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): -#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): +#define crSET_STATE0( xHandle ) ( ( corCRCB * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): +#define crSET_STATE1( xHandle ) ( ( corCRCB * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): /** * croutine. h @@ -317,11 +326,11 @@ void vCoRoutineSchedule( void ); * \ingroup Tasks */ #define crDELAY( xHandle, xTicksToDelay ) \ - if( xTicksToDelay > 0 ) \ + if( ( xTicksToDelay ) > 0 ) \ { \ - vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \ + vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ } \ - crSET_STATE0( xHandle ); + crSET_STATE0( ( xHandle ) ); /** * 
@@ -408,15 +417,15 @@ void vCoRoutineSchedule( void );
  */
 #define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult )			\
 {																						\
-	*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait );					\
-	if( *pxResult == errQUEUE_BLOCKED )													\
+	*( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) );	\
+	if( *( pxResult ) == errQUEUE_BLOCKED )												\
 	{																					\
-		crSET_STATE0( xHandle );														\
-		*pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 );							\
+		crSET_STATE0( ( xHandle ) );													\
+		*pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 );					\
 	}																					\
 	if( *pxResult == errQUEUE_YIELD )													\
 	{																					\
-		crSET_STATE1( xHandle );														\
+		crSET_STATE1( ( xHandle ) );													\
 		*pxResult = pdPASS;																\
 	}																					\
 }
@@ -500,16 +509,16 @@ void vCoRoutineSchedule( void );
  */
 #define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult )			\
 {																						\
-	*pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait );						\
-	if( *pxResult == errQUEUE_BLOCKED ) 												\
+	*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) );		\
+	if( *( pxResult ) == errQUEUE_BLOCKED ) 											\
 	{																					\
-		crSET_STATE0( xHandle );														\
-		*pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 );							\
+		crSET_STATE0( ( xHandle ) );													\
+		*( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 );				\
 	}																					\
-	if( *pxResult == errQUEUE_YIELD )													\
+	if( *( pxResult ) == errQUEUE_YIELD )												\
 	{																					\
-		crSET_STATE1( xHandle );														\
-		*pxResult = pdPASS;																\
+		crSET_STATE1( ( xHandle ) );													\
+		*( pxResult ) = pdPASS;															\
 	}																					\
 }
 
@@ -607,7 +616,7 @@ void vCoRoutineSchedule( void );
  * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
  * \ingroup Tasks
  */
-#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken )
+#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
 
 
 /**
@@ -720,7 +729,7 @@ void vCoRoutineSchedule( void );
  * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
  * \ingroup Tasks
  */
-#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken )
+#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
 
 /*
  * This function is intended for internal use by the co-routine macros only.
diff --git a/Source/include/list.h b/Source/include/list.h
index f20ad4c..fe9e5aa 100644
--- a/Source/include/list.h
+++ b/Source/include/list.h
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    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.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    1 tab == 4 spaces!
 */
 
 /*
@@ -79,16 +91,42 @@
  * \ingroup FreeRTOSIntro
  */
 
-/*
-	Changes from V4.3.1
-
-	+ Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist
-	  compiler with optimisation.  Thanks B.R.
-*/
 
 #ifndef LIST_H
 #define LIST_H
 
+/*
+ * The list structure members are modified from within interrupts, and therefore
+ * by rights should be declared volatile.  However, they are only modified in a
+ * functionally atomic way (within critical sections of with the scheduler
+ * suspended) and are either passed by reference into a function or indexed via
+ * a volatile variable.  Therefore, in all use cases tested so far, the volatile
+ * qualifier can be omitted in order to provide a moderate performance
+ * improvement without adversely affecting functional behaviour.  The assembly
+ * instructions generated by the IAR, ARM and GCC compilers when the respective
+ * compiler's options were set for maximum optimisation has been inspected and
+ * deemed to be as intended.  That said, as compiler technology advances, and
+ * especially if aggressive cross module optimisation is used (a use case that
+ * has not been exercised to any great extend) then it is feasible that the
+ * volatile qualifier will be needed for correct optimisation.  It is expected
+ * that a compiler removing essential code because, without the volatile
+ * qualifier on the list structure members and with aggressive cross module
+ * optimisation, the compiler deemed the code unnecessary will result in
+ * complete and obvious failure of the scheduler.  If this is ever experienced
+ * then the volatile qualifier can be inserted in the relevant places within the
+ * list structures by simply defining configLIST_VOLATILE to volatile in
+ * FreeRTOSConfig.h (as per the example at the bottom of this comment block).  
+ * If configLIST_VOLATILE is not defined then the preprocessor directives below 
+ * will simply #define configLIST_VOLATILE away completely.
+ *
+ * To use volatile list structure members then add the following line to
+ * FreeRTOSConfig.h (without the quotes):
+ * "#define configLIST_VOLATILE volatile"
+ */
+#ifndef configLIST_VOLATILE
+	#define configLIST_VOLATILE
+#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -97,19 +135,19 @@ extern "C" {
  */
 struct xLIST_ITEM
 {
-	portTickType xItemValue;				/*< The value being listed.  In most cases this is used to sort the list in descending order. */
-	volatile struct xLIST_ITEM * pxNext;	/*< Pointer to the next xListItem in the list. */
-	volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem 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 * pvContainer;						/*< Pointer to the list in which this list item is placed (if any). */
+	configLIST_VOLATILE portTickType 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 xListItem in the list. */
+	struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;/*< Pointer to the previous xListItem 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). */
 };
-typedef struct xLIST_ITEM xListItem;		/* For some reason lint wants this as two separate definitions. */
+typedef struct xLIST_ITEM xListItem;				/* For some reason lint wants this as two separate definitions. */
 
 struct xMINI_LIST_ITEM
 {
-	portTickType xItemValue;
-	volatile struct xLIST_ITEM *pxNext;
-	volatile struct xLIST_ITEM *pxPrevious;
+	configLIST_VOLATILE portTickType xItemValue;
+	struct xLIST_ITEM * configLIST_VOLATILE pxNext;
+	struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
 };
 typedef struct xMINI_LIST_ITEM xMiniListItem;
 
@@ -118,9 +156,9 @@ typedef struct xMINI_LIST_ITEM xMiniListItem;
  */
 typedef struct xLIST
 {
-	volatile unsigned portBASE_TYPE uxNumberOfItems;
-	volatile xListItem * pxIndex;			/*< Used to walk through the list.  Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */
-	volatile xMiniListItem 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. */
+	configLIST_VOLATILE unsigned portBASE_TYPE uxNumberOfItems;
+	xListItem * configLIST_VOLATILE pxIndex;		/*< Used to walk through the list.  Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */
+	xMiniListItem 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. */
 } xList;
 
 /*
@@ -130,7 +168,16 @@ 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
+ * \ingroup LinkedList
+ */
+#define listGET_LIST_ITEM_OWNER( pxListItem )		( pxListItem )->pvOwner
 
 /*
  * Access macro to set the value of the list item.  In most cases the value is
@@ -139,10 +186,10 @@ typedef struct xLIST
  * \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 the retrieve the value of the list item.  The value can
+ * Access macro to retrieve the value of the list item.  The value can
  * represent anything - for example a the priority of a task, or the time at
  * which a task should be unblocked.
  *
@@ -151,6 +198,15 @@ typedef struct xLIST
  */
 #define listGET_LIST_ITEM_VALUE( pxListItem )				( ( pxListItem )->xItemValue )
 
+/*
+ * Access macro the retrieve the value of the list item at the head of a given
+ * list.
+ *
+ * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
+ * \ingroup LinkedList
+ */
+#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList )			( (&( ( pxList )->xListEnd ))->pxNext->xItemValue )
+
 /*
  * Access macro to determine if a list contains any items.  The macro will
  * only have the value true if the list is empty.
@@ -158,7 +214,7 @@ typedef struct xLIST
  * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
  * \ingroup LinkedList
  */
-#define listLIST_IS_EMPTY( pxList )				( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 )
+#define listLIST_IS_EMPTY( pxList )				( ( portBASE_TYPE ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) )
 
 /*
  * Access macro to return the number of items in the list.
@@ -184,17 +240,17 @@ typedef struct xLIST
  * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
  * \ingroup LinkedList
  */
-#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )									\
-{																						\
-xList * 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( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) )	\
-	{																					\
-		( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext;					\
-	}																					\
-	pxTCB = ( pxConstList )->pxIndex->pvOwner;											\
+#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList )										\
+{																							\
+xList * 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;											\
 }
 
 
@@ -214,7 +270,7 @@ xList * const pxConstList = pxList;														\
  * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
  * \ingroup LinkedList
  */
-#define listGET_OWNER_OF_HEAD_ENTRY( pxList )  ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) )
+#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
@@ -226,7 +282,22 @@ xList * const pxConstList = pxList;														\
  * @return pdTRUE is the list item is in the list, otherwise pdFALSE.
  * pointer against
  */
-#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList )
+#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( portBASE_TYPE ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) )
+
+/*
+ * Return the list a list item is contained within (referenced from).
+ *
+ * @param pxListItem The list item being queried.
+ * @return A pointer to the xList object that references the pxListItem
+ */
+#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pvContainer )
+
+/*
+ * 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 )
 
 /*
  * Must be called before a list is used!  This initialises all the members
@@ -238,7 +309,7 @@ xList * const pxConstList = pxList;														\
  * \page vListInitialise vListInitialise
  * \ingroup LinkedList
  */
-void vListInitialise( xList *pxList );
+void vListInitialise( xList * const pxList );
 
 /*
  * Must be called before a list item is used.  This sets the list container to
@@ -249,7 +320,7 @@ void vListInitialise( xList *pxList );
  * \page vListInitialiseItem vListInitialiseItem
  * \ingroup LinkedList
  */
-void vListInitialiseItem( xListItem *pxItem );
+void vListInitialiseItem( xListItem * const pxItem );
 
 /*
  * Insert a list item into a list.  The item will be inserted into the list in
@@ -262,7 +333,7 @@ void vListInitialiseItem( xListItem *pxItem );
  * \page vListInsert vListInsert
  * \ingroup LinkedList
  */
-void vListInsert( xList *pxList, xListItem *pxNewListItem );
+void vListInsert( xList * const pxList, xListItem * const pxNewListItem );
 
 /*
  * Insert a list item into a list.  The item will be inserted in a position
@@ -283,19 +354,22 @@ void vListInsert( xList *pxList, xListItem *pxNewListItem );
  * \page vListInsertEnd vListInsertEnd
  * \ingroup LinkedList
  */
-void vListInsertEnd( xList *pxList, xListItem *pxNewListItem );
+void vListInsertEnd( xList * const pxList, xListItem * const pxNewListItem );
 
 /*
  * 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 vListRemove The item to be removed.  The item will remove itself from
+ * @param uxListRemove The item to be removed.  The item will remove itself from
  * the list pointed to by it's pxContainer parameter.
  *
- * \page vListRemove vListRemove
+ * @return The number of items that remain in the list after the list item has
+ * been removed.
+ *
+ * \page uxListRemove uxListRemove
  * \ingroup LinkedList
  */
-void vListRemove( xListItem *pxItemToRemove );
+unsigned portBASE_TYPE uxListRemove( xListItem * const pxItemToRemove );
 
 #ifdef __cplusplus
 }
diff --git a/Source/include/mpu_wrappers.h b/Source/include/mpu_wrappers.h
index 7f73ed2..3a6712d 100644
--- a/Source/include/mpu_wrappers.h
+++ b/Source/include/mpu_wrappers.h
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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 MPU_WRAPPERS_H
@@ -70,6 +82,7 @@ only for ports that are using the MPU. */
 		#define vTaskDelay						MPU_vTaskDelay
 		#define uxTaskPriorityGet				MPU_uxTaskPriorityGet
 		#define vTaskPrioritySet				MPU_vTaskPrioritySet
+		#define eTaskGetState					MPU_eTaskGetState
 		#define vTaskSuspend					MPU_vTaskSuspend
 		#define xTaskIsTaskSuspended			MPU_xTaskIsTaskSuspended
 		#define vTaskResume						MPU_vTaskResume
@@ -79,16 +92,16 @@ only for ports that are using the MPU. */
 		#define uxTaskGetNumberOfTasks			MPU_uxTaskGetNumberOfTasks
 		#define vTaskList						MPU_vTaskList
 		#define vTaskGetRunTimeStats			MPU_vTaskGetRunTimeStats
-		#define vTaskStartTrace					MPU_vTaskStartTrace
-		#define ulTaskEndTrace					MPU_ulTaskEndTrace
 		#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 xQueueCreate					MPU_xQueueCreate
+		#define xQueueGenericCreate				MPU_xQueueGenericCreate
 		#define xQueueCreateMutex				MPU_xQueueCreateMutex
 		#define xQueueGiveMutexRecursive		MPU_xQueueGiveMutexRecursive
 		#define xQueueTakeMutexRecursive		MPU_xQueueTakeMutexRecursive
@@ -99,6 +112,12 @@ only for ports that are using the MPU. */
 		#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 xQueuePeekFromISR				MPU_xQueuePeekFromISR
 
 		#define pvPortMalloc					MPU_pvPortMalloc
 		#define vPortFree						MPU_vPortFree
@@ -118,7 +137,6 @@ only for ports that are using the MPU. */
 		/* Ensure API functions go in the privileged execution section. */
 		#define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
 		#define PRIVILEGED_DATA __attribute__((section("privileged_data")))
-        //#define PRIVILEGED_DATA
 
 	#endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
 
diff --git a/Source/include/portable.h b/Source/include/portable.h
index 358ae1d..47b40db 100644
--- a/Source/include/portable.h
+++ b/Source/include/portable.h
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    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.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -95,7 +107,7 @@
 #endif
 
 #ifdef MPLAB_PIC32MX_PORT
-	#include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h"
+	#include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
 #endif
 
 #ifdef _FEDPICC
@@ -119,9 +131,9 @@
 #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"
 #endif
@@ -157,7 +169,7 @@
 #ifdef STR75X_IAR
 	#include "..\..\Source\portable\IAR\STR75x\portmacro.h"
 #endif
-	
+
 #ifdef STR75X_GCC
 	#include "..\..\Source\portable\GCC\STR75x\portmacro.h"
 #endif
@@ -165,7 +177,7 @@
 #ifdef STR91X_IAR
 	#include "..\..\Source\portable\IAR\STR91x\portmacro.h"
 #endif
-	
+
 #ifdef GCC_H8S
 	#include "../../Source/portable/GCC/H8S2329/portmacro.h"
 #endif
@@ -193,10 +205,10 @@
 #ifdef IAR_ARMCM3_LM
 	#include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
 #endif
-	
+
 #ifdef HCS12_CODE_WARRIOR
 	#include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
-#endif	
+#endif
 
 #ifdef MICROBLAZE_GCC
 	#include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
@@ -296,11 +308,11 @@
 #ifdef __IAR_78K0R_Kx3__
 	#include "../../Source/portable/IAR/78K0R/portmacro.h"
 #endif
-	
+
 #ifdef __IAR_78K0R_Kx3L__
 	#include "../../Source/portable/IAR/78K0R/portmacro.h"
 #endif
-	
+
 /* Catch all to ensure portmacro.h is included in the build.  Newer demos
 have the path as part of the project options, rather than as relative from
 the project location.  If portENTER_CRITICAL() has not been defined then
@@ -308,9 +320,9 @@ portmacro.h has not yet been included - as every portmacro.h provides a
 portENTER_CRITICAL() definition.  Check the demo application for your demo
 to find the path to the correct portmacro.h file. */
 #ifndef portENTER_CRITICAL
-	#include "portmacro.h"	
+	#include "portmacro.h"
 #endif
-	
+
 #if portBYTE_ALIGNMENT == 8
 	#define portBYTE_ALIGNMENT_MASK ( 0x0007 )
 #endif
@@ -350,7 +362,7 @@ extern "C" {
 #if( portUSING_MPU_WRAPPERS == 1 )
 	portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION;
 #else
-	portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters );
+	portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -381,7 +393,7 @@ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
  * Fills the xMPUSettings structure with the memory region information
  * contained in xRegions.
  */
-#if( portUSING_MPU_WRAPPERS == 1 ) 
+#if( portUSING_MPU_WRAPPERS == 1 )
 	struct xMEMORY_REGION;
 	void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, portSTACK_TYPE *pxBottomOfStack, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
 #endif
diff --git a/Source/include/projdefs.h b/Source/include/projdefs.h
index 8f93353..a134c8f 100644
--- a/Source/include/projdefs.h
+++ b/Source/include/projdefs.h
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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 PROJDEFS_H
@@ -57,13 +69,13 @@
 /* Defines the prototype to which task functions must conform. */
 typedef void (*pdTASK_CODE)( void * );
 
-#define pdTRUE		( 1 )
-#define pdFALSE		( 0 )
+#define pdFALSE		( ( portBASE_TYPE ) 0 )
+#define pdTRUE		( ( portBASE_TYPE ) 1 )
 
-#define pdPASS									( 1 )
-#define pdFAIL									( 0 )
-#define errQUEUE_EMPTY							( 0 )
-#define errQUEUE_FULL							( 0 )
+#define pdPASS									( pdTRUE )
+#define pdFAIL									( pdFALSE )
+#define errQUEUE_EMPTY							( ( portBASE_TYPE ) 0 )
+#define errQUEUE_FULL							( ( portBASE_TYPE ) 0 )
 
 /* Error definitions. */
 #define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY	( -1 )
diff --git a/Source/include/queue.h b/Source/include/queue.h
index 5951fd7..23ee775 100644
--- a/Source/include/queue.h
+++ b/Source/include/queue.h
@@ -1,118 +1,114 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
+    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.
 
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include queue.h"
-#endif
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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 QUEUE_H
 #define QUEUE_H
 
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h" must appear in source files before "include queue.h"
+#endif
+
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 
-#include "mpu_wrappers.h"
-
-#ifdef XCC_XMOS_XS1
-
-/*
- * Definition of the queue used by the scheduler.
- * Items are queued by copy, not reference.
- */
-typedef struct QueueDefinition
-{
-	signed char *pcHead;				/*< Points to the beginning of the queue storage area. */
-	signed char *pcTail;				/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
-
-	signed char *pcWriteTo;				/*< Points to the free next place in the storage area. */
-	signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from. */
-
-	xList xTasksWaitingToSend;				/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
-	xList xTasksWaitingToReceive;			/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
-
-	volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */
-	unsigned portBASE_TYPE uxLength;		/*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
-	unsigned portBASE_TYPE uxItemSize;		/*< The size of each items that the queue will hold. */
-
-	signed portBASE_TYPE xRxLock;			/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-	signed portBASE_TYPE xTxLock;			/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-
-} xQUEUE;
-/*-----------------------------------------------------------*/
-
-/*
- * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
- * To keep the definition private the API header file defines it as a
- * pointer to void.
+/**
+ * Type by which queues are referenced.  For example, a call to xQueueCreate()
+ * returns an xQueueHandle variable that can then be used as a parameter to
+ * xQueueSend(), xQueueReceive(), etc.
  */
-typedef xQUEUE * xQueueHandle;
-
-#else
-
 typedef void * xQueueHandle;
 
-#endif
+/**
+ * Type by which queue sets are referenced.  For example, a call to
+ * xQueueCreateSet() returns an xQueueSet variable that can then be used as a
+ * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
+ */
+typedef void * xQueueSetHandle;
 
+/**
+ * Queue sets can contain both queues and semaphores, so the
+ * xQueueSetMemberHandle is defined as a type to be used where a parameter or
+ * return value can be either an xQueueHandle or an xSemaphoreHandle.
+ */
+typedef void * xQueueSetMemberHandle;
 
 /* For internal use only. */
-#define	queueSEND_TO_BACK	( 0 )
-#define	queueSEND_TO_FRONT	( 1 )
-
+#define	queueSEND_TO_BACK		( ( portBASE_TYPE ) 0 )
+#define	queueSEND_TO_FRONT		( ( portBASE_TYPE ) 1 )
+#define queueOVERWRITE			( ( portBASE_TYPE ) 2 )
+
+/* For internal use only.  These definitions *must* match those in queue.c. */
+#define queueQUEUE_TYPE_BASE				( ( unsigned char ) 0U )
+#define queueQUEUE_TYPE_SET					( ( unsigned char ) 0U )
+#define queueQUEUE_TYPE_MUTEX 				( ( unsigned char ) 1U )
+#define queueQUEUE_TYPE_COUNTING_SEMAPHORE	( ( unsigned char ) 2U )
+#define queueQUEUE_TYPE_BINARY_SEMAPHORE	( ( unsigned char ) 3U )
+#define queueQUEUE_TYPE_RECURSIVE_MUTEX		( ( unsigned char ) 4U )
 
 /**
  * queue. h
@@ -170,14 +166,14 @@ typedef void * xQueueHandle;
  * \defgroup xQueueCreate xQueueCreate
  * \ingroup QueueManagement
  */
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize );
+#define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( uxQueueLength, uxItemSize, queueQUEUE_TYPE_BASE )
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendToToFront(
 								   xQueueHandle	xQueue,
-								   const	void	*	pvItemToQueue,
+								   const void	*	pvItemToQueue,
 								   portTickType	xTicksToWait
 							   );
  * 

@@ -252,7 +248,7 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
+#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
 
 /**
  * queue. h
@@ -334,7 +330,7 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
+#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 
 /**
  * queue. h
@@ -418,7 +414,90 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
+#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
+
+/**
+ * queue. h
+ * 
+ portBASE_TYPE xQueueOverwrite(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue
+						 );
+ * 

+ *
+ * Only for use with queues that have a length of one - so the queue is either
+ * empty or full.
+ *
+ * Post an item on a queue.  If the queue is already full then overwrite the
+ * value held in the queue.  The item is queued by copy, not by reference.
+ *
+ * This function must not be called from an interrupt service routine.
+ * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR.
+ *
+ * @param xQueue The handle of the queue to which the data is being sent.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue.  The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and
+ * therefore has the same return values as xQueueSendToFront().  However, pdPASS
+ * is the only value that can be returned because xQueueOverwrite() will write
+ * to the queue even when the queue is already full.
+ *
+ * Example usage:
+   
+
+ void vFunction( void *pvParameters )
+ {
+ xQueueHandle xQueue;
+ unsigned long ulVarToSend, ulValReceived;
+
+	// Create a queue to hold one unsigned long value.  It is strongly
+	// recommended *not* to use xQueueOverwrite() on queues that can
+	// contain more than one value, and doing so will trigger an assertion
+	// if configASSERT() is defined.
+	xQueue = xQueueCreate( 1, sizeof( unsigned long ) );
+
+	// Write the value 10 to the queue using xQueueOverwrite().
+	ulVarToSend = 10;
+	xQueueOverwrite( xQueue, &ulVarToSend );
+
+	// Peeking the queue should now return 10, but leave the value 10 in
+	// the queue.  A block time of zero is used as it is known that the
+	// queue holds a value.
+	ulValReceived = 0;
+	xQueuePeek( xQueue, &ulValReceived, 0 );
+
+	if( ulValReceived != 10 )
+	{
+		// Error unless the item was removed by a different task.
+	}
+
+	// The queue is still full.  Use xQueueOverwrite() to overwrite the
+	// value held in the queue with 100.
+	ulVarToSend = 100;
+	xQueueOverwrite( xQueue, &ulVarToSend );
+
+	// This time read from the queue, leaving the queue empty once more.
+	// A block time of 0 is used again.
+	xQueueReceive( xQueue, &ulValReceived, 0 );
+
+	// The value read should be the last value written, even though the
+	// queue was already full when the value was written.
+	if( ulValReceived != 100 )
+	{
+		// Error!
+	}
+
+	// ...
+}
+ 

+ * \defgroup xQueueOverwrite xQueueOverwrite
+ * \ingroup QueueManagement
+ */
+#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE )
 
 
 /**
@@ -506,7 +585,7 @@ xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBA
  * \defgroup xQueueSend xQueueSend
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -527,9 +606,11 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * Successfully received items remain on the queue so will be returned again
  * by the next call, or a call to xQueueReceive().
  *
- * This macro must not be used in an interrupt service routine.
+ * This macro must not be used in an interrupt service routine.  See
+ * xQueuePeekFromISR() for an alternative that can be called from an interrupt
+ * service routine.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -600,7 +681,40 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * \defgroup xQueueReceive xQueueReceive
  * \ingroup QueueManagement
  */
-#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
+#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE )
+
+/**
+ * queue. h
+ * 
+ portBASE_TYPE xQueuePeekFromISR(
+									xQueueHandle xQueue,
+									void *pvBuffer,
+								);

+ *
+ * A version of xQueuePeek() that can be called from an interrupt service
+ * routine (ISR).
+ *
+ * Receive an item from a queue without removing the item from the queue.
+ * The item is received by copy so a buffer of adequate size must be
+ * provided.  The number of bytes copied into the buffer was defined when
+ * the queue was created.
+ *
+ * Successfully received items remain on the queue so will be returned again
+ * by the next call, or a call to xQueueReceive().
+ *
+ * @param xQueue The handle to the queue from which the item is to be
+ * received.
+ *
+ * @param pvBuffer Pointer to the buffer into which the received item will
+ * be copied.
+ *
+ * @return pdTRUE if an item was successfully received from the queue,
+ * otherwise pdFALSE.
+ *
+ * \defgroup xQueuePeekFromISR xQueuePeekFromISR
+ * \ingroup QueueManagement
+ */
+signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -622,7 +736,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -693,7 +807,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * \defgroup xQueueReceive xQueueReceive
  * \ingroup QueueManagement
  */
-#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
+#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE )
 
 
 /**
@@ -716,7 +830,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -792,7 +906,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const
  * \defgroup xQueueReceive xQueueReceive
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -804,10 +918,27 @@ signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvB
  *
  * @return The number of messages available in the queue.
  *
- * \page uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * \ingroup QueueManagement
+ */
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+
+/**
+ * queue. h
+ * 
unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue );

+ *
+ * Return the number of free spaces available in a queue.  This is equal to the
+ * number of items that can be sent to the queue before the queue becomes full
+ * if no items are removed.
+ *
+ * @param xQueue A handle to the queue being queried.
+ *
+ * @return The number of spaces available in the queue.
+ *
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
  * \ingroup QueueManagement
  */
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
+unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -818,16 +949,16 @@ unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
  *
  * @param xQueue A handle to the queue to be deleted.
  *
- * \page vQueueDelete vQueueDelete
+ * \defgroup vQueueDelete vQueueDelete
  * \ingroup QueueManagement
  */
-void vQueueDelete( xQueueHandle xQueue );
+void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendToFrontFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -891,14 +1022,14 @@ void vQueueDelete( xQueueHandle xQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_FRONT )
+#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
 
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendToBackFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -962,13 +1093,100 @@ void vQueueDelete( xQueueHandle xQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+
+/**
+ * queue. h
+ * 
+ portBASE_TYPE xQueueOverwriteFromISR(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue,
+							  portBASE_TYPE *pxHigherPriorityTaskWoken
+						 );
+ * 

+ *
+ * A version of xQueueOverwrite() that can be used in an interrupt service
+ * routine (ISR).
+ *
+ * Only for use with queues that can hold a single item - so the queue is either
+ * empty or full.
+ *
+ * Post an item on a queue.  If the queue is already full then overwrite the
+ * value held in the queue.  The item is queued by copy, not by reference.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue.  The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task.  If xQueueOverwriteFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return xQueueOverwriteFromISR() is a macro that calls
+ * xQueueGenericSendFromISR(), and therefore has the same return values as
+ * xQueueSendToFrontFromISR().  However, pdPASS is the only value that can be
+ * returned because xQueueOverwriteFromISR() will write to the queue even when
+ * the queue is already full.
+ *
+ * Example usage:
+   
+
+ xQueueHandle xQueue;
+ 
+ void vFunction( void *pvParameters )
+ {
+ 	// Create a queue to hold one unsigned long value.  It is strongly
+	// recommended *not* to use xQueueOverwriteFromISR() on queues that can
+	// contain more than one value, and doing so will trigger an assertion
+	// if configASSERT() is defined.
+	xQueue = xQueueCreate( 1, sizeof( unsigned long ) );
+}
+
+void vAnInterruptHandler( void )
+{
+// xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+unsigned long ulVarToSend, ulValReceived;
+
+	// Write the value 10 to the queue using xQueueOverwriteFromISR().
+	ulVarToSend = 10;
+	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+
+	// The queue is full, but calling xQueueOverwriteFromISR() again will still
+	// pass because the value held in the queue will be overwritten with the
+	// new value.
+	ulVarToSend = 100;
+	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+
+	// Reading from the queue will now return 100.
+
+	// ...
+	
+	if( xHigherPrioritytaskWoken == pdTRUE )
+	{
+		// Writing to the queue caused a task to unblock and the unblocked task
+		// has a priority higher than or equal to the priority of the currently
+		// executing task (the task this interrupt interrupted).  Perform a context
+		// switch so this interrupt returns directly to the unblocked task.
+		portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
+	}
+}
+ 

+ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
+ * \ingroup QueueManagement
+ */
+#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendFromISR(
-									 xQueueHandle pxQueue,
+									 xQueueHandle xQueue,
 									 const void *pvItemToQueue,
 									 portBASE_TYPE *pxHigherPriorityTaskWoken
 								);
@@ -1028,7 +1246,7 @@ void vQueueDelete( xQueueHandle xQueue );
 	if( xHigherPriorityTaskWoken )
 	{
 		// Actual macro used here is port specific.
-		taskYIELD_FROM_ISR ();
+		portYIELD_FROM_ISR ();
 	}
  }
  

@@ -1036,13 +1254,13 @@ void vQueueDelete( xQueueHandle xQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueGenericSendFromISR(
-										   xQueueHandle	pxQueue,
+										   xQueueHandle		xQueue,
 										   const	void	*pvItemToQueue,
 										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
 										   portBASE_TYPE	xCopyPosition
@@ -1114,22 +1332,22 @@ void vQueueDelete( xQueueHandle xQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueReceiveFromISR(
-									   xQueueHandle	pxQueue,
+									   xQueueHandle	xQueue,
 									   void	*pvBuffer,
-									   portBASE_TYPE	*pxTaskWoken
+									   portBASE_TYPE *pxTaskWoken
 								   );
  * 

  *
  * Receive an item from a queue.  It is safe to use this function from within an
  * interrupt service routine.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -1203,15 +1421,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void
  * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken );
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /*
- * Utilities to query queue that are safe to use from an ISR.  These utilities
+ * Utilities to query queues that are safe to use from an ISR.  These utilities
  * should be used only from witin an ISR, or within a critical section.
  */
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue );
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue );
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue );
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 
 /*
@@ -1228,12 +1446,12 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
  * responsiveness to gain execution speed, whereas the fully featured API
  * sacrifices execution speed to ensure better interrupt responsiveness.
  */
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
-#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT )
-#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK )
-#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE )
-#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE )
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
+#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
+#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
+#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE )
+#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE )
 
 /*
  * The functions defined above are for passing data to and from tasks.  The
@@ -1244,24 +1462,34 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const
  * should not be called directly from application code.  Instead use the macro
  * wrappers defined within croutine.h.
  */
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
+signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
+signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );
 
 /*
- * For internal use only.  Use xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting() instead of calling these functions directly.
+ * For internal use only.  Use xSemaphoreCreateMutex(),
+ * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
+ * these functions directly.
  */
-xQueueHandle xQueueCreateMutex( void );
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );
+xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
+void* xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
 
 /*
  * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
  * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
  */
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime );
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) PRIVILEGED_FUNCTION;
+
+/*
+ * Reset a queue back to its original empty state.  pdPASS is returned if the
+ * queue is successfully reset.  pdFAIL is returned if the queue could not be
+ * reset because there are tasks blocked on the queue waiting to either
+ * receive from the queue or send to the queue.
+ */
+#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
 
 /*
  * The registry is provided as a means for kernel aware debuggers to
@@ -1284,10 +1512,169 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex );
  * name that the kernel aware debugger will display.
  */
 #if configQUEUE_REGISTRY_SIZE > 0
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );
+	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ) PRIVILEGED_FUNCTION;
+#endif
+
+/*
+ * The registry is provided as a means for kernel aware debuggers to
+ * locate queues, semaphores and mutexes.  Call vQueueAddToRegistry() add
+ * a queue, semaphore or mutex handle to the registry if you want the handle
+ * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to
+ * remove the queue, semaphore or mutex from the register.  If you are not using
+ * a kernel aware debugger then this function can be ignored.
+ *
+ * @param xQueue The handle of the queue being removed from the registry.
+ */
+#if configQUEUE_REGISTRY_SIZE > 0
+	void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 #endif
 
+/*
+ * Generic version of the queue creation function, which is in turn called by
+ * any queue, semaphore or mutex creation function or macro.
+ */
+xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
+
+/*
+ * Queue sets provide a mechanism to allow a task to block (pend) on a read
+ * operation from multiple queues or semaphores simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * A queue set must be explicitly created using a call to xQueueCreateSet()
+ * before it can be used.  Once created, standard FreeRTOS queues and semaphores
+ * can be added to the set using calls to xQueueAddToSet().
+ * xQueueSelectFromSet() is then used to determine which, if any, of the queues
+ * or semaphores contained in the set is in a state where a queue read or
+ * semaphore take operation would be successful.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * queue added to a queue set.  Therefore counting semaphores that have a high
+ * maximum count value should not be added to a queue set.
+ *
+ * Note 4:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param uxEventQueueLength Queue sets store events that occur on
+ * the queues and semaphores contained in the set.  uxEventQueueLength specifies
+ * the maximum number of events that can be queued at once.  To be absolutely
+ * certain that events are not lost uxEventQueueLength should be set to the
+ * total sum of the length of the queues added to the set, where binary
+ * semaphores and mutexes have a length of 1, and counting semaphores have a
+ * length set by their maximum count value.  Examples:
+ *  + If a queue set is to hold a queue of length 5, another queue of length 12,
+ *    and a binary semaphore, then uxEventQueueLength should be set to
+ *    (5 + 12 + 1), or 18.
+ *  + If a queue set is to hold three binary semaphores then uxEventQueueLength
+ *    should be set to (1 + 1 + 1 ), or 3.
+ *  + If a queue set is to hold a counting semaphore that has a maximum count of
+ *    5, and a counting semaphore that has a maximum count of 3, then
+ *    uxEventQueueLength should be set to (5 + 3), or 8.
+ *
+ * @return If the queue set is created successfully then a handle to the created
+ * queue set is returned.  Otherwise NULL is returned.
+ */
+xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength ) PRIVILEGED_FUNCTION;
+
+/*
+ * Adds a queue or semaphore to a queue set that was previously created by a
+ * call to xQueueCreateSet().
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being added to
+ * the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set to which the queue or semaphore
+ * is being added.
+ *
+ * @return If the queue or semaphore was successfully added to the queue set
+ * then pdPASS is returned.  If the queue could not be successfully added to the
+ * queue set because it is already a member of a different queue set then pdFAIL
+ * is returned.
+ */
+portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
+
+/*
+ * Removes a queue or semaphore from a queue set.  A queue or semaphore can only
+ * be removed from a set if the queue or semaphore is empty.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being removed
+ * from the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set in which the queue or semaphore
+ * is included.
+ *
+ * @return If the queue or semaphore was successfully removed from the queue set
+ * then pdPASS is returned.  If the queue was not in the queue set, or the
+ * queue (or semaphore) was not empty, then pdFAIL is returned.
+ */
+portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
+
+/*
+ * xQueueSelectFromSet() selects from the members of a queue set a queue or
+ * semaphore that either contains data (in the case of a queue) or is available
+ * to take (in the case of a semaphore).  xQueueSelectFromSet() effectively
+ * allows a task to block (pend) on a read operation on all the queues and
+ * semaphores in a queue set simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueSet The queue set on which the task will (potentially) block.
+ *
+ * @param xBlockTimeTicks The maximum time, in ticks, that the calling task will
+ * remain in the Blocked state (with other tasks executing) to wait for a member
+ * of the queue set to be ready for a successful queue read or semaphore take
+ * operation.
+ *
+ * @return xQueueSelectFromSet() will return the handle of a queue (cast to
+ * a xQueueSetMemberHandle type) contained in the queue set that contains data,
+ * or the handle of a semaphore (cast to a xQueueSetMemberHandle type) contained
+ * in the queue set that is available, or NULL if no such queue or semaphore
+ * exists before before the specified block time expires.
+ */
+xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks ) PRIVILEGED_FUNCTION;
 
+/*
+ * A version of xQueueSelectFromSet() that can be used from an ISR.
+ */
+xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
+
+/* Not public API functions. */
+void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION;
+void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
+unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 
 #ifdef __cplusplus
diff --git a/Source/include/semphr.h b/Source/include/semphr.h
index d815329..f2a4101 100644
--- a/Source/include/semphr.h
+++ b/Source/include/semphr.h
@@ -1,76 +1,95 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
+    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.
 
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include semphr.h"
-#endif
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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 SEMAPHORE_H
 #define SEMAPHORE_H
 
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h" must appear in source files before "include semphr.h"
+#endif
+
 #include "queue.h"
 
 typedef xQueueHandle xSemaphoreHandle;
 
-#define semBINARY_SEMAPHORE_QUEUE_LENGTH	( ( unsigned char ) 1 )
-#define semSEMAPHORE_QUEUE_ITEM_LENGTH		( ( unsigned char ) 0 )
-#define semGIVE_BLOCK_TIME					( ( portTickType ) 0 )
+#define semBINARY_SEMAPHORE_QUEUE_LENGTH	( ( unsigned char ) 1U )
+#define semSEMAPHORE_QUEUE_ITEM_LENGTH		( ( unsigned char ) 0U )
+#define semGIVE_BLOCK_TIME					( ( portTickType ) 0U )
 
 
 /**
  * semphr. h
  * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )

  *
+ * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
+ * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
+ * the vSemaphoreCreateBinary() macro are created in a state such that the
+ * first call to 'take' the semaphore would pass, whereas binary semaphores
+ * created using xSemaphoreCreateBinary() are created in a state such that the
+ * the semaphore must first be 'given' before it can be 'taken'.
+ *
  * Macro that implements a semaphore by using the existing queue mechanism.
  * The queue length is 1 as this is a binary semaphore.  The data size is 0
  * as we don't want to actually store any data - we just want to know if the
@@ -87,7 +106,7 @@ typedef xQueueHandle xSemaphoreHandle;
  *
  * Example usage:
  
- xSemaphoreHandle xSemaphore;
+ xSemaphoreHandle xSemaphore = NULL;
 
  void vATask( void * pvParameters )
  {
@@ -98,26 +117,74 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xSemaphore != NULL )
     {
         // The semaphore was created successfully.
-        // The semaphore can now be used.  
+        // The semaphore can now be used.
     }
  }
  

  * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
  * \ingroup Semaphores
  */
-#define vSemaphoreCreateBinary( xSemaphore )		{																								\
-														xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH );	\
-														if( xSemaphore != NULL )																	\
-														{																							\
-															xSemaphoreGive( xSemaphore );															\
-														}																							\
-													}
+#define vSemaphoreCreateBinary( xSemaphore )																									\
+	{																																			\
+		( xSemaphore ) = xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE );	\
+		if( ( xSemaphore ) != NULL )																											\
+		{																																		\
+			( void ) xSemaphoreGive( ( xSemaphore ) );																							\
+		}																																		\
+	}
 
 /**
  * semphr. h
- * 
xSemaphoreTake( 
- *                   xSemaphoreHandle xSemaphore, 
- *                   portTickType xBlockTime 
+ * 
xSemaphoreHandle xSemaphoreCreateBinary( void )

+ *
+ * The old vSemaphoreCreateBinary() macro is now deprecated in favour of this
+ * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
+ * the vSemaphoreCreateBinary() macro are created in a state such that the
+ * first call to 'take' the semaphore would pass, whereas binary semaphores
+ * created using xSemaphoreCreateBinary() are created in a state such that the
+ * the semaphore must first be 'given' before it can be 'taken'.
+ *
+ * Function that creates a semaphore by using the existing queue mechanism.
+ * The queue length is 1 as this is a binary semaphore.  The data size is 0
+ * as nothing is actually stored - all that is important is whether the queue is
+ * empty or full (the binary semaphore is available or not).
+ *
+ * This type of semaphore can be used for pure synchronisation between tasks or
+ * between an interrupt and a task.  The semaphore need not be given back once
+ * obtained, so one task/interrupt can continuously 'give' the semaphore while
+ * another continuously 'takes' the semaphore.  For this reason this type of
+ * semaphore does not use a priority inheritance mechanism.  For an alternative
+ * that does use priority inheritance see xSemaphoreCreateMutex().
+ *
+ * @return Handle to the created semaphore.
+ *
+ * Example usage:
+ 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateBinary();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.
+    }
+ }
+ 

+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
+ * \ingroup Semaphores
+ */
+#define xSemaphoreCreateBinary() xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+
+/**
+ * semphr. h
+ * 
xSemaphoreTake(
+ *                   xSemaphoreHandle xSemaphore,
+ *                   portTickType xBlockTime
  *               )

  *
  * Macro to obtain a semaphore.  The semaphore must have previously been
@@ -155,7 +222,7 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xSemaphore != NULL )
     {
         // See if we can obtain the semaphore.  If the semaphore is not available
-        // wait 10 ticks to see if it becomes free.	
+        // wait 10 ticks to see if it becomes free.
         if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
         {
             // We were able to obtain the semaphore and can now access the
@@ -163,7 +230,7 @@ typedef xQueueHandle xSemaphoreHandle;
 
             // ...
 
-            // We have finished accessing the shared resource.  Release the 
+            // We have finished accessing the shared resource.  Release the
             // semaphore.
             xSemaphoreGive( xSemaphore );
         }
@@ -178,28 +245,28 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreTake xSemaphoreTake
  * \ingroup Semaphores
  */
-#define xSemaphoreTake( xSemaphore, xBlockTime )		xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
+#define xSemaphoreTake( xSemaphore, xBlockTime )		xQueueGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
 
 /**
  * semphr. h
- * xSemaphoreTakeRecursive( 
- *                          xSemaphoreHandle xMutex, 
- *                          portTickType xBlockTime 
+ * xSemaphoreTakeRecursive(
+ *                          xSemaphoreHandle xMutex,
+ *                          portTickType xBlockTime
  *                        )
  *
- * Macro to recursively obtain, or 'take', a mutex type semaphore.  
- * The mutex must have previously been created using a call to 
+ * Macro to recursively obtain, or 'take', a mutex type semaphore.
+ * The mutex must have previously been created using a call to
  * xSemaphoreCreateRecursiveMutex();
- * 
+ *
  * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
  * macro to be available.
- * 
+ *
  * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
  *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request.  For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
  * not be available to any other task until it has also  'given' the mutex back
  * exactly five times.
  *
@@ -210,7 +277,7 @@ typedef xQueueHandle xSemaphoreHandle;
  * available.  The macro portTICK_RATE_MS can be used to convert this to a
  * real time.  A block time of zero can be used to poll the semaphore.  If
  * the task already owns the semaphore then xSemaphoreTakeRecursive() will
- * return immediately no matter what the value of xBlockTime. 
+ * return immediately no matter what the value of xBlockTime.
  *
  * @return pdTRUE if the semaphore was obtained.  pdFALSE if xBlockTime
  * expired without the semaphore becoming available.
@@ -234,14 +301,14 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xMutex != NULL )
     {
         // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
+        // wait 10 ticks to see if it becomes free.
         if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
         {
             // We were able to obtain the mutex and can now access the
             // shared resource.
 
             // ...
-            // For some reason due to the nature of the code further calls to 
+            // For some reason due to the nature of the code further calls to
 			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
 			// code these would not be just sequential calls as this would make
 			// no sense.  Instead the calls are likely to be buried inside
@@ -249,7 +316,7 @@ typedef xQueueHandle xSemaphoreHandle;
             xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
             xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
 
-            // The mutex has now been 'taken' three times, so will not be 
+            // The mutex has now been 'taken' three times, so will not be
 			// available to another task until it has also been given back
 			// three times.  Again it is unlikely that real code would have
 			// these calls sequentially, but instead buried in a more complex
@@ -271,22 +338,22 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
  * \ingroup Semaphores
  */
-#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( xMutex, xBlockTime )
+#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
 
 
-/* 
+/*
  * xSemaphoreAltTake() is an alternative version of xSemaphoreTake().
  *
- * The source code that implements the alternative (Alt) API is much 
- * simpler	because it executes everything from within a critical section.  
- * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the 
- * preferred fully featured API too.  The fully featured API has more 
- * complex	code that takes longer to execute, but makes much less use of 
- * critical sections.  Therefore the alternative API sacrifices interrupt 
+ * The source code that implements the alternative (Alt) API is much
+ * simpler	because it executes everything from within a critical section.
+ * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the
+ * preferred fully featured API too.  The fully featured API has more
+ * complex	code that takes longer to execute, but makes much less use of
+ * critical sections.  Therefore the alternative API sacrifices interrupt
  * responsiveness to gain execution speed, whereas the fully featured API
  * sacrifices execution speed to ensure better interrupt responsiveness.
  */
-#define xSemaphoreAltTake( xSemaphore, xBlockTime )		xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE )
+#define xSemaphoreAltTake( xSemaphore, xBlockTime )		xQueueAltGenericReceive( ( xQueueHandle ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
 
 /**
  * semphr. h
@@ -299,7 +366,7 @@ typedef xQueueHandle xSemaphoreHandle;
  * This macro must not be used from an ISR.  See xSemaphoreGiveFromISR () for
  * an alternative which can be used from an ISR.
  *
- * This macro must also not be used on semaphores created using 
+ * This macro must also not be used on semaphores created using
  * xSemaphoreCreateRecursiveMutex().
  *
  * @param xSemaphore A handle to the semaphore being released.  This is the
@@ -307,7 +374,7 @@ typedef xQueueHandle xSemaphoreHandle;
  *
  * @return pdTRUE if the semaphore was released.  pdFALSE 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 
+ * no space on the queue to post a message - indicating that the
  * semaphore was not first obtained correctly.
  *
  * Example usage:
@@ -349,25 +416,25 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreGive xSemaphoreGive
  * \ingroup Semaphores
  */
-#define xSemaphoreGive( xSemaphore )		xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+#define xSemaphoreGive( xSemaphore )		xQueueGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /**
  * semphr. h
  * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )

  *
  * Macro to recursively release, or 'give', a mutex type semaphore.
- * The mutex must have previously been created using a call to 
+ * The mutex must have previously been created using a call to
  * xSemaphoreCreateRecursiveMutex();
- * 
+ *
  * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
  * macro to be available.
  *
  * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
- * 
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
+ *
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request.  For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
  * not be available to any other task until it has also  'given' the mutex back
  * exactly five times.
  *
@@ -395,14 +462,14 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xMutex != NULL )
     {
         // See if we can obtain the mutex.  If the mutex is not available
-        // wait 10 ticks to see if it becomes free.	
+        // wait 10 ticks to see if it becomes free.
         if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
         {
             // We were able to obtain the mutex and can now access the
             // shared resource.
 
             // ...
-            // For some reason due to the nature of the code further calls to 
+            // For some reason due to the nature of the code further calls to
 			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
 			// code these would not be just sequential calls as this would make
 			// no sense.  Instead the calls are likely to be buried inside
@@ -410,7 +477,7 @@ typedef xQueueHandle xSemaphoreHandle;
             xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
             xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
 
-            // The mutex has now been 'taken' three times, so will not be 
+            // The mutex has now been 'taken' three times, so will not be
 			// available to another task until it has also been given back
 			// three times.  Again it is unlikely that real code would have
 			// these calls sequentially, it would be more likely that the calls
@@ -433,27 +500,27 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
  * \ingroup Semaphores
  */
-#define xSemaphoreGiveRecursive( xMutex )	xQueueGiveMutexRecursive( xMutex )
+#define xSemaphoreGiveRecursive( xMutex )	xQueueGiveMutexRecursive( ( xMutex ) )
 
-/* 
+/*
  * xSemaphoreAltGive() is an alternative version of xSemaphoreGive().
  *
- * The source code that implements the alternative (Alt) API is much 
- * simpler	because it executes everything from within a critical section.  
- * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the 
- * preferred fully featured API too.  The fully featured API has more 
- * complex	code that takes longer to execute, but makes much less use of 
- * critical sections.  Therefore the alternative API sacrifices interrupt 
+ * The source code that implements the alternative (Alt) API is much
+ * simpler	because it executes everything from within a critical section.
+ * This is	the approach taken by many other RTOSes, but FreeRTOS.org has the
+ * preferred fully featured API too.  The fully featured API has more
+ * complex	code that takes longer to execute, but makes much less use of
+ * critical sections.  Therefore the alternative API sacrifices interrupt
  * responsiveness to gain execution speed, whereas the fully featured API
  * sacrifices execution speed to ensure better interrupt responsiveness.
  */
-#define xSemaphoreAltGive( xSemaphore )		xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+#define xSemaphoreAltGive( xSemaphore )		xQueueAltGenericSend( ( xQueueHandle ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /**
  * semphr. h
  * 
- xSemaphoreGiveFromISR( 
-                          xSemaphoreHandle xSemaphore, 
+ xSemaphoreGiveFromISR(
+                          xSemaphoreHandle xSemaphore,
                           signed portBASE_TYPE *pxHigherPriorityTaskWoken
                       )

  *
@@ -487,7 +554,7 @@ typedef xQueueHandle xSemaphoreHandle;
  {
     for( ;; )
     {
-        // We want this task to run every 10 ticks of a timer.  The semaphore 
+        // We want this task to run every 10 ticks of a timer.  The semaphore
         // was created before this task was started.
 
         // Block waiting for the semaphore to become available.
@@ -498,7 +565,7 @@ typedef xQueueHandle xSemaphoreHandle;
             // ...
 
             // We have finished our task.  Return to the top of the loop where
-            // we will block on the semaphore until it is time to execute 
+            // we will block on the semaphore until it is time to execute
             // again.  Note when using the semaphore for synchronisation with an
 			// ISR in this manner there is no need to 'give' the semaphore back.
         }
@@ -538,31 +605,65 @@ typedef xQueueHandle xSemaphoreHandle;
  * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
  * \ingroup Semaphores
  */
-#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )			xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, pxHigherPriorityTaskWoken, queueSEND_TO_BACK )
+#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )			xQueueGenericSendFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+
+/**
+ * semphr. h
+ * 
+ xSemaphoreTakeFromISR(
+                          xSemaphoreHandle xSemaphore,
+                          signed portBASE_TYPE *pxHigherPriorityTaskWoken
+                      )

+ *
+ * Macro to  take a semaphore from an ISR.  The semaphore must have
+ * previously been created with a call to vSemaphoreCreateBinary() or
+ * xSemaphoreCreateCounting().
+ *
+ * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
+ * must not be used with this macro.
+ *
+ * This macro can be used from an ISR, however taking a semaphore from an ISR
+ * is not a common operation.  It is likely to only be useful when taking a
+ * counting semaphore when an interrupt is obtaining an object from a resource
+ * pool (when the semaphore count indicates the number of resources available).
+ *
+ * @param xSemaphore A handle to the semaphore being taken.  This is the
+ * handle returned when the semaphore was created.
+ *
+ * @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task.  If xSemaphoreTakeFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return pdTRUE if the semaphore was successfully taken, otherwise
+ * pdFALSE
+ */
+#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )			xQueueReceiveFromISR( ( xQueueHandle ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
  * semphr. h
  * 
xSemaphoreHandle xSemaphoreCreateMutex( void )

  *
- * Macro that implements a mutex semaphore by using the existing queue 
+ * Macro that implements a mutex semaphore by using the existing queue
  * mechanism.
  *
  * Mutexes created using this macro can be accessed using the xSemaphoreTake()
- * and xSemaphoreGive() macros.  The xSemaphoreTakeRecursive() and 
+ * and xSemaphoreGive() macros.  The xSemaphoreTakeRecursive() and
  * xSemaphoreGiveRecursive() macros should not be used.
- * 
- * This type of semaphore uses a priority inheritance mechanism so a task 
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the 
- * semaphore it is no longer required.  
  *
- * Mutex type semaphores cannot be used from within interrupt service routines.  
+ * This type of semaphore uses a priority inheritance mechanism so a task
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
+ * semaphore it is no longer required.
+ *
+ * Mutex type semaphores cannot be used from within interrupt service routines.
  *
- * See vSemaphoreCreateBinary() for an alternative implementation that can be 
- * used for pure synchronisation (where one task or interrupt always 'gives' the 
- * semaphore and another always 'takes' the semaphore) and from within interrupt 
+ * See vSemaphoreCreateBinary() for an alternative implementation that can be
+ * used for pure synchronisation (where one task or interrupt always 'gives' the
+ * semaphore and another always 'takes' the semaphore) and from within interrupt
  * service routines.
  *
- * @return xSemaphore Handle to the created mutex semaphore.  Should be of type 
+ * @return xSemaphore Handle to the created mutex semaphore.  Should be of type
  *		xSemaphoreHandle.
  *
  * Example usage:
@@ -578,46 +679,46 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xSemaphore != NULL )
     {
         // The semaphore was created successfully.
-        // The semaphore can now be used.  
+        // The semaphore can now be used.
     }
  }
  

  * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
  * \ingroup Semaphores
  */
-#define xSemaphoreCreateMutex() xQueueCreateMutex()
+#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
 
 
 /**
  * semphr. h
  * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )

  *
- * Macro that implements a recursive mutex by using the existing queue 
+ * Macro that implements a recursive mutex by using the existing queue
  * mechanism.
  *
- * Mutexes created using this macro can be accessed using the 
- * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros.  The 
+ * Mutexes created using this macro can be accessed using the
+ * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros.  The
  * xSemaphoreTake() and xSemaphoreGive() macros should not be used.
  *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex 
- * doesn't become available again until the owner has called 
- * xSemaphoreGiveRecursive() for each successful 'take' request.  For example, 
- * if a task successfully 'takes' the same mutex 5 times then the mutex will 
+ * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
+ * doesn't become available again until the owner has called
+ * xSemaphoreGiveRecursive() for each successful 'take' request.  For example,
+ * if a task successfully 'takes' the same mutex 5 times then the mutex will
  * not be available to any other task until it has also  'given' the mutex back
  * exactly five times.
- * 
- * This type of semaphore uses a priority inheritance mechanism so a task 
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the 
- * semaphore it is no longer required.  
  *
- * Mutex type semaphores cannot be used from within interrupt service routines.  
+ * This type of semaphore uses a priority inheritance mechanism so a task
+ * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
+ * semaphore it is no longer required.
+ *
+ * Mutex type semaphores cannot be used from within interrupt service routines.
  *
- * See vSemaphoreCreateBinary() for an alternative implementation that can be 
- * used for pure synchronisation (where one task or interrupt always 'gives' the 
- * semaphore and another always 'takes' the semaphore) and from within interrupt 
+ * See vSemaphoreCreateBinary() for an alternative implementation that can be
+ * used for pure synchronisation (where one task or interrupt always 'gives' the
+ * semaphore and another always 'takes' the semaphore) and from within interrupt
  * service routines.
  *
- * @return xSemaphore Handle to the created mutex semaphore.  Should be of type 
+ * @return xSemaphore Handle to the created mutex semaphore.  Should be of type
  *		xSemaphoreHandle.
  *
  * Example usage:
@@ -633,45 +734,45 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xSemaphore != NULL )
     {
         // The semaphore was created successfully.
-        // The semaphore can now be used.  
+        // The semaphore can now be used.
     }
  }
  

  * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex
  * \ingroup Semaphores
  */
-#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex()
+#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
 
 /**
  * semphr. h
  * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )

  *
- * Macro that creates a counting semaphore by using the existing 
- * queue mechanism.  
+ * Macro that creates a counting semaphore by using the existing
+ * queue mechanism.
  *
  * Counting semaphores are typically used for two things:
  *
- * 1) Counting events.  
+ * 1) Counting events.
  *
  *    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 
+ *    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.
  *
  * 2) Resource management.
  *
  *    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 
+ *    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.
  *
- * @param uxMaxCount The maximum count value that can be reached.  When the 
+ * @param uxMaxCount The maximum count value that can be reached.  When the
  *        semaphore reaches this value it can no longer be 'given'.
  *
  * @param uxInitialCount The count value assigned to the semaphore when it is
@@ -679,7 +780,7 @@ typedef xQueueHandle xSemaphoreHandle;
  *
  * @return Handle to the created semaphore.  Null if the semaphore could not be
  *         created.
- * 
+ *
  * Example usage:
  
  xSemaphoreHandle xSemaphore;
@@ -696,15 +797,43 @@ typedef xQueueHandle xSemaphoreHandle;
     if( xSemaphore != NULL )
     {
         // The semaphore was created successfully.
-        // The semaphore can now be used.  
+        // The semaphore can now be used.
     }
  }
  

  * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
  * \ingroup Semaphores
  */
-#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount )
+#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
+
+/**
+ * semphr. h
+ * 
void vSemaphoreDelete( xSemaphoreHandle xSemaphore );

+ *
+ * Delete a semaphore.  This function must be used with care.  For example,
+ * do not delete a mutex type semaphore if the mutex is held by a task.
+ *
+ * @param xSemaphore A handle to the semaphore to be deleted.
+ *
+ * \defgroup vSemaphoreDelete vSemaphoreDelete
+ * \ingroup Semaphores
+ */
+#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( xQueueHandle ) ( xSemaphore ) )
 
+/**
+ * semphr.h
+ * 
xTaskHandle xSemaphoreGetMutexHolder( xSemaphoreHandle xMutex );

+ *
+ * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
+ * If xMutex is not a mutex type semaphore, or the mutex is available (not held
+ * by a task), return NULL.
+ *
+ * Note: This Is is a good way of determining if the calling task is the mutex
+ * holder, but not a good way of determining the identity of the mutex holder as
+ * the holder may change between the function exiting and the returned value
+ * being tested.
+ */
+#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
 
 #endif /* SEMAPHORE_H */
 
diff --git a/Source/include/task.h b/Source/include/task.h
index f81e006..ae03a53 100644
--- a/Source/include/task.h
+++ b/Source/include/task.h
@@ -1,67 +1,76 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
 
-#ifndef INC_FREERTOS_H
-	#error "#include FreeRTOS.h" must appear in source files before "#include task.h"
-#endif
+    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 INC_TASK_H
+#define INC_TASK_H
 
-#ifndef TASK_H
-#define TASK_H
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include task.h"
+#endif
 
-#include "portable.h"
 #include "list.h"
 
 #ifdef __cplusplus
@@ -72,7 +81,7 @@ extern "C" {
  * MACROS AND DEFINITIONS
  *----------------------------------------------------------*/
 
-#define tskKERNEL_VERSION_NUMBER "V6.0.2"
+#define tskKERNEL_VERSION_NUMBER "V7.6.0"
 
 /**
  * task. h
@@ -81,11 +90,21 @@ extern "C" {
  * returns (via a pointer parameter) an xTaskHandle variable that can then
  * be used as a parameter to vTaskDelete to delete the task.
  *
- * \page xTaskHandle xTaskHandle
+ * \defgroup xTaskHandle xTaskHandle
  * \ingroup Tasks
  */
 typedef void * xTaskHandle;
 
+/* Task states returned by eTaskGetState. */
+typedef enum
+{
+	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
+	eReady,			/* The task being queried is in a read or pending ready list. */
+	eBlocked,		/* The task being queried is in the Blocked state. */
+	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+	eDeleted		/* The task being queried has been deleted, but its TCB has not yet been freed. */
+} eTaskState;
+
 /*
  * Used internally only.
  */
@@ -119,19 +138,42 @@ typedef struct xTASK_PARAMTERS
 	xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
 } xTaskParameters;
 
+/* Used with the uxTaskGetSystemState() function to return the state of each task
+in the system. */
+typedef struct xTASK_STATUS
+{
+	xTaskHandle xHandle;						/* The handle of the task to which the rest of the information in the structure relates. */
+	const signed char *pcTaskName;				/* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */
+	unsigned portBASE_TYPE xTaskNumber;			/* A number unique to the task. */
+	eTaskState eCurrentState;					/* The state in which the task existed when the structure was populated. */
+	unsigned portBASE_TYPE uxCurrentPriority;	/* The priority at which the task was running (may be inherited) when the structure was populated. */
+	unsigned portBASE_TYPE uxBasePriority;		/* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
+	unsigned long ulRunTimeCounter;				/* The total run time allocated to the task so far, as defined by the run time stats clock.  See http://www.freertos.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
+	unsigned short usStackHighWaterMark;		/* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
+} xTaskStatusType;
+
+/* Possible return values for eTaskConfirmSleepModeStatus(). */
+typedef enum
+{
+	eAbortSleep = 0,		/* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
+	eStandardSleep,			/* Enter a sleep mode that will not last any longer than the expected idle time. */
+	eNoTasksWaitingTimeout	/* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+} eSleepModeStatus;
+
+
 /*
  * Defines the priority used by the idle task.  This must not be modified.
  *
  * \ingroup TaskUtils
  */
-#define tskIDLE_PRIORITY			( ( unsigned portBASE_TYPE ) 0 )
+#define tskIDLE_PRIORITY			( ( unsigned portBASE_TYPE ) 0U )
 
 /**
  * task. h
  *
  * Macro for forcing a context switch.
  *
- * \page taskYIELD taskYIELD
+ * \defgroup taskYIELD taskYIELD
  * \ingroup SchedulerControl
  */
 #define taskYIELD()					portYIELD()
@@ -145,7 +187,7 @@ typedef struct xTASK_PARAMTERS
  * NOTE: This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * \page taskENTER_CRITICAL taskENTER_CRITICAL
+ * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
  * \ingroup SchedulerControl
  */
 #define taskENTER_CRITICAL()		portENTER_CRITICAL()
@@ -159,7 +201,7 @@ typedef struct xTASK_PARAMTERS
  * NOTE: This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * \page taskEXIT_CRITICAL taskEXIT_CRITICAL
+ * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
  * \ingroup SchedulerControl
  */
 #define taskEXIT_CRITICAL()			portEXIT_CRITICAL()
@@ -169,7 +211,7 @@ typedef struct xTASK_PARAMTERS
  *
  * Macro to disable all maskable interrupts.
  *
- * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
+ * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
 #define taskDISABLE_INTERRUPTS()	portDISABLE_INTERRUPTS()
@@ -179,15 +221,15 @@ typedef struct xTASK_PARAMTERS
  *
  * Macro to enable microcontroller interrupts.
  *
- * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
+ * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
 #define taskENABLE_INTERRUPTS()		portENABLE_INTERRUPTS()
 
 /* Definitions returned by xTaskGetSchedulerState(). */
-#define taskSCHEDULER_NOT_STARTED	0
-#define taskSCHEDULER_RUNNING		1
-#define taskSCHEDULER_SUSPENDED		2
+#define taskSCHEDULER_NOT_STARTED	( ( portBASE_TYPE ) 0 )
+#define taskSCHEDULER_RUNNING		( ( portBASE_TYPE ) 1 )
+#define taskSCHEDULER_SUSPENDED		( ( portBASE_TYPE ) 2 )
 
 /*-----------------------------------------------------------
  * TASK CREATION API
@@ -206,10 +248,10 @@ typedef struct xTASK_PARAMTERS
 						  );

  *
  * Create a new task and add it to the list of tasks that are ready to run.
- * 
+ *
  * xTaskCreate() can only be used to create a task that has unrestricted
  * access to the entire microcontroller memory map.  Systems that include MPU
- * support can alternatively create an MPU constrained task using 
+ * support can alternatively create an MPU constrained task using
  * xTaskCreateRestricted().
  *
  * @param pvTaskCode Pointer to the task entry function.  Tasks
@@ -285,7 +327,7 @@ typedef struct xTASK_PARAMTERS
  *
  * @param pxTaskDefinition Pointer to a structure that contains a member
  * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
- * documentation) plus an optional stack buffer and the memory region 
+ * documentation) plus an optional stack buffer and the memory region
  * definitions.
  *
  * @param pxCreatedTask Used to pass back a handle by which the created task
@@ -310,7 +352,7 @@ static const xTaskParameters xCheckTaskParameters =
 	// the task, with appropriate access permissions.  Different processors have
 	// different memory alignment requirements - refer to the FreeRTOS documentation
 	// for full information.
-	{											
+	{
 		// Base address					Length	Parameters
         { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
         { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
@@ -348,7 +390,7 @@ xTaskHandle xHandle;
  * Memory regions are assigned to a restricted task when the task is created by
  * a call to xTaskCreateRestricted().  These regions can be redefined using
  * vTaskAllocateMPURegions().
- * 
+ *
  * @param xTask The handle of the task being updated.
  *
  * @param xRegions A pointer to an xMemoryRegion structure that contains the
@@ -361,7 +403,7 @@ xTaskHandle xHandle;
 // ucOneKByte array.  The other two of the maximum 3 definable regions are
 // unused so set to zero.
 static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{											
+{
 	// Base address		Length		Parameters
 	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
 	{ 0,				0,			0 },
@@ -371,13 +413,13 @@ static const xMemoryRegion xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
 void vATask( void *pvParameters )
 {
 	// This task was created such that it has access to certain regions of
-	// memory as defined by the MPU configuration.  At some point it is 
+	// memory as defined by the MPU configuration.  At some point it is
 	// desired that these MPU regions are replaced with that defined in the
 	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
 	// for this purpose.  NULL is used as the task handle to indicate that this
 	// function should modify the MPU regions of the calling task.
 	vTaskAllocateMPURegions( NULL, xAltRegions );
-	
+
 	// Now the task can continue its function, but from this point on can only
 	// access its stack and the ucOneKByte array (unless any other statically
 	// defined or shared regions have been declared elsewhere).
@@ -390,7 +432,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
 
 /**
  * task. h
- * 
void vTaskDelete( xTaskHandle pxTask );

+ * 
void vTaskDelete( xTaskHandle xTask );

  *
  * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -408,7 +450,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * See the demo application file death.c for sample code that utilises
  * vTaskDelete ().
  *
- * @param pxTask The handle of the task to be deleted.  Passing NULL will
+ * @param xTask The handle of the task to be deleted.  Passing NULL will
  * cause the calling task to be deleted.
  *
  * Example usage:
@@ -427,8 +469,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * \defgroup vTaskDelete vTaskDelete
  * \ingroup Tasks
  */
-void vTaskDelete( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
-
+void vTaskDelete( xTaskHandle xTaskToDelete ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * TASK CONTROL API
@@ -545,17 +586,17 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
 
 /**
  * task. h
- * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );

+ * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask );

  *
  * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Obtain the priority of any task.
  *
- * @param pxTask Handle of the task to be queried.  Passing a NULL
+ * @param xTask Handle of the task to be queried.  Passing a NULL
  * handle results in the priority of the calling task being returned.
  *
- * @return The priority of pxTask.
+ * @return The priority of xTask.
  *
  * Example usage:
    
@@ -588,11 +629,29 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
  * \defgroup uxTaskPriorityGet uxTaskPriorityGet
  * \ingroup TaskCtrl
  */
-unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );

+ * 
eTaskState eTaskGetState( xTaskHandle xTask );

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

  *
  * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -602,7 +661,7 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
  * A context switch will occur before the function returns if the priority
  * being set is higher than the currently executing task.
  *
- * @param pxTask Handle to the task for which the priority is being set.
+ * @param xTask Handle to the task for which the priority is being set.
  * Passing a NULL handle results in the priority of the calling task being set.
  *
  * @param uxNewPriority The priority to which the task will be set.
@@ -630,11 +689,11 @@ unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTI
  * \defgroup vTaskPrioritySet vTaskPrioritySet
  * \ingroup TaskCtrl
  */
-void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
+void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );

+ * 
void vTaskSuspend( xTaskHandle xTaskToSuspend );

  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -646,7 +705,7 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * i.e. calling vTaskSuspend () twice on the same task still only requires one
  * call to vTaskResume () to ready the suspended task.
  *
- * @param pxTaskToSuspend Handle to the task being suspended.  Passing a NULL
+ * @param xTaskToSuspend Handle to the task being suspended.  Passing a NULL
  * handle will cause the calling task to be suspended.
  *
  * Example usage:
@@ -681,11 +740,11 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * \defgroup vTaskSuspend vTaskSuspend
  * \ingroup TaskCtrl
  */
-void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
+void vTaskSuspend( xTaskHandle xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskResume( xTaskHandle pxTaskToResume );

+ * 
void vTaskResume( xTaskHandle xTaskToResume );

  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -696,7 +755,7 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * vTaskResume ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * Example usage:
    
@@ -730,11 +789,11 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * \defgroup vTaskResume vTaskResume
  * \ingroup TaskCtrl
  */
-void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+void vTaskResume( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );

+ * 
void xTaskResumeFromISR( xTaskHandle xTaskToResume );

  *
  * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
@@ -745,12 +804,12 @@ void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * xTaskResumeFromISR ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * \defgroup vTaskResumeFromISR vTaskResumeFromISR
  * \ingroup TaskCtrl
  */
-portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * SCHEDULER CONTROL
@@ -948,7 +1007,7 @@ signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );

+ * 
signed portBASE_TYPE xTaskIsTaskSuspended( const xTaskHandle xTask );

  *
  * Utility task that simply returns pdTRUE if the task referenced by xTask is
  * currently in the Suspended state, or pdFALSE if the task referenced by xTask
@@ -963,15 +1022,31 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTI
 
 /**
  * task. h
- * 
volatile portTickType xTaskGetTickCount( void );

+ * 
portTickType xTaskGetTickCount( void );

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

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

@@ -981,19 +1056,202 @@ portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
  * has been deleted but not yet freed by the idle task will also be
  * included in the count.
  *
- * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
+ * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
  * \ingroup TaskUtils
  */
 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
 
+/**
+ * task. h
+ * 
signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery );

+ *
+ * @return The text (human readable) name of the task referenced by the handle
+ * xTaskToQueury.  A task can query its own name by either passing in its own
+ * handle, or by setting xTaskToQuery to NULL.  INCLUDE_pcTaskGetTaskName must be
+ * set to 1 in FreeRTOSConfig.h for pcTaskGetTaskName() to be available.
+ *
+ * \defgroup pcTaskGetTaskName pcTaskGetTaskName
+ * \ingroup TaskUtils
+ */
+signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery );
+
+/**
+ * task.h
+ * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );

+ *
+ * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
+ * this function to be available.
+ *
+ * Returns the high water mark of the stack associated with xTask.  That is,
+ * the minimum free stack space there has been (in words, so on a 32 bit machine
+ * a value of 1 means 4 bytes) since the task started.  The smaller the returned
+ * number the closer the task has come to overflowing its stack.
+ *
+ * @param xTask Handle of the task associated with the stack to be checked.
+ * Set xTask to NULL to check the stack of the calling task.
+ *
+ * @return The smallest amount of free stack space there has been (in bytes)
+ * since the task referenced by xTask was created.
+ */
+unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
+
+/* When using trace macros it is sometimes necessary to include tasks.h before
+FreeRTOS.h.  When this is done pdTASK_HOOK_CODE will not yet have been defined,
+so the following two prototypes will cause a compilation error.  This can be
+fixed by simply guarding against the inclusion of these two prototypes unless
+they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
+constant. */
+#ifdef configUSE_APPLICATION_TASK_TAG
+	#if configUSE_APPLICATION_TASK_TAG == 1
+		/**
+		 * task.h
+		 * 
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );

+		 *
+		 * Sets pxHookFunction to be the task hook function used by the task xTask.
+		 * Passing xTask as NULL has the effect of setting the calling tasks hook
+		 * function.
+		 */
+		void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
+
+		/**
+		 * task.h
+		 * 
void xTaskGetApplicationTaskTag( xTaskHandle xTask );

+		 *
+		 * Returns the pxHookFunction value assigned to the task xTask.
+		 */
+		pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
+	#endif /* configUSE_APPLICATION_TASK_TAG ==1 */
+#endif /* ifdef configUSE_APPLICATION_TASK_TAG */
+
+/**
+ * task.h
+ * 
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );

+ *
+ * Calls the hook function associated with xTask.  Passing xTask as NULL has
+ * the effect of calling the Running tasks (the calling task) hook function.
+ *
+ * pvParameter is passed to the hook function for the task to interpret as it
+ * wants.
+ */
+portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
+
+/**
+ * xTaskGetIdleTaskHandle() is only available if
+ * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
+ *
+ * Simply returns the handle of the idle task.  It is not valid to call
+ * xTaskGetIdleTaskHandle() before the scheduler has been started.
+ */
+xTaskHandle xTaskGetIdleTaskHandle( void );
+
+/**
+ * configUSE_TRACE_FACILITY must bet defined as 1 in FreeRTOSConfig.h for
+ * uxTaskGetSystemState() to be available.
+ *
+ * uxTaskGetSystemState() populates an xTaskStatusType structure for each task in
+ * the system.  xTaskStatusType structures contain, among other things, members
+ * for the task handle, task name, task priority, task state, and total amount
+ * of run time consumed by the task.  See the xTaskStatusType structure
+ * definition in this file for the full member list.
+ *
+ * NOTE:  This function is intended for debugging use only as its use results in
+ * the scheduler remaining suspended for an extended period.
+ *
+ * @param pxTaskStatusArray A pointer to an array of xTaskStatusType structures.
+ * The array must contain at least one xTaskStatusType structure for each task
+ * that is under the control of the RTOS.  The number of tasks under the control
+ * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function.
+ *
+ * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray
+ * parameter.  The size is specified as the number of indexes in the array, or
+ * the number of xTaskStatusType structures contained in the array, not by the
+ * number of bytes in the array.
+ *
+ * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in
+ * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the
+ * total run time (as defined by the run time stats clock, see
+ * http://www.freertos.org/rtos-run-time-stats.html) since the target booted.
+ * pulTotalRunTime can be set to NULL to omit the total run time information.
+ *
+ * @return The number of xTaskStatusType structures that were populated by
+ * uxTaskGetSystemState().  This should equal the number returned by the
+ * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed
+ * in the uxArraySize parameter was too small.
+ *
+ * Example usage:
+   
+    // This example demonstrates how a human readable table of run time stats
+	// information is generated from raw data provided by uxTaskGetSystemState().
+	// The human readable table is written to pcWriteBuffer
+	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE uxArraySize, x;
+	unsigned long ulTotalRunTime, ulStatsAsPercentage;
+
+		// Make sure the write buffer does not contain a string.
+		*pcWriteBuffer = 0x00;
+
+		// Take a snapshot of the number of tasks in case it changes while this
+		// function is executing.
+		uxArraySize = uxCurrentNumberOfTasks();
+
+		// Allocate a xTaskStatusType structure for each task.  An array could be
+		// allocated statically at compile time.
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		if( pxTaskStatusArray != NULL )
+		{
+			// Generate raw status information about each task.
+			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+
+			// For percentage calculations.
+			ulTotalRunTime /= 100UL;
+
+			// Avoid divide by zero errors.
+			if( ulTotalRunTime > 0 )
+			{
+				// For each populated position in the pxTaskStatusArray array,
+				// format the raw data as human readable ASCII data
+				for( x = 0; x < uxArraySize; x++ )
+				{
+					// What percentage of the total run time has the task used?
+					// This will always be rounded down to the nearest integer.
+					// ulTotalRunTimeDiv100 has already been divided by 100.
+					ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
+
+					if( ulStatsAsPercentage > 0UL )
+					{
+						sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+					}
+					else
+					{
+						// If the percentage is zero here then the task has
+						// consumed less than 1% of the total run time.
+						sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+					}
+
+					pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+				}
+			}
+
+			// The array is no longer needed, free the memory it consumes.
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+	

+ */
+unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime );
+
 /**
  * task. h
  * 
void vTaskList( char *pcWriteBuffer );

  *
- * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
- * available.  See the configuration section for more information.
+ * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must
+ * both be defined as 1 for this function to be available.  See the
+ * configuration section of the FreeRTOS.org website for more information.
  *
- * NOTE: This function will disable interrupts for its duration.  It is
+ * NOTE 1: This function will disable interrupts for its duration.  It is
  * not intended for normal application runtime use but as a debug aid.
  *
  * Lists all the current tasks, along with their current state and stack
@@ -1002,12 +1260,32 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
  * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
  * suspended ('S').
  *
+ * PLEASE NOTE:
+ *
+ * This function is provided for convenience only, and is used by many of the
+ * demo applications.  Do not consider it to be part of the scheduler.
+ *
+ * vTaskList() calls uxTaskGetSystemState(), then formats part of the
+ * uxTaskGetSystemState() output into a human readable table that displays task
+ * names, states and stack usage.
+ *
+ * vTaskList() has a dependency on the sprintf() C library function that might
+ * bloat the code size, use a lot of stack, and provide different results on
+ * different platforms.  An alternative, tiny, third party, and limited
+ * functionality implementation of sprintf() is provided in many of the
+ * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note
+ * printf-stdarg.c does not provide a full snprintf() implementation!).
+ *
+ * It is recommended that production systems call uxTaskGetSystemState()
+ * directly to get access to raw stats data, rather than indirectly through a
+ * call to vTaskList().
+ *
  * @param pcWriteBuffer A buffer into which the above mentioned details
  * will be written, in ascii form.  This buffer is assumed to be large
  * enough to contain the generated report.  Approximately 40 bytes per
  * task should be sufficient.
  *
- * \page vTaskList vTaskList
+ * \defgroup vTaskList vTaskList
  * \ingroup TaskUtils
  */
 void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
@@ -1016,14 +1294,15 @@ void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  * task. h
  * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );

  *
- * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function
- * to be available.  The application must also then provide definitions
- * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
- * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter
- * and return the timers current count value respectively.  The counter
- * should be at least 10 times the frequency of the tick count.
+ * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
+ * must both be defined as 1 for this function to be available.  The application
+ * must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE
+ * to configure a peripheral timer/counter and return the timers current count
+ * value respectively.  The counter should be at least 10 times the frequency of
+ * the tick count.
  *
- * NOTE: This function will disable interrupts for its duration.  It is
+ * NOTE 1: This function will disable interrupts for its duration.  It is
  * not intended for normal application runtime use but as a debug aid.
  *
  * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
@@ -1034,100 +1313,36 @@ void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
  * task into a buffer, both as an absolute count value and as a percentage
  * of the total system execution time.
  *
- * @param pcWriteBuffer A buffer into which the execution times will be
- * written, in ascii form.  This buffer is assumed to be large enough to
- * contain the generated report.  Approximately 40 bytes per task should
- * be sufficient.
- *
- * \page vTaskGetRunTimeStats vTaskGetRunTimeStats
- * \ingroup TaskUtils
- */
-void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * 
void vTaskStartTrace( char * pcBuffer, unsigned portBASE_TYPE uxBufferSize );

- *
- * Starts a real time kernel activity trace.  The trace logs the identity of
- * which task is running when.
- *
- * The trace file is stored in binary format.  A separate DOS utility called
- * convtrce.exe is used to convert this into a tab delimited text file which
- * can be viewed and plotted in a spread sheet.
+ * NOTE 2:
  *
- * @param pcBuffer The buffer into which the trace will be written.
+ * This function is provided for convenience only, and is used by many of the
+ * demo applications.  Do not consider it to be part of the scheduler.
  *
- * @param ulBufferSize The size of pcBuffer in bytes.  The trace will continue
- * until either the buffer in full, or ulTaskEndTrace () is called.
+ * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part of the
+ * uxTaskGetSystemState() output into a human readable table that displays the
+ * amount of time each task has spent in the Running state in both absolute and
+ * percentage terms.
  *
- * \page vTaskStartTrace vTaskStartTrace
- * \ingroup TaskUtils
- */
-void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * 
unsigned long ulTaskEndTrace( void );

+ * vTaskGetRunTimeStats() has a dependency on the sprintf() C library function
+ * that might bloat the code size, use a lot of stack, and provide different
+ * results on different platforms.  An alternative, tiny, third party, and
+ * limited functionality implementation of sprintf() is provided in many of the
+ * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note
+ * printf-stdarg.c does not provide a full snprintf() implementation!).
  *
- * Stops a kernel activity trace.  See vTaskStartTrace ().
+ * It is recommended that production systems call uxTaskGetSystemState() directly
+ * to get access to raw stats data, rather than indirectly through a call to
+ * vTaskGetRunTimeStats().
  *
- * @return The number of bytes that have been written into the trace buffer.
+ * @param pcWriteBuffer A buffer into which the execution times will be
+ * written, in ascii form.  This buffer is assumed to be large enough to
+ * contain the generated report.  Approximately 40 bytes per task should
+ * be sufficient.
  *
- * \page usTaskEndTrace usTaskEndTrace
+ * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
  * \ingroup TaskUtils
  */
-unsigned long ulTaskEndTrace( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );

- *
- * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
- * this function to be available.
- *
- * Returns the high water mark of the stack associated with xTask.  That is,
- * the minimum free stack space there has been (in bytes) since the task
- * started.  The smaller the returned number the closer the task has come
- * to overflowing its stack.
- *
- * @param xTask Handle of the task associated with the stack to be checked.
- * Set xTask to NULL to check the stack of the calling task.
- *
- * @return The smallest amount of free stack space there has been (in bytes)
- * since the task referenced by xTask was created.
- */
-unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );

- *
- * Sets pxHookFunction to be the task hook function used by the task xTask.
- * Passing xTask as NULL has the effect of setting the calling tasks hook
- * function.
- */
-void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
void xTaskGetApplicationTaskTag( xTaskHandle xTask );

- *
- * Returns the pxHookFunction value assigned to the task xTask.
- */
-pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * 
portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction );

- *
- * Calls the hook function associated with xTask.  Passing xTask as NULL has
- * the effect of calling the Running tasks (the calling task) hook function.
- *
- * pvParameter is passed to the hook function for the task to interpret as it
- * wants.
- */
-portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
-
+void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
@@ -1141,9 +1356,14 @@ portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter
  * Called from the real time kernel tick (either preemptive or cooperative),
  * this increments the tick count and checks if any tasks that are blocked
  * for a finite period required removing from a blocked list and placing on
- * a ready list.
+ * a ready list.  If a non-zero value is returned then a context switch is
+ * required because either:
+ *   + A task was removed from a blocked list because its timeout had expired,
+ *     or
+ *   + Time slicing is in use and there is a task of equal priority to the
+ *     currently running task.
  */
-void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -1166,7 +1386,7 @@ void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * portTICK_RATE_MS can be used to convert kernel ticks into a real time
  * period.
  */
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -1174,29 +1394,31 @@ void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicks
  *
  * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
  *
- * Removes a task from both the specified event list and the list of blocked
- * tasks, and places it on a ready queue.
- *
- * xTaskRemoveFromEventList () will be called if either an event occurs to
- * unblock a task, or the block timeout period expires.
+ * This function performs nearly the same function as vTaskPlaceOnEventList().
+ * The difference being that this function does not permit tasks to block
+ * indefinitely, whereas vTaskPlaceOnEventList() does.
  *
  * @return pdTRUE if the task being removed has a higher priority than the task
  * making the call, otherwise pdFALSE.
  */
-signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
  * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
  *
- * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1
- * for this function to be available.
- * See the configuration section for more information.
+ * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
+ *
+ * Removes a task from both the specified event list and the list of blocked
+ * tasks, and places it on a ready queue.
+ *
+ * xTaskRemoveFromEventList () will be called if either an event occurs to
+ * unblock a task, or the block timeout period expires.
  *
- * Empties the ready and delayed queues of task control blocks, freeing the
- * memory allocated for the task control block and task stacks as it goes.
+ * @return pdTRUE if the task being removed has a higher priority than the task
+ * making the call, otherwise pdFALSE.
  */
-void vTaskCleanUpResources( void ) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
@@ -1240,24 +1462,59 @@ portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
  * Raises the priority of the mutex holder to that of the calling task should
  * the mutex holder have a priority less than the calling task.
  */
-void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
+void vTaskPriorityInherit( xTaskHandle const pxMutexHolder ) PRIVILEGED_FUNCTION;
 
 /*
  * Set the priority of a task back to its proper priority in the case that it
  * inherited a higher priority while it was holding a semaphore.
  */
-void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
+void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder ) PRIVILEGED_FUNCTION;
 
 /*
  * Generic version of the task creation function which is in turn called by the
  * xTaskCreate() and xTaskCreateRestricted() macros.
  */
-signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pvTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions ) PRIVILEGED_FUNCTION;
+
+/*
+ * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
+ */
+unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask );
+
+/*
+ * Set the uxTCBNumber of the task referenced by the xTask parameter to
+ * ucHandle.
+ */
+void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
+
+/*
+ * 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 the by
+ * a time equal to the idle period.
+ */
+void vTaskStepTick( portTickType xTicksToJump );
+
+/*
+ * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
+ * specific sleep function to determine if it is ok to proceed with the sleep,
+ * and if it is ok to proceed, if it is ok to sleep indefinitely.
+ *
+ * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
+ * called with the scheduler suspended, not from within a critical section.  It
+ * is therefore possible for an interrupt to request a context switch between
+ * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
+ * entered.  eTaskConfirmSleepModeStatus() should be called from a short
+ * critical section between the timer being stopped and the sleep mode being
+ * entered to ensure it is ok to proceed into the sleep mode.
+ */
+eSleepModeStatus eTaskConfirmSleepModeStatus( void );
 
 #ifdef __cplusplus
 }
 #endif
-#endif /* TASK_H */
+#endif /* INC_TASK_H */
 
 
 
diff --git a/Source/include/timers.h b/Source/include/timers.h
new file mode 100644
index 0000000..e9100a4
--- /dev/null
+++ b/Source/include/timers.h
@@ -0,0 +1,960 @@
+/*
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
+    ***************************************************************************
+
+    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 from the following
+    link: http://www.freertos.org/a00114.html
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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 TIMERS_H
+#define TIMERS_H
+
+#ifndef INC_FREERTOS_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 +e956 */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* 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. */
+#define tmrCOMMAND_START					( ( portBASE_TYPE ) 0 )
+#define tmrCOMMAND_STOP						( ( portBASE_TYPE ) 1 )
+#define tmrCOMMAND_CHANGE_PERIOD			( ( portBASE_TYPE ) 2 )
+#define tmrCOMMAND_DELETE					( ( portBASE_TYPE ) 3 )
+
+/*-----------------------------------------------------------
+ * MACROS AND DEFINITIONS
+ *----------------------------------------------------------*/
+
+ /**
+ * Type by which software timers are referenced.  For example, a call to
+ * xTimerCreate() returns an xTimerHandle variable that can then be used to
+ * reference the subject timer in calls to other software timer API functions
+ * (for example, xTimerStart(), xTimerReset(), etc.).
+ */
+typedef void * xTimerHandle;
+
+/* Define the prototype to which timer callback functions must conform. */
+typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
+
+/**
+ * xTimerHandle xTimerCreate( 	const signed char *pcTimerName,
+ * 								portTickType xTimerPeriodInTicks,
+ * 								unsigned portBASE_TYPE uxAutoReload,
+ * 								void * pvTimerID,
+ * 								tmrTIMER_CALLBACK 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.
+ *
+ * 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_RATE_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_RATE_MS )
+ * provided configTICK_RATE_HZ is less than or equal to 1000.
+ *
+ * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.  If
+ * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * enter the dormant state after it expires.
+ *
+ * @param pvTimerID An identifier that is assigned to the timer being created.
+ * Typically this would be used in the timer callback function to identify which
+ * timer expired when the same callback function is assigned to more than one
+ * timer.
+ *
+ * @param pxCallbackFunction The function to call when the timer expires.
+ * Callback functions must have the prototype defined by tmrTIMER_CALLBACK,
+ * which is	"void vCallbackFunction( xTimerHandle xTimer );".
+ *
+ * @return If the timer is successfully create 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 0 is returned.
+ *
+ * Example usage:
+ * @verbatim
+ * #define NUM_TIMERS 5
+ *
+ * // An array to hold handles to the created timers.
+ * xTimerHandle xTimers[ NUM_TIMERS ];
+ *
+ * // An array to hold a count of the number of times each timer expires.
+ * long lExpireCounters[ NUM_TIMERS ] = { 0 };
+ *
+ * // Define a callback function that will be used by multiple timer instances.
+ * // The callback function does nothing but count the number of times the
+ * // associated timer expires, and stop the timer once the timer has expired
+ * // 10 times.
+ * void vTimerCallback( xTimerHandle pxTimer )
+ * {
+ * long lArrayIndex;
+ * const long xMaxExpiryCountBeforeStopping = 10;
+ *
+ * 	   // Optionally do something if the pxTimer parameter is NULL.
+ * 	   configASSERT( pxTimer );
+ * 	
+ *     // Which timer expired?
+ *     lArrayIndex = ( long ) pvTimerGetTimerID( pxTimer );
+ *
+ *     // Increment the number of times that pxTimer has expired.
+ *     lExpireCounters[ lArrayIndex ] += 1;
+ *
+ *     // If the timer has expired 10 times then stop it from running.
+ *     if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping )
+ *     {
+ *         // Do not use a block time if calling a timer API function from a
+ *         // timer callback function, as doing so could cause a deadlock!
+ *         xTimerStop( pxTimer, 0 );
+ *     }
+ * }
+ *
+ * void main( void )
+ * {
+ * long x;
+ *
+ *     // Create then start some timers.  Starting the timers before the scheduler
+ *     // has been started means the timers will start running immediately that
+ *     // the scheduler starts.
+ *     for( x = 0; x < NUM_TIMERS; x++ )
+ *     {
+ *         xTimers[ x ] = xTimerCreate(     "Timer",         // Just a text name, not used by the kernel.
+ *                                         ( 100 * x ),     // The timer period in ticks.
+ *                                         pdTRUE,         // The timers will auto-reload themselves when they expire.
+ *                                         ( void * ) x,     // Assign each timer a unique id equal to its array index.
+ *                                         vTimerCallback     // Each timer calls the same callback when it expires.
+ *                                     );
+ *
+ *         if( xTimers[ x ] == NULL )
+ *         {
+ *             // The timer was not created.
+ *         }
+ *         else
+ *         {
+ *             // Start the timer.  No block time is specified, and even if one was
+ *             // it would be ignored because the scheduler has not yet been
+ *             // started.
+ *             if( xTimerStart( xTimers[ x ], 0 ) != pdPASS )
+ *             {
+ *                 // The timer could not be set into the Active state.
+ *             }
+ *         }
+ *     }
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timers running as they have already
+ *     // been set into the active state.
+ *     xTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @endverbatim
+ */
+xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
+
+/**
+ * void *pvTimerGetTimerID( xTimerHandle xTimer );
+ *
+ * Returns the ID assigned to the timer.
+ *
+ * IDs are assigned to timers using the pvTimerID parameter of the call to
+ * xTimerCreated() that was used to create the timer.
+ *
+ * If the same callback function is assigned to multiple timers then the timer
+ * ID can be used within the callback function to identify which timer actually
+ * expired.
+ *
+ * @param xTimer The timer being queried.
+ *
+ * @return The ID assigned to the timer being queried.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ */
+void *pvTimerGetTimerID( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer );
+ *
+ * Queries a timer to see if it is active or dormant.
+ *
+ * A timer will be dormant if:
+ *     1) It has been created but not started, or
+ *     2) It is an expired on-shot timer that has not been restarted.
+ *
+ * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
+ * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
+ * xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
+ * active state.
+ *
+ * @param xTimer The timer being queried.
+ *
+ * @return pdFALSE will be returned if the timer is dormant.  A value other than
+ * pdFALSE will be returned if the timer is active.
+ *
+ * Example usage:
+ * @verbatim
+ * // This function assumes xTimer has already been created.
+ * void vAFunction( xTimerHandle xTimer )
+ * {
+ *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
+ *     {
+ *         // xTimer is active, do something.
+ *     }
+ *     else
+ *     {
+ *         // xTimer is not active, do something else.
+ *     }
+ * }
+ * @endverbatim
+ */
+portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
+
+/**
+ * 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.
+ */
+xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
+
+/**
+ * portBASE_TYPE xTimerStart( xTimerHandle xTimer, portTickType xBlockTime );
+ *
+ * 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
+ * though a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerStart() starts a timer that was previously created using the
+ * xTimerCreate() API function.  If the timer had already been started and was
+ * already in the active state, then xTimerStart() has equivalent functionality
+ * to the xTimerReset() API function.
+ *
+ * Starting a timer ensures the timer is in the active state.  If the timer
+ * is not stopped, deleted, or reset in the mean time, the callback function
+ * associated with the timer will get called 'n' ticks after xTimerStart() was
+ * called, where 'n' is the timers defined period.
+ *
+ * It is valid to call xTimerStart() before the scheduler has been started, but
+ * when this is done the timer will not actually start until the scheduler is
+ * started, and the timers expiry time will be relative to when the scheduler is
+ * started, not relative to when xTimerStart() was called.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being started/restarted.
+ *
+ * @param xBlockTime Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the start command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerStart() was called.  xBlockTime is ignored if xTimerStart() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the start command could not be sent to
+ * the timer command queue even after xBlockTime ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system, although the
+ * timers expiry time is relative to when xTimerStart() is actually called.  The
+ * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ *
+ */
+#define xTimerStart( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xBlockTime ) )
+
+/**
+ * portBASE_TYPE xTimerStop( xTimerHandle xTimer, portTickType xBlockTime );
+ *
+ * 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
+ * though a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerStop() stops a timer that was previously started using either of the
+ * The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(),
+ * xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions.
+ *
+ * Stopping a timer ensures the timer is not in the active state.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being stopped.
+ *
+ * @param xBlockTime Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the stop command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerStop() was called.  xBlockTime is ignored if xTimerStop() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the stop command could not be sent to
+ * the timer command queue even after xBlockTime ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system.  The timer
+ * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerCreate() API function example usage scenario.
+ *
+ */
+#define xTimerStop( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xBlockTime ) )
+
+/**
+ * portBASE_TYPE xTimerChangePeriod( 	xTimerHandle xTimer,
+ *										portTickType xNewPeriod,
+ *										portTickType xBlockTime );
+ *
+ * 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
+ * though a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerChangePeriod() changes the period of a timer that was previously
+ * created using the xTimerCreate() API function.
+ *
+ * xTimerChangePeriod() can be called to change the period of an active or
+ * dormant state timer.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for
+ * xTimerChangePeriod() to be available.
+ *
+ * @param xTimer The handle of the timer that is having its period changed.
+ *
+ * @param xNewPeriod The new period for xTimer. Timer periods are specified in
+ * tick periods, so the constant portTICK_RATE_MS can be used to convert a time
+ * that has been specified in milliseconds.  For example, if the timer must
+ * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
+ * if the timer must expire after 500ms, then xNewPeriod can be set to
+ * ( 500 / portTICK_RATE_MS ) provided configTICK_RATE_HZ is less than
+ * or equal to 1000.
+ *
+ * @param xBlockTime Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the change period command to be
+ * successfully sent to the timer command queue, should the queue already be
+ * full when xTimerChangePeriod() was called.  xBlockTime is ignored if
+ * xTimerChangePeriod() is called before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the change period command could not be
+ * sent to the timer command queue even after xBlockTime ticks had passed.
+ * pdPASS will be returned if the command was successfully sent to the timer
+ * command queue.  When the command is actually processed will depend on the
+ * priority of the timer service/daemon task relative to other tasks in the
+ * system.  The timer service/daemon task priority is set by the
+ * configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This function assumes xTimer has already been created.  If the timer
+ * // referenced by xTimer is already active when it is called, then the timer
+ * // is deleted.  If the timer referenced by xTimer is not active when it is
+ * // called, then the period of the timer is set to 500ms and the timer is
+ * // started.
+ * void vAFunction( xTimerHandle xTimer )
+ * {
+ *     if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
+ *     {
+ *         // xTimer is already active - delete it.
+ *         xTimerDelete( xTimer );
+ *     }
+ *     else
+ *     {
+ *         // xTimer is not active, change its period to 500ms.  This will also
+ *         // cause the timer to start.  Block for a maximum of 100 ticks if the
+ *         // change period command cannot immediately be sent to the timer
+ *         // command queue.
+ *         if( xTimerChangePeriod( xTimer, 500 / portTICK_RATE_MS, 100 ) == pdPASS )
+ *         {
+ *             // The command was successfully sent.
+ *         }
+ *         else
+ *         {
+ *             // The command could not be sent, even after waiting for 100 ticks
+ *             // to pass.  Take appropriate action here.
+ *         }
+ *     }
+ * }
+ * @endverbatim
+ */
+ #define xTimerChangePeriod( xTimer, xNewPeriod, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xBlockTime ) )
+
+/**
+ * portBASE_TYPE xTimerDelete( xTimerHandle xTimer, portTickType xBlockTime );
+ *
+ * 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
+ * though a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerDelete() deletes a timer that was previously created using the
+ * xTimerCreate() API function.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for
+ * xTimerDelete() to be available.
+ *
+ * @param xTimer The handle of the timer being deleted.
+ *
+ * @param xBlockTime Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the delete command to be
+ * successfully sent to the timer command queue, should the queue already be
+ * full when xTimerDelete() was called.  xBlockTime is ignored if xTimerDelete()
+ * is called before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the delete command could not be sent to
+ * the timer command queue even after xBlockTime ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system.  The timer
+ * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ *
+ * See the xTimerChangePeriod() API function example usage scenario.
+ */
+#define xTimerDelete( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xBlockTime ) )
+
+/**
+ * portBASE_TYPE xTimerReset( xTimerHandle xTimer, portTickType xBlockTime );
+ *
+ * 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
+ * though a queue called the timer command queue.  The timer command queue is
+ * private to the kernel itself and is not directly accessible to application
+ * code.  The length of the timer command queue is set by the
+ * configTIMER_QUEUE_LENGTH configuration constant.
+ *
+ * xTimerReset() re-starts a timer that was previously created using the
+ * xTimerCreate() API function.  If the timer had already been started and was
+ * already in the active state, then xTimerReset() will cause the timer to
+ * re-evaluate its expiry time so that it is relative to when xTimerReset() was
+ * called.  If the timer was in the dormant state then xTimerReset() has
+ * equivalent functionality to the xTimerStart() API function.
+ *
+ * Resetting a timer ensures the timer is in the active state.  If the timer
+ * is not stopped, deleted, or reset in the mean time, the callback function
+ * associated with the timer will get called 'n' ticks after xTimerReset() was
+ * called, where 'n' is the timers defined period.
+ *
+ * It is valid to call xTimerReset() before the scheduler has been started, but
+ * when this is done the timer will not actually start until the scheduler is
+ * started, and the timers expiry time will be relative to when the scheduler is
+ * started, not relative to when xTimerReset() was called.
+ *
+ * The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset()
+ * to be available.
+ *
+ * @param xTimer The handle of the timer being reset/started/restarted.
+ *
+ * @param xBlockTime Specifies the time, in ticks, that the calling task should
+ * be held in the Blocked state to wait for the reset command to be successfully
+ * sent to the timer command queue, should the queue already be full when
+ * xTimerReset() was called.  xBlockTime is ignored if xTimerReset() is called
+ * before the scheduler is started.
+ *
+ * @return pdFAIL will be returned if the reset command could not be sent to
+ * the timer command queue even after xBlockTime ticks had passed.  pdPASS will
+ * be returned if the command was successfully sent to the timer command queue.
+ * When the command is actually processed will depend on the priority of the
+ * timer service/daemon task relative to other tasks in the system, although the
+ * timers expiry time is relative to when xTimerStart() is actually called.  The
+ * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
+ * configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // When a key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer.
+ *
+ * xTimerHandle xBacklightTimer = NULL;
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( xTimerHandle pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press event handler.
+ * void vKeyPressEventHandler( char cKey )
+ * {
+ *     // Ensure the LCD back-light is on, then reset the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  Wait 10 ticks for the command to be successfully sent
+ *     // if it cannot be sent immediately.
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *     if( xTimerReset( xBacklightTimer, 100 ) != pdPASS )
+ *     {
+ *         // The reset command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ * }
+ *
+ * void main( void )
+ * {
+ * long x;
+ *
+ *     // Create then start the one-shot timer that is responsible for turning
+ *     // the back-light off if no keys are pressed within a 5 second period.
+ *     xBacklightTimer = xTimerCreate( "BacklightTimer",           // Just a text name, not used by the kernel.
+ *                                     ( 5000 / portTICK_RATE_MS), // The timer period in ticks.
+ *                                     pdFALSE,                    // The timer is a one-shot timer.
+ *                                     0,                          // The id is not used by the callback so can take any value.
+ *                                     vBacklightTimerCallback     // The callback function that switches the LCD back-light off.
+ *                                   );
+ *
+ *     if( xBacklightTimer == NULL )
+ *     {
+ *         // The timer was not created.
+ *     }
+ *     else
+ *     {
+ *         // Start the timer.  No block time is specified, and even if one was
+ *         // it would be ignored because the scheduler has not yet been
+ *         // started.
+ *         if( xTimerStart( xBacklightTimer, 0 ) != pdPASS )
+ *         {
+ *             // The timer could not be set into the Active state.
+ *         }
+ *     }
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timer running as it has already
+ *     // been set into the active state.
+ *     xTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @endverbatim
+ */
+#define xTimerReset( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xBlockTime ) )
+
+/**
+ * portBASE_TYPE xTimerStartFromISR( 	xTimerHandle xTimer,
+ *										portBASE_TYPE *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerStart() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer being started/restarted.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerStartFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerStartFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerStartFromISR() function.  If
+ * xTimerStartFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the start command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system, although the timers expiry time is
+ * relative to when xTimerStartFromISR() is actually called.  The timer service/daemon
+ * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xBacklightTimer has already been created.  When a
+ * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer, and unlike the example given for
+ * // the xTimerReset() function, the key press event handler is an interrupt
+ * // service routine.
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( xTimerHandle pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press interrupt service routine.
+ * void vKeyPressEventInterruptHandler( void )
+ * {
+ * portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // Ensure the LCD back-light is on, then restart the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  This is an interrupt service routine so can only
+ *     // call FreeRTOS API functions that end in "FromISR".
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *
+ *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
+ *     // as both cause the timer to re-calculate its expiry time.
+ *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
+ *     // declared (in this function).
+ *     if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The start command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used.
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+
+/**
+ * portBASE_TYPE xTimerStopFromISR( 	xTimerHandle xTimer,
+ *										portBASE_TYPE *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerStop() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer being stopped.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerStopFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerStopFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerStopFromISR() function.  If
+ * xTimerStopFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the stop command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system.  The timer service/daemon task
+ * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xTimer has already been created and started.  When
+ * // an interrupt occurs, the timer should be simply stopped.
+ *
+ * // The interrupt service routine that stops the timer.
+ * void vAnExampleInterruptServiceRoutine( void )
+ * {
+ * portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // The interrupt has occurred - simply stop the timer.
+ *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
+ *     // (within this function).  As this is an interrupt service routine, only
+ *     // FreeRTOS API functions that end in "FromISR" can be used.
+ *     if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The stop command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used.
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0, ( pxHigherPriorityTaskWoken ), 0U )
+
+/**
+ * portBASE_TYPE xTimerChangePeriodFromISR( xTimerHandle xTimer,
+ *											portTickType xNewPeriod,
+ *											portBASE_TYPE *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerChangePeriod() that can be called from an interrupt
+ * service routine.
+ *
+ * @param xTimer The handle of the timer that is having its period changed.
+ *
+ * @param xNewPeriod The new period for xTimer. Timer periods are specified in
+ * tick periods, so the constant portTICK_RATE_MS can be used to convert a time
+ * that has been specified in milliseconds.  For example, if the timer must
+ * expire after 100 ticks, then xNewPeriod should be set to 100.  Alternatively,
+ * if the timer must expire after 500ms, then xNewPeriod can be set to
+ * ( 500 / portTICK_RATE_MS ) provided configTICK_RATE_HZ is less than
+ * or equal to 1000.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerChangePeriodFromISR() writes a message to the
+ * timer command queue, so has the potential to transition the timer service/
+ * daemon task out of the Blocked state.  If calling xTimerChangePeriodFromISR()
+ * causes the timer service/daemon task to leave the Blocked state, and the
+ * timer service/daemon task has a priority equal to or greater than the
+ * currently executing task (the task that was interrupted), then
+ * *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the
+ * xTimerChangePeriodFromISR() function.  If xTimerChangePeriodFromISR() sets
+ * this value to pdTRUE then a context switch should be performed before the
+ * interrupt exits.
+ *
+ * @return pdFAIL will be returned if the command to change the timers period
+ * could not be sent to the timer command queue.  pdPASS will be returned if the
+ * command was successfully sent to the timer command queue.  When the command
+ * is actually processed will depend on the priority of the timer service/daemon
+ * task relative to other tasks in the system.  The timer service/daemon task
+ * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xTimer has already been created and started.  When
+ * // an interrupt occurs, the period of xTimer should be changed to 500ms.
+ *
+ * // The interrupt service routine that changes the period of xTimer.
+ * void vAnExampleInterruptServiceRoutine( void )
+ * {
+ * portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // The interrupt has occurred - change the period of xTimer to 500ms.
+ *     // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
+ *     // (within this function).  As this is an interrupt service routine, only
+ *     // FreeRTOS API functions that end in "FromISR" can be used.
+ *     if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The command to change the timers period was not executed
+ *         // successfully.  Take appropriate action here.
+ *     }
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used.
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
+
+/**
+ * portBASE_TYPE xTimerResetFromISR( 	xTimerHandle xTimer,
+ *										portBASE_TYPE *pxHigherPriorityTaskWoken );
+ *
+ * A version of xTimerReset() that can be called from an interrupt service
+ * routine.
+ *
+ * @param xTimer The handle of the timer that is to be started, reset, or
+ * restarted.
+ *
+ * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
+ * of its time in the Blocked state, waiting for messages to arrive on the timer
+ * command queue.  Calling xTimerResetFromISR() writes a message to the timer
+ * command queue, so has the potential to transition the timer service/daemon
+ * task out of the Blocked state.  If calling xTimerResetFromISR() causes the
+ * timer service/daemon task to leave the Blocked state, and the timer service/
+ * daemon task has a priority equal to or greater than the currently executing
+ * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
+ * get set to pdTRUE internally within the xTimerResetFromISR() function.  If
+ * xTimerResetFromISR() sets this value to pdTRUE then a context switch should
+ * be performed before the interrupt exits.
+ *
+ * @return pdFAIL will be returned if the reset command could not be sent to
+ * the timer command queue.  pdPASS will be returned if the command was
+ * successfully sent to the timer command queue.  When the command is actually
+ * processed will depend on the priority of the timer service/daemon task
+ * relative to other tasks in the system, although the timers expiry time is
+ * relative to when xTimerResetFromISR() is actually called.  The timer service/daemon
+ * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
+ *
+ * Example usage:
+ * @verbatim
+ * // This scenario assumes xBacklightTimer has already been created.  When a
+ * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
+ * // without a key being pressed, then the LCD back-light is switched off.  In
+ * // this case, the timer is a one-shot timer, and unlike the example given for
+ * // the xTimerReset() function, the key press event handler is an interrupt
+ * // service routine.
+ *
+ * // The callback function assigned to the one-shot timer.  In this case the
+ * // parameter is not used.
+ * void vBacklightTimerCallback( xTimerHandle pxTimer )
+ * {
+ *     // The timer expired, therefore 5 seconds must have passed since a key
+ *     // was pressed.  Switch off the LCD back-light.
+ *     vSetBacklightState( BACKLIGHT_OFF );
+ * }
+ *
+ * // The key press interrupt service routine.
+ * void vKeyPressEventInterruptHandler( void )
+ * {
+ * portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *     // Ensure the LCD back-light is on, then reset the timer that is
+ *     // responsible for turning the back-light off after 5 seconds of
+ *     // key inactivity.  This is an interrupt service routine so can only
+ *     // call FreeRTOS API functions that end in "FromISR".
+ *     vSetBacklightState( BACKLIGHT_ON );
+ *
+ *     // xTimerStartFromISR() or xTimerResetFromISR() could be called here
+ *     // as both cause the timer to re-calculate its expiry time.
+ *     // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
+ *     // declared (in this function).
+ *     if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
+ *     {
+ *         // The reset command was not executed successfully.  Take appropriate
+ *         // action here.
+ *     }
+ *
+ *     // Perform the rest of the key processing here.
+ *
+ *     // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
+ *     // should be performed.  The syntax required to perform a context switch
+ *     // from inside an ISR varies from port to port, and from compiler to
+ *     // compiler.  Inspect the demos for the port you are using to find the
+ *     // actual syntax required.
+ *     if( xHigherPriorityTaskWoken != pdFALSE )
+ *     {
+ *         // Call the interrupt safe yield function here (actual function
+ *         // depends on the FreeRTOS port being used.
+ *     }
+ * }
+ * @endverbatim
+ */
+#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+
+/*
+ * Functions beyond this part are not part of the public API and are intended
+ * for use by the kernel only.
+ */
+portBASE_TYPE xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
+
+#ifdef __cplusplus
+}
+#endif
+#endif /* TIMERS_H */
+
+
+
diff --git a/Source/list.c b/Source/list.c
index 0cd2e17..b716c11 100644
--- a/Source/list.c
+++ b/Source/list.c
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    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.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 
@@ -60,12 +72,12 @@
  * PUBLIC LIST API documented in list.h
  *----------------------------------------------------------*/
 
-void vListInitialise( xList *pxList )
+void vListInitialise( xList * 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 = ( xListItem * ) &( pxList->xListEnd );
+	pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );			/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
 	/* The list end value is the highest possible value in the list to
 	ensure it remains at the end of the list. */
@@ -73,35 +85,33 @@ void vListInitialise( xList *pxList )
 
 	/* The list end next and previous pointers point to itself so we know
 	when the list is empty. */
-	pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );
-	pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );
+	pxList->xListEnd.pxNext = ( xListItem * ) &( 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 = ( xListItem * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
-	pxList->uxNumberOfItems = 0;
+	pxList->uxNumberOfItems = ( unsigned portBASE_TYPE ) 0U;
 }
 /*-----------------------------------------------------------*/
 
-void vListInitialiseItem( xListItem *pxItem )
+void vListInitialiseItem( xListItem * const pxItem )
 {
 	/* Make sure the list item is not recorded as being on a list. */
 	pxItem->pvContainer = NULL;
 }
 /*-----------------------------------------------------------*/
 
-void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )
+void vListInsertEnd( xList * const pxList, xListItem * const pxNewListItem )
 {
-volatile xListItem * pxIndex;
+xListItem * pxIndex;
 
 	/* 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
-	pvListGetOwnerOfNextEntry.  This means it has to be the item pointed to by
-	the pxIndex member. */
+	pvListGetOwnerOfNextEntry. */
 	pxIndex = pxList->pxIndex;
 
-	pxNewListItem->pxNext = pxIndex->pxNext;
-	pxNewListItem->pxPrevious = pxList->pxIndex;
-	pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
-	pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;
-	pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;
+	pxNewListItem->pxNext = pxIndex;
+	pxNewListItem->pxPrevious = pxIndex->pxPrevious;
+	pxIndex->pxPrevious->pxNext = pxNewListItem;
+	pxIndex->pxPrevious = pxNewListItem;
 
 	/* Remember which list the item is in. */
 	pxNewListItem->pvContainer = ( void * ) pxList;
@@ -110,9 +120,9 @@ volatile xListItem * pxIndex;
 }
 /*-----------------------------------------------------------*/
 
-void vListInsert( xList *pxList, xListItem *pxNewListItem )
+void vListInsert( xList * const pxList, xListItem * const pxNewListItem )
 {
-volatile xListItem *pxIterator;
+xListItem *pxIterator;
 portTickType xValueOfInsertion;
 
 	/* Insert the new list item into the list, sorted in ulListItem order. */
@@ -121,9 +131,9 @@ portTickType xValueOfInsertion;
 	/* 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 ulListItem value)
-	get an equal share of the CPU.  However, if the xItemValue is the same as 
+	get an equal share of the CPU.  However, if the xItemValue is the same as
 	the back marker the iteration loop below will not end.  This means we need
-	to guard against this by checking the value first and modifying the 
+	to guard against this by checking the value first and modifying the
 	algorithm slightly if necessary. */
 	if( xValueOfInsertion == portMAX_DELAY )
 	{
@@ -133,21 +143,22 @@ portTickType xValueOfInsertion;
 	{
 		/* *** NOTE ***********************************************************
 		If you find your application is crashing here then likely causes are:
-			1) Stack overflow - 
+			1) Stack overflow -
 			   see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
-			2) Incorrect interrupt priority assignment, especially on Cortex M3 
-			   parts where numerically high priority values denote low actual 
-			   interrupt priories, which can seem counter intuitive.  See 
+			2) Incorrect interrupt priority assignment, especially on Cortex-M3
+			   parts where numerically high priority values denote low actual
+			   interrupt priories, which can seem counter intuitive.  See
 			   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.
+			   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?).
-		See http://www.freertos.org/FAQHelp.html for more tips. 
+		See http://www.freertos.org/FAQHelp.html for more tips.
 		**********************************************************************/
-		
-		for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
+
+		for( pxIterator = ( xListItem * ) &( 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, we are just iterating to the
 			wanted insertion position. */
@@ -155,9 +166,9 @@ portTickType xValueOfInsertion;
 	}
 
 	pxNewListItem->pxNext = pxIterator->pxNext;
-	pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
+	pxNewListItem->pxNext->pxPrevious = pxNewListItem;
 	pxNewListItem->pxPrevious = pxIterator;
-	pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;
+	pxIterator->pxNext = pxNewListItem;
 
 	/* Remember which list the item is in.  This allows fast removal of the
 	item later. */
@@ -167,13 +178,13 @@ portTickType xValueOfInsertion;
 }
 /*-----------------------------------------------------------*/
 
-void vListRemove( xListItem *pxItemToRemove )
+unsigned portBASE_TYPE uxListRemove( xListItem * const pxItemToRemove )
 {
 xList * pxList;
 
 	pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
 	pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
-	
+
 	/* The list item knows which list it is in.  Obtain the list from the list
 	item. */
 	pxList = ( xList * ) pxItemToRemove->pvContainer;
@@ -186,6 +197,8 @@ xList * pxList;
 
 	pxItemToRemove->pvContainer = NULL;
 	( pxList->uxNumberOfItems )--;
+
+	return pxList->uxNumberOfItems;
 }
 /*-----------------------------------------------------------*/
 
diff --git a/Source/portable/MemMang/heap_1.c b/Source/portable/MemMang/heap_1.c
new file mode 100644
index 0000000..abbd3c7
--- /dev/null
+++ b/Source/portable/MemMang/heap_1.c
@@ -0,0 +1,170 @@
+/*
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
+    ***************************************************************************
+
+    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 from the following
+    link: http://www.freertos.org/a00114.html
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
+*/
+
+
+/*
+ * The simplest possible implementation of pvPortMalloc().  Note that this
+ * implementation does NOT allow allocated memory to be freed again.
+ *
+ * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
+ * memory management pages of http://www.FreeRTOS.org for more information.
+ */
+#include 
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+static size_t xNextFreeByte = ( size_t ) 0;
+
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+void *pvReturn = NULL;
+static unsigned char *pucAlignedHeap = NULL;
+
+	/* Ensure that blocks are always aligned to the required number of bytes. */
+	#if portBYTE_ALIGNMENT != 1
+		if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+		{
+			/* Byte alignment required. */
+			xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+		}
+	#endif
+
+	vTaskSuspendAll();
+	{
+		if( pucAlignedHeap == NULL )
+		{
+			/* Ensure the heap starts on a correctly aligned boundary. */
+			pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+		}
+
+		/* Check there is enough room left for the allocation. */
+		if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
+			( ( xNextFreeByte + xWantedSize ) > xNextFreeByte )	)/* Check for overflow. */
+		{
+			/* Return the next free byte then increment the index past this
+			block. */
+			pvReturn = pucAlignedHeap + xNextFreeByte;
+			xNextFreeByte += xWantedSize;
+		}
+
+		traceMALLOC( pvReturn, xWantedSize );
+	}	
+	xTaskResumeAll();
+
+	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+	}
+	#endif
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+	/* Memory cannot be freed using this scheme.  See heap_2.c, heap_3.c and
+	heap_4.c for alternative implementations, and the memory management pages of
+	http://www.FreeRTOS.org for more information. */
+	( void ) pv;
+
+	/* Force an assert as it is invalid to call this function. */
+	configASSERT( pv == NULL );
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* Only required when static memory is not cleared. */
+	xNextFreeByte = ( size_t ) 0;
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
+}
+
+
+
diff --git a/Source/portable/MemMang/heap_2.c b/Source/portable/MemMang/heap_2.c
new file mode 100644
index 0000000..d1cfa45
--- /dev/null
+++ b/Source/portable/MemMang/heap_2.c
@@ -0,0 +1,299 @@
+/*
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
+    ***************************************************************************
+
+    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 from the following
+    link: http://www.freertos.org/a00114.html
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
+*/
+
+/*
+ * A sample implementation of pvPortMalloc() and vPortFree() that permits
+ * allocated blocks to be freed, but does not combine adjacent free blocks
+ * into a single larger block (and so will fragment memory).  See heap_4.c for
+ * an equivalent that does combine adjacent blocks into single larger blocks.
+ *
+ * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the
+ * memory management pages of http://www.FreeRTOS.org for more information.
+ */
+#include 
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define configADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* 
+ * Initialises the heap structures before their first use.
+ */
+static void prvHeapInit( void );
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+
+/* Define the linked list structure.  This is used to link free blocks in order
+of their size. */
+typedef struct A_BLOCK_LINK
+{
+	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
+	size_t xBlockSize;						/*<< The size of the free block. */
+} xBlockLink;
+
+
+static const unsigned short heapSTRUCT_SIZE	= ( ( sizeof ( xBlockLink ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
+#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
+
+/* Create a couple of list links to mark the start and end of the list. */
+static xBlockLink xStart, xEnd;
+
+/* Keeps track of the number of free bytes remaining, but says nothing about
+fragmentation. */
+static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE;
+
+/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
+
+/*
+ * Insert a block into the list of free blocks - which is ordered by size of
+ * the block.  Small blocks at the start of the list and large blocks at the end
+ * of the list.
+ */
+#define prvInsertBlockIntoFreeList( pxBlockToInsert )								\
+{																					\
+xBlockLink *pxIterator;																\
+size_t xBlockSize;																	\
+																					\
+	xBlockSize = pxBlockToInsert->xBlockSize;										\
+																					\
+	/* Iterate through the list until a block is found that has a larger size */	\
+	/* than the block we are inserting. */											\
+	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock )	\
+	{																				\
+		/* There is nothing to do here - just iterate to the correct position. */	\
+	}																				\
+																					\
+	/* Update the list to include the block being inserted in the correct */		\
+	/* position. */																	\
+	pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;					\
+	pxIterator->pxNextFreeBlock = pxBlockToInsert;									\
+}
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE;
+void *pvReturn = NULL;
+
+	vTaskSuspendAll();
+	{
+		/* If this is the first call to malloc then the heap will require
+		initialisation to setup the list of free blocks. */
+		if( xHeapHasBeenInitialised == pdFALSE )
+		{
+			prvHeapInit();
+			xHeapHasBeenInitialised = pdTRUE;
+		}
+
+		/* The wanted size is increased so it can contain a xBlockLink
+		structure in addition to the requested amount of bytes. */
+		if( xWantedSize > 0 )
+		{
+			xWantedSize += heapSTRUCT_SIZE;
+
+			/* Ensure that blocks are always aligned to the required number of bytes. */
+			if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0 )
+			{
+				/* Byte alignment required. */
+				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+			}
+		}
+
+		if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
+		{
+			/* Blocks are stored in byte order - traverse the list from the start
+			(smallest) block until one of adequate size is found. */
+			pxPreviousBlock = &xStart;
+			pxBlock = xStart.pxNextFreeBlock;
+			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+			{
+				pxPreviousBlock = pxBlock;
+				pxBlock = pxBlock->pxNextFreeBlock;
+			}
+
+			/* If we found the end marker then a block of adequate size was not found. */
+			if( pxBlock != &xEnd )
+			{
+				/* Return the memory space - jumping over the xBlockLink structure
+				at its start. */
+				pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
+
+				/* This block is being returned for use so must be taken out of the
+				list of free blocks. */
+				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+				/* If the block is larger than required it can be split into two. */
+				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+				{
+					/* This block is to be split into two.  Create a new block
+					following the number of bytes requested. The void cast is
+					used to prevent byte alignment warnings from the compiler. */
+					pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+
+					/* Calculate the sizes of two blocks split from the single
+					block. */
+					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+					pxBlock->xBlockSize = xWantedSize;
+
+					/* Insert the new block into the list of free blocks. */
+					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+				}
+
+				xFreeBytesRemaining -= pxBlock->xBlockSize;
+			}
+		}
+		
+		traceMALLOC( pvReturn, xWantedSize );
+	}
+	xTaskResumeAll();
+
+	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+	}
+	#endif
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+unsigned char *puc = ( unsigned char * ) pv;
+xBlockLink *pxLink;
+
+	if( pv != NULL )
+	{
+		/* The memory being freed will have an xBlockLink structure immediately
+		before it. */
+		puc -= heapSTRUCT_SIZE;
+
+		/* This unexpected casting is to keep some compilers from issuing 
+		byte alignment warnings. */
+		pxLink = ( void * ) puc;
+
+		vTaskSuspendAll();
+		{
+			/* Add this block to the list of free blocks. */
+			prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
+			xFreeBytesRemaining += pxLink->xBlockSize;
+			traceFREE( pv, pxLink->xBlockSize );
+		}
+		xTaskResumeAll();
+	}
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* This just exists to keep the linker quiet. */
+}
+/*-----------------------------------------------------------*/
+
+static void prvHeapInit( void )
+{
+xBlockLink *pxFirstFreeBlock;
+unsigned char *pucAlignedHeap;
+
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+
+	/* xStart is used to hold a pointer to the first item in the list of free
+	blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
+
+	/* xEnd is used to mark the end of the list of free blocks. */
+	xEnd.xBlockSize = configADJUSTED_HEAP_SIZE;
+	xEnd.pxNextFreeBlock = NULL;
+
+	/* To start with there is a single free block that is sized to take up the
+	entire heap space. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
+	pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
+}
+/*-----------------------------------------------------------*/
diff --git a/Source/portable/MemMang/heap_3.c b/Source/portable/MemMang/heap_3.c
index 4ee0136..9343ddd 100644
--- a/Source/portable/MemMang/heap_3.c
+++ b/Source/portable/MemMang/heap_3.c
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 
@@ -59,8 +71,8 @@
  * This file can only be used if the linker is configured to to generate
  * a heap memory area.
  *
- * See heap_2.c and heap_1.c for alternative implementations, and the memory
- * management pages of http://www.FreeRTOS.org for more information.
+ * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the 
+ * memory management pages of http://www.FreeRTOS.org for more information.
  */
 
 #include 
@@ -84,6 +96,7 @@ void *pvReturn;
 	vTaskSuspendAll();
 	{
 		pvReturn = malloc( xWantedSize );
+		traceMALLOC( pvReturn, xWantedSize );
 	}
 	xTaskResumeAll();
 
@@ -108,6 +121,7 @@ void vPortFree( void *pv )
 		vTaskSuspendAll();
 		{
 			free( pv );
+			traceFREE( pv, 0 );
 		}
 		xTaskResumeAll();
 	}
diff --git a/Source/portable/MemMang/heap_4.c b/Source/portable/MemMang/heap_4.c
new file mode 100644
index 0000000..757263f
--- /dev/null
+++ b/Source/portable/MemMang/heap_4.c
@@ -0,0 +1,391 @@
+/*
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
+    ***************************************************************************
+
+    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 from the following
+    link: http://www.freertos.org/a00114.html
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
+*/
+
+/*
+ * A sample implementation of pvPortMalloc() and vPortFree() that combines 
+ * (coalescences) adjacent memory blocks as they are freed, and in so doing 
+ * limits memory fragmentation.
+ *
+ * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the 
+ * memory management pages of http://www.FreeRTOS.org for more information.
+ */
+#include 
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/* Block sizes must not get too small. */
+#define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
+
+/* Assumes 8bit bytes! */
+#define heapBITS_PER_BYTE		( ( size_t ) 8 )
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define heapADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
+
+/* Define the linked list structure.  This is used to link free blocks in order
+of their memory address. */
+typedef struct A_BLOCK_LINK
+{
+	struct A_BLOCK_LINK *pxNextFreeBlock;	/*<< The next free block in the list. */
+	size_t xBlockSize;						/*<< The size of the free block. */
+} xBlockLink;
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Inserts a block of memory that is being freed into the correct position in 
+ * the list of free memory blocks.  The block being freed will be merged with
+ * the block in front it and/or the block behind it if the memory blocks are
+ * adjacent to each other.
+ */
+static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert );
+
+/*
+ * Called automatically to setup the required heap structures the first time
+ * pvPortMalloc() is called.
+ */
+static void prvHeapInit( void );
+
+/*-----------------------------------------------------------*/
+
+/* The size of the structure placed at the beginning of each allocated memory
+block must by correctly byte aligned. */
+static const unsigned short heapSTRUCT_SIZE	= ( ( sizeof ( xBlockLink ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
+
+/* Ensure the pxEnd pointer will end up on the correct byte alignment. */
+static const size_t xTotalHeapSize = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+
+/* Create a couple of list links to mark the start and end of the list. */
+static xBlockLink xStart, *pxEnd = NULL;
+
+/* Keeps track of the number of free bytes remaining, but says nothing about
+fragmentation. */
+static size_t xFreeBytesRemaining = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+
+/* Gets set to the top bit of an size_t type.  When this bit in the xBlockSize 
+member of an xBlockLink structure is set then the block belongs to the 
+application.  When the bit is free the block is still part of the free heap
+space. */
+static size_t xBlockAllocatedBit = 0;
+
+/*-----------------------------------------------------------*/
+
+void *pvPortMalloc( size_t xWantedSize )
+{
+xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
+void *pvReturn = NULL;
+
+	vTaskSuspendAll();
+	{
+		/* If this is the first call to malloc then the heap will require
+		initialisation to setup the list of free blocks. */
+		if( pxEnd == NULL )
+		{
+			prvHeapInit();
+		}
+
+		/* Check the requested block size is not so large that the top bit is
+		set.  The top bit of the block size member of the xBlockLink structure 
+		is used to determine who owns the block - the application or the
+		kernel, so it must be free. */
+		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
+		{
+			/* The wanted size is increased so it can contain a xBlockLink
+			structure in addition to the requested amount of bytes. */
+			if( xWantedSize > 0 )
+			{
+				xWantedSize += heapSTRUCT_SIZE;
+
+				/* Ensure that blocks are always aligned to the required number 
+				of bytes. */
+				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
+				{
+					/* Byte alignment required. */
+					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+				}
+			}
+
+			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
+			{
+				/* Traverse the list from the start	(lowest address) block until 
+				one	of adequate size is found. */
+				pxPreviousBlock = &xStart;
+				pxBlock = xStart.pxNextFreeBlock;
+				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+				{
+					pxPreviousBlock = pxBlock;
+					pxBlock = pxBlock->pxNextFreeBlock;
+				}
+
+				/* If the end marker was reached then a block of adequate size 
+				was	not found. */
+				if( pxBlock != pxEnd )
+				{
+					/* Return the memory space pointed to - jumping over the 
+					xBlockLink structure at its start. */
+					pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
+
+					/* This block is being returned for use so must be taken out 
+					of the list of free blocks. */
+					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+					/* If the block is larger than required it can be split into 
+					two. */
+					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+					{
+						/* This block is to be split into two.  Create a new 
+						block following the number of bytes requested. The void 
+						cast is used to prevent byte alignment warnings from the 
+						compiler. */
+						pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+
+						/* Calculate the sizes of two blocks split from the 
+						single block. */
+						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+						pxBlock->xBlockSize = xWantedSize;
+
+						/* Insert the new block into the list of free blocks. */
+						prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+					}
+
+					xFreeBytesRemaining -= pxBlock->xBlockSize;
+
+					/* The block is being returned - it is allocated and owned
+					by the application and has no "next" block. */
+					pxBlock->xBlockSize |= xBlockAllocatedBit;
+					pxBlock->pxNextFreeBlock = NULL;
+				}
+			}
+		}
+
+		traceMALLOC( pvReturn, xWantedSize );
+	}
+	xTaskResumeAll();
+
+	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
+	{
+		if( pvReturn == NULL )
+		{
+			extern void vApplicationMallocFailedHook( void );
+			vApplicationMallocFailedHook();
+		}
+	}
+	#endif
+
+	return pvReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vPortFree( void *pv )
+{
+unsigned char *puc = ( unsigned char * ) pv;
+xBlockLink *pxLink;
+
+	if( pv != NULL )
+	{
+		/* The memory being freed will have an xBlockLink structure immediately
+		before it. */
+		puc -= heapSTRUCT_SIZE;
+
+		/* This casting is to keep the compiler from issuing warnings. */
+		pxLink = ( void * ) puc;
+
+		/* Check the block is actually allocated. */
+		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
+		configASSERT( pxLink->pxNextFreeBlock == NULL );
+		
+		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
+		{
+			if( pxLink->pxNextFreeBlock == NULL )
+			{
+				/* The block is being returned to the heap - it is no longer
+				allocated. */
+				pxLink->xBlockSize &= ~xBlockAllocatedBit;
+
+				vTaskSuspendAll();
+				{
+					/* Add this block to the list of free blocks. */
+					xFreeBytesRemaining += pxLink->xBlockSize;
+					prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
+					traceFREE( pv, pxLink->xBlockSize );
+				}
+				xTaskResumeAll();
+			}
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+size_t xPortGetFreeHeapSize( void )
+{
+	return xFreeBytesRemaining;
+}
+/*-----------------------------------------------------------*/
+
+void vPortInitialiseBlocks( void )
+{
+	/* This just exists to keep the linker quiet. */
+}
+/*-----------------------------------------------------------*/
+
+static void prvHeapInit( void )
+{
+xBlockLink *pxFirstFreeBlock;
+unsigned char *pucHeapEnd, *pucAlignedHeap;
+
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
+
+	/* xStart is used to hold a pointer to the first item in the list of free
+	blocks.  The void cast is used to prevent compiler warnings. */
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
+	xStart.xBlockSize = ( size_t ) 0;
+
+	/* pxEnd is used to mark the end of the list of free blocks and is inserted
+	at the end of the heap space. */
+	pucHeapEnd = pucAlignedHeap + xTotalHeapSize;
+	pucHeapEnd -= heapSTRUCT_SIZE;
+	pxEnd = ( void * ) pucHeapEnd;
+	configASSERT( ( ( ( unsigned long ) pxEnd ) & ( ( unsigned long ) portBYTE_ALIGNMENT_MASK ) ) == 0UL );
+	pxEnd->xBlockSize = 0;
+	pxEnd->pxNextFreeBlock = NULL;
+
+	/* To start with there is a single free block that is sized to take up the
+	entire heap space, minus the space taken by pxEnd. */
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
+	pxFirstFreeBlock->xBlockSize = xTotalHeapSize - heapSTRUCT_SIZE;
+	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
+
+	/* The heap now contains pxEnd. */
+	xFreeBytesRemaining -= heapSTRUCT_SIZE;
+
+	/* Work out the position of the top bit in a size_t variable. */
+	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
+}
+/*-----------------------------------------------------------*/
+
+static void prvInsertBlockIntoFreeList( xBlockLink *pxBlockToInsert )
+{
+xBlockLink *pxIterator;
+unsigned char *puc;
+
+	/* Iterate through the list until a block is found that has a higher address
+	than the block being inserted. */
+	for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
+	{
+		/* Nothing to do here, just iterate to the right position. */
+	}
+
+	/* Do the block being inserted, and the block it is being inserted after
+	make a contiguous block of memory? */	
+	puc = ( unsigned char * ) pxIterator;
+	if( ( puc + pxIterator->xBlockSize ) == ( unsigned char * ) pxBlockToInsert )
+	{
+		pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
+		pxBlockToInsert = pxIterator;
+	}
+
+	/* Do the block being inserted, and the block it is being inserted before
+	make a contiguous block of memory? */
+	puc = ( unsigned char * ) pxBlockToInsert;
+	if( ( puc + pxBlockToInsert->xBlockSize ) == ( unsigned char * ) pxIterator->pxNextFreeBlock )
+	{
+		if( pxIterator->pxNextFreeBlock != pxEnd )
+		{
+			/* Form one big block from the two blocks. */
+			pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
+			pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
+		}
+		else
+		{
+			pxBlockToInsert->pxNextFreeBlock = pxEnd;
+		}
+	}
+	else
+	{
+		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;		
+	}
+
+	/* If the block being inserted plugged a gab, so was merged with the block
+	before and the block after, then it's pxNextFreeBlock pointer will have
+	already been set, and should not be set here as that would make it point
+	to itself. */
+	if( pxIterator != pxBlockToInsert )
+	{
+		pxIterator->pxNextFreeBlock = pxBlockToInsert;
+	}
+}
+
diff --git a/Source/portable/XCC/XMOS_XS1/port.c b/Source/portable/XCC/XMOS_XS1/port.c
index 7e6a66c..3279b71 100644
--- a/Source/portable/XCC/XMOS_XS1/port.c
+++ b/Source/portable/XCC/XMOS_XS1/port.c
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 /******************************************************************************
@@ -75,15 +87,15 @@ void init_system_();
 // start up the scheduler and give control to the first running process
 portBASE_TYPE xPortStartScheduler( void )
 {
-	init_system_();
-	restore_context_();
+  init_system_();
+  restore_context_();
 
-	/* should never reach */
-	return 0;
+  /* should never reach */
+  return 0;
 }
 
 // hang in a loop if we try to stop the scheduler
 void vPortEndScheduler()
 {
-	while(1);
+  while(1);
 }
diff --git a/Source/portable/XCC/XMOS_XS1/port_asm.S b/Source/portable/XCC/XMOS_XS1/port_asm.S
index f62abe9..5ef9ada 100644
--- a/Source/portable/XCC/XMOS_XS1/port_asm.S
+++ b/Source/portable/XCC/XMOS_XS1/port_asm.S
@@ -1,60 +1,73 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 /******************************************************************************
  * File:     port_asm.S                                                       *
  * Author:   Bianco Zandbergen  (bianco [at] zandbergen [dot] name)           *
  * Changes:  12 feb 2010, initial release                                     *
+ *           5  feb 2014, updated kernel stack init for increased size        *
  *                                                                            *
  * Lowest level parts of the FreeRTOS XMOS XS1 port.                          *
  * Contains the following:                                                    *
@@ -185,7 +198,7 @@ clock_int_:
     
     kentsp 1                // switch over to kernel stack pointer, saving the current SP
 
-    bl vTaskIncrementTick   // increment tick and check for expired delays
+    bl xTaskIncrementTick   // increment tick and check for expired delays
     bl vTaskSwitchContext   // choose which process to run next
 
     krestsp 1               // return from kernel stack pointer, restoring saved SP
@@ -239,7 +252,7 @@ init_system_:
     // setup kernel stack
     ldaw    r0,         sp[0]                 // save current SP to r0
     ldaw    r2,         dp[kstack]            // Get address of bottom of stack
-    ldc     r3,         60                    // offset from end of stack, must be (KSTACK_SIZE-1)*4
+    ldc     r3,         124                    // offset from end of stack, must be (KSTACK_SIZE-1)*4
     add     r2,         r3,              r2   // Get top of stack
     set     sp,         r2                    // Set SP to KSP address
     krestsp 0                                 // set KSP
diff --git a/Source/portable/XCC/XMOS_XS1/port_xc.xc b/Source/portable/XCC/XMOS_XS1/port_xc.xc
index 6e5ac4f..587ac72 100644
--- a/Source/portable/XCC/XMOS_XS1/port_xc.xc
+++ b/Source/portable/XCC/XMOS_XS1/port_xc.xc
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 /******************************************************************************
diff --git a/Source/portable/XCC/XMOS_XS1/portmacro.h b/Source/portable/XCC/XMOS_XS1/portmacro.h
index 5eb3550..aac20be 100644
--- a/Source/portable/XCC/XMOS_XS1/portmacro.h
+++ b/Source/portable/XCC/XMOS_XS1/portmacro.h
@@ -1,60 +1,73 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
 */
 
 /******************************************************************************
  * File:     portmacro.h                                                      *
  * Author:   Bianco Zandbergen  (bianco [at] zandbergen [dot] name)           *
  * Changes:  12 feb 2010, initial release                                     *
+ *           5  feb 2014, increased kernel stack size                         *
  *                                                                            *
  * XMOS Platform specific macro's                                             *
  *                                                                            *
@@ -63,45 +76,45 @@
 #ifndef PORTMACRO_H
 #define PORTMACRO_H
 
-#define portBYTE_ALIGNMENT 			4
+#define portBYTE_ALIGNMENT   4
 
 /* kernel stack size in 32-bit words
  * Changing this value needs port_asm.S init_system_ function
  * modification.
  */
-#define KSTACK_SIZE					16
+#define KSTACK_SIZE          32
 
 /* type definitions */
-#define portCHAR					char
-#define portFLOAT					float
-#define portDOUBLE					double
-#define portLONG					long
-#define portSHORT					short
-#define portSTACK_TYPE				portLONG
-#define portBASE_TYPE				portLONG
+#define portCHAR             char
+#define portFLOAT            float
+#define portDOUBLE           double
+#define portLONG             long
+#define portSHORT            short
+#define portSTACK_TYPE       portLONG
+#define portBASE_TYPE        portLONG
 
 #if( configUSE_16_BIT_TICKS == 1 )
-	typedef unsigned portSHORT portTickType;
-	#define portMAX_DELAY ( portTickType ) 0xffff
+  typedef unsigned portSHORT portTickType;
+  #define portMAX_DELAY ( portTickType ) 0xffff
 #else
-	typedef unsigned portLONG portTickType;
-	#define portMAX_DELAY ( portTickType ) 0xffffffff
+  typedef unsigned portLONG portTickType;
+  #define portMAX_DELAY ( portTickType ) 0xffffffff
 #endif
 
 /* architecture specific */
-#define portSTACK_GROWTH			( -1 )
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
-#define portNOP()					asm("nop")
-#define TIMER_HZ					100000000
+#define portSTACK_GROWTH      ( -1 )
+#define portTICK_RATE_MS      ( ( portTickType ) 1000 / configTICK_RATE_HZ )
+#define portNOP()             asm("nop")
+#define TIMER_HZ              100000000
 
 /* critical section management */
-#define portDISABLE_INTERRUPTS()	asm("clrsr 0x02")
-#define portENABLE_INTERRUPTS()		asm("setsr 0x02")
-#define portENTER_CRITICAL()		portDISABLE_INTERRUPTS()
-#define portEXIT_CRITICAL()			portENABLE_INTERRUPTS()
+#define portDISABLE_INTERRUPTS()   asm("clrsr 0x02")
+#define portENABLE_INTERRUPTS()    asm("setsr 0x02")
+#define portENTER_CRITICAL()       portDISABLE_INTERRUPTS()
+#define portEXIT_CRITICAL()        portENABLE_INTERRUPTS()
 
 /* kernel utilities */
-#define portYIELD()					asm("kcall 0")
+#define portYIELD()                asm("kcall 0")
 
 /* Task function macros as described on the FreeRTOS.org WEB site. */
 #define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
diff --git a/Source/queue.c b/Source/queue.c
index ed5d2bf..67fdef7 100644
--- a/Source/queue.c
+++ b/Source/queue.c
@@ -1,54 +1,66 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    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.
 
-    http://www.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
+    1 tab == 4 spaces!
 */
 
 #include 
@@ -61,35 +73,50 @@ task.h is included from an application file. */
 
 #include "FreeRTOS.h"
 #include "task.h"
-#include "croutine.h"
+#include "queue.h"
+
+#if ( configUSE_CO_ROUTINES == 1 )
+	#include "croutine.h"
+#endif
 
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
 
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
 
-/* Constants used with the cRxLock and cTxLock structure members. */
+/* Constants used with the cRxLock and xTxLock structure members. */
 #define queueUNLOCKED					( ( signed portBASE_TYPE ) -1 )
 #define queueLOCKED_UNMODIFIED			( ( signed portBASE_TYPE ) 0 )
 
-#define queueERRONEOUS_UNBLOCK			( -1 )
-
-/* For internal use only. */
-#define	queueSEND_TO_BACK				( 0 )
-#define	queueSEND_TO_FRONT				( 1 )
-
-/* Effectively make a union out of the xQUEUE structure. */
+/* When the xQUEUE structure is used to represent a base queue its pcHead and
+pcTail members are used as pointers into the queue storage area.  When the
+xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are
+not necessary, and the pcHead pointer is set to NULL to indicate that the
+pcTail pointer actually points to the mutex holder (if any).  Map alternative
+names to the pcHead and pcTail structure members to ensure the readability of
+the code is maintained despite this dual use of two structure members.  An
+alternative implementation would be to use a union, but use of a union is
+against the coding standard (although an exception to the standard has been
+permitted where the dual use also significantly changes the type of the
+structure member). */
 #define pxMutexHolder					pcTail
 #define uxQueueType						pcHead
-#define uxRecursiveCallCount			pcReadFrom
 #define queueQUEUE_IS_MUTEX				NULL
 
-/* Semaphores do not actually store or copy data, so have an items size of
+/* Semaphores do not actually store or copy data, so have an item size of
 zero. */
-#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 )
-#define queueDONT_BLOCK					 ( ( portTickType ) 0 )
-#define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0 )
+#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )
+#define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0U )
+
+#if( configUSE_PREEMPTION == 0 )
+	/* If the cooperative scheduler is being used then a yield should not be
+	performed just because a higher priority task has been woken. */
+	#define queueYIELD_IF_USING_PREEMPTION()
+#else
+	#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+#endif
 
 /*
  * Definition of the queue used by the scheduler.
@@ -97,11 +124,16 @@ zero. */
  */
 typedef struct QueueDefinition
 {
-	signed char *pcHead;				/*< Points to the beginning of the queue storage area. */
-	signed char *pcTail;				/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
+	signed char *pcHead;					/*< Points to the beginning of the queue storage area. */
+	signed char *pcTail;					/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
 
-	signed char *pcWriteTo;				/*< Points to the free next place in the storage area. */
-	signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from. */
+	signed char *pcWriteTo;					/*< Points to the free next place in the storage area. */
+
+	union									/* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
+	{
+		signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from when the structure is used as a queue. */
+		unsigned portBASE_TYPE uxRecursiveCallCount;/*< Maintains a count of the numebr of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
+	} u;
 
 	xList xTasksWaitingToSend;				/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
 	xList xTasksWaitingToReceive;			/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
@@ -110,57 +142,26 @@ typedef struct QueueDefinition
 	unsigned portBASE_TYPE uxLength;		/*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
 	unsigned portBASE_TYPE uxItemSize;		/*< The size of each items that the queue will hold. */
 
-	signed portBASE_TYPE xRxLock;			/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
-	signed portBASE_TYPE xTxLock;			/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
+	volatile signed portBASE_TYPE xRxLock;	/*< Stores the number of items received from the queue (removed from the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
+	volatile signed portBASE_TYPE xTxLock;	/*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked.  Set to queueUNLOCKED when the queue is not locked. */
 
-} xQUEUE;
-/*-----------------------------------------------------------*/
-
-/*
- * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
- * To keep the definition private the API header file defines it as a
- * pointer to void.
- */
-typedef xQUEUE * xQueueHandle;
+	#if ( configUSE_TRACE_FACILITY == 1 )
+		unsigned char ucQueueNumber;
+		unsigned char ucQueueType;
+	#endif
 
-/*
- * Prototypes for public functions are included here so we don't have to
- * include the API header file (as it defines xQueueHandle differently).  These
- * functions are documented in the API header file.
- */
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateMutex( void ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+	#if ( configUSE_QUEUE_SETS == 1 )
+		struct QueueDefinition *pxQueueSetContainer;
+	#endif
 
-/*
- * Co-routine queue functions differ from task queue functions.  Co-routines are
- * an optional component.
- */
-#if configUSE_CO_ROUTINES == 1
-	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-#endif
+} xQUEUE;
+/*-----------------------------------------------------------*/
 
 /*
  * The queue registry is just a means for kernel aware debuggers to locate
  * queue structures.  It has no other purpose so is an optional component.
  */
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	/* The type stored within the queue registry array.  This allows a name
 	to be assigned to each queue making kernel aware debugging a little
@@ -176,11 +177,7 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
 	array position being vacant. */
 	xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
 
-	/* Removes a queue from the registry by simply setting the pcQueueName
-	member to NULL. */
-	static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 
 /*
  * Unlocks a queue locked by a call to prvLockQueue.  Locking a queue does not
@@ -190,21 +187,21 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
  * to indicate that a task may require unblocking.  When the queue in unlocked
  * these lock counts are inspected, and the appropriate action taken.
  */
-static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any data in a queue.
  *
  * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
  */
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any space in a queue.
  *
  * @return pdTRUE if there is no space, otherwise pdFALSE;
  */
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Copies an item into the queue, either at the front of the queue or the
@@ -215,39 +212,91 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 /*
  * Copies an item out of a queue.
  */
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	/*
+	 * Checks to see if a queue is a member of a queue set, and if so, notifies
+	 * the queue set that the queue contains data.
+	 */
+	static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
+#endif
+
 /*-----------------------------------------------------------*/
 
 /*
  * Macro to mark a queue as locked.  Locking a queue prevents an ISR from
  * accessing the queue event lists.
  */
-#define prvLockQueue( pxQueue )							\
-{														\
-	taskENTER_CRITICAL();								\
-	{													\
-		if( pxQueue->xRxLock == queueUNLOCKED )			\
-		{												\
-			pxQueue->xRxLock = queueLOCKED_UNMODIFIED;	\
-		}												\
-		if( pxQueue->xTxLock == queueUNLOCKED )			\
-		{												\
-			pxQueue->xTxLock = queueLOCKED_UNMODIFIED;	\
-		}												\
-	}													\
-	taskEXIT_CRITICAL();								\
-}
+#define prvLockQueue( pxQueue )								\
+	taskENTER_CRITICAL();									\
+	{														\
+		if( ( pxQueue )->xRxLock == queueUNLOCKED )			\
+		{													\
+			( pxQueue )->xRxLock = queueLOCKED_UNMODIFIED;	\
+		}													\
+		if( ( pxQueue )->xTxLock == queueUNLOCKED )			\
+		{													\
+			( pxQueue )->xTxLock = queueLOCKED_UNMODIFIED;	\
+		}													\
+	}														\
+	taskEXIT_CRITICAL()
 /*-----------------------------------------------------------*/
 
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
+{
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+
+	taskENTER_CRITICAL();
+	{
+		pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
+		pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
+		pxQueue->pcWriteTo = pxQueue->pcHead;
+		pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );
+		pxQueue->xRxLock = queueUNLOCKED;
+		pxQueue->xTxLock = queueUNLOCKED;
+
+		if( xNewQueue == pdFALSE )
+		{
+			/* If there are tasks blocked waiting to read from the queue, then
+			the tasks will remain blocked as after this function exits the queue
+			will still be empty.  If there are tasks blocked waiting to write to
+			the queue, then one should be unblocked as after this function exits
+			it will be possible to write to it. */
+			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+			{
+				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
+				{
+					queueYIELD_IF_USING_PREEMPTION();
+				}
+			}
+		}
+		else
+		{
+			/* Ensure the event queues start in the correct state. */
+			vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
+			vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
+		}
+	}
+	taskEXIT_CRITICAL();
 
-/*-----------------------------------------------------------
- * PUBLIC QUEUE MANAGEMENT API documented in queue.h
- *----------------------------------------------------------*/
+	/* A value is returned for calling semantic consistency with previous
+	versions. */
+	return pdPASS;
+}
+/*-----------------------------------------------------------*/
 
-xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize )
+xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType )
 {
 xQUEUE *pxNewQueue;
 size_t xQueueSizeInBytes;
+xQueueHandle xReturn = NULL;
+
+	/* Remove compiler warnings about unused parameters should
+	configUSE_TRACE_FACILITY not be set to 1. */
+	( void ) ucQueueType;
 
 	/* Allocate the new queue structure. */
 	if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 )
@@ -257,49 +306,56 @@ size_t xQueueSizeInBytes;
 		{
 			/* Create the list of pointers to queue items.  The queue is one byte
 			longer than asked for to make wrap checking easier/faster. */
-			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;
+			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 			pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
 			if( pxNewQueue->pcHead != NULL )
 			{
 				/* Initialise the queue members as described above where the
 				queue type is defined. */
-				pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize );
-				pxNewQueue->uxMessagesWaiting = 0;
-				pxNewQueue->pcWriteTo = pxNewQueue->pcHead;
-				pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize );
 				pxNewQueue->uxLength = uxQueueLength;
 				pxNewQueue->uxItemSize = uxItemSize;
-				pxNewQueue->xRxLock = queueUNLOCKED;
-				pxNewQueue->xTxLock = queueUNLOCKED;
+				( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
+
+				#if ( configUSE_TRACE_FACILITY == 1 )
+				{
+					pxNewQueue->ucQueueType = ucQueueType;
+				}
+				#endif /* configUSE_TRACE_FACILITY */
 
-				/* Likewise ensure the event queues start with the correct state. */
-				vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
-				vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
+				#if( configUSE_QUEUE_SETS == 1 )
+				{
+					pxNewQueue->pxQueueSetContainer = NULL;
+				}
+				#endif /* configUSE_QUEUE_SETS */
 
 				traceQUEUE_CREATE( pxNewQueue );
-				return  pxNewQueue;
+				xReturn = pxNewQueue;
 			}
 			else
 			{
-				traceQUEUE_CREATE_FAILED();
+				traceQUEUE_CREATE_FAILED( ucQueueType );
 				vPortFree( pxNewQueue );
 			}
 		}
 	}
 
-	/* Will only reach here if we could not allocate enough memory or no memory
-	was required. */
-	return NULL;
+	configASSERT( xReturn );
+
+	return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	xQueueHandle xQueueCreateMutex( void )
+	xQueueHandle xQueueCreateMutex( unsigned char ucQueueType )
 	{
 	xQUEUE *pxNewQueue;
 
+		/* Prevent compiler warnings about unused parameters if
+		configUSE_TRACE_FACILITY does not equal 1. */
+		( void ) ucQueueType;
+
 		/* Allocate the new queue structure. */
 		pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) );
 		if( pxNewQueue != NULL )
@@ -311,42 +367,88 @@ size_t xQueueSizeInBytes;
 			/* Queues used as a mutex no data is actually copied into or out
 			of the queue. */
 			pxNewQueue->pcWriteTo = NULL;
-			pxNewQueue->pcReadFrom = NULL;
+			pxNewQueue->u.pcReadFrom = NULL;
 
 			/* Each mutex has a length of 1 (like a binary semaphore) and
 			an item size of 0 as nothing is actually copied into or out
 			of the mutex. */
-			pxNewQueue->uxMessagesWaiting = 0;
-			pxNewQueue->uxLength = 1;
-			pxNewQueue->uxItemSize = 0;
+			pxNewQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
+			pxNewQueue->uxLength = ( unsigned portBASE_TYPE ) 1U;
+			pxNewQueue->uxItemSize = ( unsigned portBASE_TYPE ) 0U;
 			pxNewQueue->xRxLock = queueUNLOCKED;
 			pxNewQueue->xTxLock = queueUNLOCKED;
 
+			#if ( configUSE_TRACE_FACILITY == 1 )
+			{
+				pxNewQueue->ucQueueType = ucQueueType;
+			}
+			#endif
+
+			#if ( configUSE_QUEUE_SETS == 1 )
+			{
+				pxNewQueue->pxQueueSetContainer = NULL;
+			}
+			#endif
+
 			/* Ensure the event queues start with the correct state. */
 			vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
 			vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
 
-			/* Start with the semaphore in the expected state. */
-			xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK );
-
 			traceCREATE_MUTEX( pxNewQueue );
+
+			/* Start with the semaphore in the expected state. */
+			( void ) xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );
 		}
 		else
 		{
 			traceCREATE_MUTEX_FAILED();
 		}
 
+		configASSERT( pxNewQueue );
 		return pxNewQueue;
 	}
 
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_RECURSIVE_MUTEXES == 1
+#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
+
+	void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
+	{
+	void *pxReturn;
+
+		/* This function is called by xSemaphoreGetMutexHolder(), and should not
+		be called directly.  Note:  This is is a good way of determining if the
+		calling task is the mutex holder, but not a good way of determining the
+		identity of the mutex holder, as the holder may change between the
+		following critical section exiting and the function returning. */
+		taskENTER_CRITICAL();
+		{
+			if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
+			{
+				pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
+			}
+			else
+			{
+				pxReturn = NULL;
+			}
+		}
+		taskEXIT_CRITICAL();
+
+		return pxReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
+	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
+
+		configASSERT( pxMutex );
 
 		/* If this is the task that holds the mutex then pxMutexHolder will not
 		change outside of this task.  If this task does not hold the mutex then
@@ -354,7 +456,7 @@ size_t xQueueSizeInBytes;
 		this is the only condition we are interested in it does not matter if
 		pxMutexHolder is accessed simultaneously by another task.  Therefore no
 		mutual exclusion is required to test the pxMutexHolder variable. */
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
+		if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as xTaskHandle is a typedef. */
 		{
 			traceGIVE_MUTEX_RECURSIVE( pxMutex );
 
@@ -363,14 +465,14 @@ size_t xQueueSizeInBytes;
 			uxRecursiveCallCount is only modified by the mutex holder, and as
 			there can only be one, no mutual exclusion is required to modify the
 			uxRecursiveCallCount member. */
-			( pxMutex->uxRecursiveCallCount )--;
+			( pxMutex->u.uxRecursiveCallCount )--;
 
 			/* Have we unwound the call count? */
-			if( pxMutex->uxRecursiveCallCount == 0 )
+			if( pxMutex->u.uxRecursiveCallCount == ( unsigned portBASE_TYPE ) 0 )
 			{
 				/* Return the mutex.  This will automatically unblock any other
 				task that might be waiting to access the mutex. */
-				xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
+				( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
 			}
 
 			xReturn = pdPASS;
@@ -389,20 +491,23 @@ size_t xQueueSizeInBytes;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_RECURSIVE_MUTEXES == 1
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
+	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
+
+		configASSERT( pxMutex );
 
 		/* Comments regarding mutual exclusion as per those within
 		xQueueGiveMutexRecursive(). */
 
 		traceTAKE_MUTEX_RECURSIVE( pxMutex );
 
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
+		if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
 		{
-			( pxMutex->uxRecursiveCallCount )++;
+			( pxMutex->u.uxRecursiveCallCount )++;
 			xReturn = pdPASS;
 		}
 		else
@@ -413,7 +518,11 @@ size_t xQueueSizeInBytes;
 			we may have blocked to reach here. */
 			if( xReturn == pdPASS )
 			{
-				( pxMutex->uxRecursiveCallCount )++;
+				( pxMutex->u.uxRecursiveCallCount )++;
+			}
+			else
+			{
+				traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
 			}
 		}
 
@@ -423,17 +532,20 @@ size_t xQueueSizeInBytes;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_COUNTING_SEMAPHORES == 1
+#if ( configUSE_COUNTING_SEMAPHORES == 1 )
 
-	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
+	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
 	{
-	xQueueHandle pxHandle;
+	xQueueHandle xHandle;
+
+		configASSERT( uxMaxCount != 0 );
+		configASSERT( uxInitialCount <= uxMaxCount );
 
-		pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH );
+		xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
 
-		if( pxHandle != NULL )
+		if( xHandle != NULL )
 		{
-			pxHandle->uxMessagesWaiting = uxInitialCount;
+			( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
 
 			traceCREATE_COUNTING_SEMAPHORE();
 		}
@@ -442,16 +554,22 @@ size_t xQueueSizeInBytes;
 			traceCREATE_COUNTING_SEMAPHORE_FAILED();
 		}
 
-		return pxHandle;
+		configASSERT( xHandle );
+		return xHandle;
 	}
 
 #endif /* configUSE_COUNTING_SEMAPHORES */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
 
 	/* This function relaxes the coding standard somewhat to allow return
 	statements within the function itself.  This is done in the interest
@@ -460,26 +578,61 @@ xTimeOutType xTimeOut;
 	{
 		taskENTER_CRITICAL();
 		{
-			/* Is there room on the queue now?  To be running we must be
-			the highest priority task wanting to access the queue. */
-			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+			/* Is there room on the queue now?  The running task must be
+			the highest priority task wanting to access the queue.  If
+			the head item in the queue is to be overwritten then it does
+			not matter if the queue is full. */
+			if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
 			{
 				traceQUEUE_SEND( pxQueue );
 				prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-				/* If there was a task waiting for data to arrive on the
-				queue then unblock it now. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The unblocked task has a priority higher than
-						our own so yield immediately.  Yes it is ok to do
-						this from within the critical section - the kernel
-						takes care of that. */
-						portYIELD_WITHIN_API();
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
+						{
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock. A context switch is required. */
+							queueYIELD_IF_USING_PREEMPTION();
+						}
+					}
+					else
+					{
+						/* If there was a task waiting for data to arrive on the
+						queue then unblock it now. */
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+							{
+								/* The unblocked task has a priority higher than
+								our own so yield immediately.  Yes it is ok to
+								do this from within the critical section - the
+								kernel takes care of that. */
+								queueYIELD_IF_USING_PREEMPTION();
+							}
+						}
 					}
 				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					/* If there was a task waiting for data to arrive on the
+					queue then unblock it now. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+						{
+							/* The unblocked task has a priority higher than
+							our own so yield immediately.  Yes it is ok to do
+							this from within the critical section - the kernel
+							takes care of that. */
+							queueYIELD_IF_USING_PREEMPTION();
+						}
+					}
+				}
+				#endif /* configUSE_QUEUE_SETS */
 
 				taskEXIT_CRITICAL();
 
@@ -507,6 +660,10 @@ xTimeOutType xTimeOut;
 					vTaskSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
+				else
+				{
+					/* Entry time was already set. */
+				}
 			}
 		}
 		taskEXIT_CRITICAL();
@@ -520,7 +677,7 @@ xTimeOutType xTimeOut;
 		/* Update the timeout state to see if it has expired yet. */
 		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
 		{
-			if( prvIsQueueFull( pxQueue ) )
+			if( prvIsQueueFull( pxQueue ) != pdFALSE )
 			{
 				traceBLOCKING_ON_QUEUE_SEND( pxQueue );
 				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
@@ -537,7 +694,7 @@ xTimeOutType xTimeOut;
 				task is already in a ready list before it yields - in which
 				case the yield will not cause a context switch unless there
 				is also a higher priority task in the pending ready list. */
-				if( !xTaskResumeAll() )
+				if( xTaskResumeAll() == pdFALSE )
 				{
 					portYIELD_WITHIN_API();
 				}
@@ -564,12 +721,16 @@ xTimeOutType xTimeOut;
 }
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		configASSERT( pxQueue );
+		configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
 		for( ;; )
 		{
@@ -617,7 +778,7 @@ xTimeOutType xTimeOut;
 			{
 				if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
 				{
-					if( prvIsQueueFull( pxQueue ) )
+					if( prvIsQueueFull( pxQueue ) != pdFALSE )
 					{
 						traceBLOCKING_ON_QUEUE_SEND( pxQueue );
 						vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
@@ -638,13 +799,17 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
 	signed char *pcOriginalReadPosition;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		configASSERT( pxQueue );
+		configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
 		for( ;; )
 		{
@@ -653,7 +818,7 @@ xTimeOutType xTimeOut;
 				if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 				{
 					/* Remember our read position in case we are just peeking. */
-					pcOriginalReadPosition = pxQueue->pcReadFrom;
+					pcOriginalReadPosition = pxQueue->u.pcReadFrom;
 
 					prvCopyDataFromQueue( pxQueue, pvBuffer );
 
@@ -661,7 +826,7 @@ xTimeOutType xTimeOut;
 					{
 						traceQUEUE_RECEIVE( pxQueue );
 
-						/* We are actually removing data. */
+						/* Data is actually being removed (not just peeked). */
 						--( pxQueue->uxMessagesWaiting );
 
 						#if ( configUSE_MUTEXES == 1 )
@@ -670,7 +835,7 @@ xTimeOutType xTimeOut;
 							{
 								/* Record the information required to implement
 								priority inheritance should it become necessary. */
-								pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+								pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle();
 							}
 						}
 						#endif
@@ -689,11 +854,11 @@ xTimeOutType xTimeOut;
 
 						/* We are not removing the data, so reset our read
 						pointer. */
-						pxQueue->pcReadFrom = pcOriginalReadPosition;
+						pxQueue->u.pcReadFrom = pcOriginalReadPosition;
 
 						/* The data is being left in the queue, so see if there are
 						any other tasks waiting for the data. */
-						if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 						{
 							/* Tasks that are removed from the event list will get added to
 							the pending ready list as the scheduler is still suspended. */
@@ -730,7 +895,7 @@ xTimeOutType xTimeOut;
 			{
 				if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
 				{
-					if( prvIsQueueEmpty( pxQueue ) )
+					if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
 					{
 						traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
 
@@ -739,7 +904,9 @@ xTimeOutType xTimeOut;
 							if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
 							{
 								portENTER_CRITICAL();
+								{
 									vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder );
+								}
 								portEXIT_CRITICAL();
 							}
 						}
@@ -764,10 +931,31 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
+
+	/* RTOS ports that support interrupt nesting have the concept of a maximum
+	system call (or maximum API call) interrupt priority.  Interrupts that are
+	above the maximum system call priority are keep permanently enabled, even
+	when the RTOS kernel is in a critical section, but cannot make any calls to
+	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+	failure if a FreeRTOS API function is called from an interrupt that has been
+	assigned a priority above the configured maximum system call priority.
+	Only FreeRTOS functions that end in FromISR can be called from interrupts
+	that have been assigned a priority at or (logically) below the maximum
+	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
+	safe API to ensure interrupt entry is as fast and as simple as possible.
+	More information (albeit Cortex-M specific) is provided on the following
+	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	/* Similar to xQueueGenericSend, except we don't block if there is no room
 	in the queue.  Also we don't directly wake a task that was blocked on a
@@ -776,7 +964,7 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 	by this	post). */
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+		if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
 		{
 			traceQUEUE_SEND_FROM_ISR( pxQueue );
 
@@ -786,15 +974,53 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 			be done when the queue is unlocked later. */
 			if( pxQueue->xTxLock == queueUNLOCKED )
 			{
-				if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The task waiting has a higher priority so record that a
-						context	switch is required. */
-						*pxHigherPriorityTaskWoken = pdTRUE;
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
+						{
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock.  A context switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
+					}
+					else
+					{
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+							{
+								/* The task waiting has a higher priority so record that a
+								context	switch is required. */
+								if( pxHigherPriorityTaskWoken != NULL )
+								{
+									*pxHigherPriorityTaskWoken = pdTRUE;
+								}
+							}
+						}
+					}
+				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
 					}
 				}
+				#endif /* configUSE_QUEUE_SETS */
 			}
 			else
 			{
@@ -817,11 +1043,15 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
 signed char *pcOriginalReadPosition;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
 	/* This function relaxes the coding standard somewhat to allow return
 	statements within the function itself.  This is done in the interest
@@ -835,8 +1065,9 @@ signed char *pcOriginalReadPosition;
 			the highest priority task wanting to access the queue. */
 			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 			{
-				/* Remember our read position in case we are just peeking. */
-				pcOriginalReadPosition = pxQueue->pcReadFrom;
+				/* Remember the read position in case the queue is only being
+				peeked. */
+				pcOriginalReadPosition = pxQueue->u.pcReadFrom;
 
 				prvCopyDataFromQueue( pxQueue, pvBuffer );
 
@@ -844,7 +1075,7 @@ signed char *pcOriginalReadPosition;
 				{
 					traceQUEUE_RECEIVE( pxQueue );
 
-					/* We are actually removing data. */
+					/* Actually removing data, not just peeking. */
 					--( pxQueue->uxMessagesWaiting );
 
 					#if ( configUSE_MUTEXES == 1 )
@@ -853,7 +1084,7 @@ signed char *pcOriginalReadPosition;
 						{
 							/* Record the information required to implement
 							priority inheritance should it become necessary. */
-							pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+							pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
 						}
 					}
 					#endif
@@ -862,7 +1093,7 @@ signed char *pcOriginalReadPosition;
 					{
 						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
 						{
-							portYIELD_WITHIN_API();
+							queueYIELD_IF_USING_PREEMPTION();
 						}
 					}
 				}
@@ -870,23 +1101,22 @@ signed char *pcOriginalReadPosition;
 				{
 					traceQUEUE_PEEK( pxQueue );
 
-					/* We are not removing the data, so reset our read
+					/* The data is not being removed, so reset the read
 					pointer. */
-					pxQueue->pcReadFrom = pcOriginalReadPosition;
+					pxQueue->u.pcReadFrom = pcOriginalReadPosition;
 
 					/* The data is being left in the queue, so see if there are
 					any other tasks waiting for the data. */
-					if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 					{
 						/* Tasks that are removed from the event list will get added to
 						the pending ready list as the scheduler is still suspended. */
 						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
 						{
 							/* The task waiting has a higher priority than this task. */
-							portYIELD_WITHIN_API();
+							queueYIELD_IF_USING_PREEMPTION();
 						}
 					}
-
 				}
 
 				taskEXIT_CRITICAL();
@@ -909,6 +1139,10 @@ signed char *pcOriginalReadPosition;
 					vTaskSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
+				else
+				{
+					/* Entry time was already set. */
+				}
 			}
 		}
 		taskEXIT_CRITICAL();
@@ -922,7 +1156,7 @@ signed char *pcOriginalReadPosition;
 		/* Update the timeout state to see if it has expired yet. */
 		if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
 		{
-			if( prvIsQueueEmpty( pxQueue ) )
+			if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
 			{
 				traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
 
@@ -941,7 +1175,7 @@ signed char *pcOriginalReadPosition;
 
 				vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
 				prvUnlockQueue( pxQueue );
-				if( !xTaskResumeAll() )
+				if( xTaskResumeAll() == pdFALSE )
 				{
 					portYIELD_WITHIN_API();
 				}
@@ -964,14 +1198,34 @@ signed char *pcOriginalReadPosition;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken )
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+
+	/* RTOS ports that support interrupt nesting have the concept of a maximum
+	system call (or maximum API call) interrupt priority.  Interrupts that are
+	above the maximum system call priority are keep permanently enabled, even
+	when the RTOS kernel is in a critical section, but cannot make any calls to
+	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+	failure if a FreeRTOS API function is called from an interrupt that has been
+	assigned a priority above the configured maximum system call priority.
+	Only FreeRTOS functions that end in FromISR can be called from interrupts
+	that have been assigned a priority at or (logically) below the maximum
+	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
+	safe API to ensure interrupt entry is as fast and as simple as possible.
+	More information (albeit Cortex-M specific) is provided on the following
+	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		/* We cannot block from an ISR, so check there is data available. */
+		/* Cannot block in an ISR, so check there is data available. */
 		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 		{
 			traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
@@ -979,18 +1233,22 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 			prvCopyDataFromQueue( pxQueue, pvBuffer );
 			--( pxQueue->uxMessagesWaiting );
 
-			/* If the queue is locked we will not modify the event list.  Instead
-			we update the lock count so the task that unlocks the queue will know
-			that an ISR has removed data while the queue was locked. */
+			/* If the queue is locked the event list will not be modified.
+			Instead update the lock count so the task that unlocks the queue
+			will know that an ISR has removed data while the queue was
+			locked. */
 			if( pxQueue->xRxLock == queueUNLOCKED )
 			{
-				if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 				{
 					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
 					{
 						/* The task waiting has a higher priority than us so
 						force a context switch. */
-						*pxTaskWoken = pdTRUE;
+						if( pxHigherPriorityTaskWoken != NULL )
+						{
+							*pxHigherPriorityTaskWoken = pdTRUE;
+						}
 					}
 				}
 			}
@@ -1015,37 +1273,148 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
+signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue,  void * const pvBuffer )
+{
+signed portBASE_TYPE xReturn;
+unsigned portBASE_TYPE uxSavedInterruptStatus;
+signed char *pcOriginalReadPosition;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+
+	/* RTOS ports that support interrupt nesting have the concept of a maximum
+	system call (or maximum API call) interrupt priority.  Interrupts that are
+	above the maximum system call priority are keep permanently enabled, even
+	when the RTOS kernel is in a critical section, but cannot make any calls to
+	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+	failure if a FreeRTOS API function is called from an interrupt that has been
+	assigned a priority above the configured maximum system call priority.
+	Only FreeRTOS functions that end in FromISR can be called from interrupts
+	that have been assigned a priority at or (logically) below the maximum
+	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
+	safe API to ensure interrupt entry is as fast and as simple as possible.
+	More information (albeit Cortex-M specific) is provided on the following
+	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Cannot block in an ISR, so check there is data available. */
+		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+		{
+			traceQUEUE_PEEK_FROM_ISR( pxQueue );
+
+			/* Remember the read position so it can be reset as nothing is
+			actually being removed from the queue. */
+			pcOriginalReadPosition = pxQueue->u.pcReadFrom;
+			prvCopyDataFromQueue( pxQueue, pvBuffer );
+			pxQueue->u.pcReadFrom = pcOriginalReadPosition;
+
+			xReturn = pdPASS;
+		}
+		else
+		{
+			xReturn = pdFAIL;
+			traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
+	configASSERT( xQueue );
+
 	taskENTER_CRITICAL();
-		uxReturn = pxQueue->uxMessagesWaiting;
+		uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 	taskEXIT_CRITICAL();
 
 	return uxReturn;
-}
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue )
+{
+unsigned portBASE_TYPE uxReturn;
+xQUEUE *pxQueue;
+
+	pxQueue = ( xQUEUE * ) xQueue;
+	configASSERT( pxQueue );
+
+	taskENTER_CRITICAL();
+		uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
+	taskEXIT_CRITICAL();
+
+	return uxReturn;
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
-	uxReturn = pxQueue->uxMessagesWaiting;
+	configASSERT( xQueue );
+
+	uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 
 	return uxReturn;
-}
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
-void vQueueDelete( xQueueHandle pxQueue )
+void vQueueDelete( xQueueHandle xQueue )
 {
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+
 	traceQUEUE_DELETE( pxQueue );
-	vQueueUnregisterQueue( pxQueue );
+	#if ( configQUEUE_REGISTRY_SIZE > 0 )
+	{
+		vQueueUnregisterQueue( pxQueue );
+	}
+	#endif
 	vPortFree( pxQueue->pcHead );
 	vPortFree( pxQueue );
 }
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )
+	{
+		return ( ( xQUEUE * ) xQueue )->ucQueueNumber;
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )
+	{
+		( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	unsigned char ucQueueGetQueueType( xQueueHandle xQueue )
+	{
+		return ( ( xQUEUE * ) xQueue )->ucQueueType;
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
 {
 	if( pxQueue->uxItemSize == ( unsigned portBASE_TYPE ) 0 )
@@ -1059,24 +1428,36 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 				pxQueue->pxMutexHolder = NULL;
 			}
 		}
-		#endif
+		#endif /* configUSE_MUTEXES */
 	}
 	else if( xPosition == queueSEND_TO_BACK )
 	{
-		memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
+		( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */
 		pxQueue->pcWriteTo += pxQueue->uxItemSize;
-		if( pxQueue->pcWriteTo >= pxQueue->pcTail )
+		if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
 		{
 			pxQueue->pcWriteTo = pxQueue->pcHead;
 		}
 	}
 	else
 	{
-		memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
-		pxQueue->pcReadFrom -= pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom < pxQueue->pcHead )
+		( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+		pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
+		if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
+		{
+			pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
+		}
+
+		if( xPosition == queueOVERWRITE )
 		{
-			pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
+			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+			{
+				/* An item is not being added but overwritten, so subtract
+				one from the recorded number of items in the queue so when
+				one is added again below the number of recorded items remains
+				correct. */
+				--( pxQueue->uxMessagesWaiting );
+			}
 		}
 	}
 
@@ -1084,21 +1465,21 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 }
 /*-----------------------------------------------------------*/
 
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer )
 {
 	if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
 	{
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
+		pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+		if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
 		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
+			pxQueue->u.pcReadFrom = pxQueue->pcHead;
 		}
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+		( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports.  Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */
 	}
 }
 /*-----------------------------------------------------------*/
 
-static void prvUnlockQueue( xQueueHandle pxQueue )
+static void prvUnlockQueue( xQUEUE *pxQueue )
 {
 	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
 
@@ -1113,23 +1494,58 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 		{
 			/* Data was posted while the queue was locked.  Are any tasks
 			blocked waiting for data to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+			#if ( configUSE_QUEUE_SETS == 1 )
 			{
-				/* Tasks that are removed from the event list will get added to
-				the pending ready list as the scheduler is still suspended. */
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+				if( pxQueue->pxQueueSetContainer != NULL )
 				{
-					/* The task waiting has a higher priority so record that a
-					context	switch is required. */
-					vTaskMissedYield();
+					if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
+					{
+						/* The queue is a member of a queue set, and posting to
+						the queue set caused a higher priority task to unblock.
+						A context switch is required. */
+						vTaskMissedYield();
+					}
+				}
+				else
+				{
+					/* Tasks that are removed from the event list will get added to
+					the pending ready list as the scheduler is still suspended. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							vTaskMissedYield();
+						}
+					}
+					else
+					{
+						break;
+					}
 				}
-
-				--( pxQueue->xTxLock );
 			}
-			else
+			#else /* configUSE_QUEUE_SETS */
 			{
-				break;
+				/* Tasks that are removed from the event list will get added to
+				the pending ready list as the scheduler is still suspended. */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				{
+					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The task waiting has a higher priority so record that a
+						context	switch is required. */
+						vTaskMissedYield();
+					}
+				}
+				else
+				{
+					break;
+				}
 			}
+			#endif /* configUSE_QUEUE_SETS */
+
+			--( pxQueue->xTxLock );
 		}
 
 		pxQueue->xTxLock = queueUNLOCKED;
@@ -1141,7 +1557,7 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 	{
 		while( pxQueue->xRxLock > queueLOCKED_UNMODIFIED )
 		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
+			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 			{
 				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
 				{
@@ -1162,263 +1578,304 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 }
 /*-----------------------------------------------------------*/
 
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue )
 {
 signed portBASE_TYPE xReturn;
 
 	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
+	{
+		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE )  0 )
+		{
+			xReturn = pdTRUE;
+		}
+		else
+		{
+			xReturn = pdFALSE;
+		}
+	}
 	taskEXIT_CRITICAL();
 
 	return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue )
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )
 {
 signed portBASE_TYPE xReturn;
 
-	xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
 
 	return xReturn;
-}
+} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 /*-----------------------------------------------------------*/
 
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )
 {
 signed portBASE_TYPE xReturn;
 
 	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
+	{
+		if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
+		{
+			xReturn = pdTRUE;
+		}
+		else
+		{
+			xReturn = pdFALSE;
+		}
+	}
 	taskEXIT_CRITICAL();
 
 	return xReturn;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue )
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )
 {
 signed portBASE_TYPE xReturn;
 
-	xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
 
 	return xReturn;
-}
+} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 /*-----------------------------------------------------------*/
 
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
+#if ( configUSE_CO_ROUTINES == 1 )
 
-	/* If the queue is already full we may have to block.  A critical section
-	is required to prevent an interrupt removing something from the queue
-	between the check to see if the queue is full and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
+	signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )
 	{
-		if( prvIsQueueFull( pxQueue ) )
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already full we may have to block.  A critical section
+		is required to prevent an interrupt removing something from the queue
+		between the check to see if the queue is full and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
 		{
-			/* The queue is full - do we want to block or just leave without
-			posting? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is called from a coroutine we cannot block directly, but
-				return indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
+			if( prvIsQueueFull( pxQueue ) != pdFALSE )
 			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
+				/* The queue is full - do we want to block or just leave without
+				posting? */
+				if( xTicksToWait > ( portTickType ) 0 )
+				{
+					/* As this is called from a coroutine we cannot block directly, but
+					return indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
+				}
 			}
 		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
+		portENABLE_INTERRUPTS();
 
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+		portDISABLE_INTERRUPTS();
 		{
-			/* There is room in the queue, copy the data into the queue. */
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for data to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
 			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+				/* There is room in the queue, copy the data into the queue. */
+				prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+				xReturn = pdPASS;
+
+				/* Were any co-routines waiting for data to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 				{
-					/* The co-routine waiting has a higher priority so record
-					that a yield might be appropriate. */
-					xReturn = errQUEUE_YIELD;
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The co-routine waiting has a higher priority so record
+						that a yield might be appropriate. */
+						xReturn = errQUEUE_YIELD;
+					}
 				}
 			}
+			else
+			{
+				xReturn = errQUEUE_FULL;
+			}
 		}
-		else
-		{
-			xReturn = errQUEUE_FULL;
-		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
 	}
-	portENABLE_INTERRUPTS();
 
-	return xReturn;
-}
-#endif
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
+#if ( configUSE_CO_ROUTINES == 1 )
 
-	/* If the queue is already empty we may have to block.  A critical section
-	is required to prevent an interrupt adding something to the queue
-	between the check to see if the queue is empty and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
+	signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )
 	{
-		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already empty we may have to block.  A critical section
+		is required to prevent an interrupt adding something to the queue
+		between the check to see if the queue is empty and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
 		{
-			/* There are no messages in the queue, do we want to block or just
-			leave with nothing? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is a co-routine we cannot block directly, but return
-				indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
+			if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
 			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
+				/* There are no messages in the queue, do we want to block or just
+				leave with nothing? */
+				if( xTicksToWait > ( portTickType ) 0 )
+				{
+					/* As this is a co-routine we cannot block directly, but return
+					indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
+				}
 			}
 		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
+		portENABLE_INTERRUPTS();
 
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+		portDISABLE_INTERRUPTS();
 		{
-			/* Data is available from the queue. */
-			pxQueue->pcReadFrom += pxQueue->uxItemSize;
-			if( pxQueue->pcReadFrom >= pxQueue->pcTail )
+			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 			{
-				pxQueue->pcReadFrom = pxQueue->pcHead;
-			}
-			--( pxQueue->uxMessagesWaiting );
-			memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+				/* Data is available from the queue. */
+				pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+				if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
+				{
+					pxQueue->u.pcReadFrom = pxQueue->pcHead;
+				}
+				--( pxQueue->uxMessagesWaiting );
+				( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
 
-			xReturn = pdPASS;
+				xReturn = pdPASS;
 
-			/* Were any co-routines waiting for space to become available? */
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+				/* Were any co-routines waiting for space to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 				{
-					xReturn = errQUEUE_YIELD;
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						xReturn = errQUEUE_YIELD;
+					}
 				}
 			}
+			else
+			{
+				xReturn = pdFAIL;
+			}
 		}
-		else
-		{
-			xReturn = pdFAIL;
-		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
 	}
-	portENABLE_INTERRUPTS();
 
-	return xReturn;
-}
-#endif
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_CO_ROUTINES == 1 )
 
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
-{
-	/* Cannot block within an ISR so if there is no space on the queue then
-	exit without doing anything. */
-	if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
 	{
-		prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
-		/* We only want to wake one co-routine per ISR, so check that a
-		co-routine has not already been woken. */
-		if( !xCoRoutinePreviouslyWoken )
+		/* Cannot block within an ISR so if there is no space on the queue then
+		exit without doing anything. */
+		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
 		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) )
+			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+
+			/* We only want to wake one co-routine per ISR, so check that a
+			co-routine has not already been woken. */
+			if( xCoRoutinePreviouslyWoken == pdFALSE )
 			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 				{
-					return pdTRUE;
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						return pdTRUE;
+					}
 				}
 			}
 		}
+
+		return xCoRoutinePreviouslyWoken;
 	}
 
-	return xCoRoutinePreviouslyWoken;
-}
-#endif
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
-{
-signed portBASE_TYPE xReturn;
+#if ( configUSE_CO_ROUTINES == 1 )
 
-	/* We cannot block from an ISR, so check there is data available. If
-	not then just leave without doing anything. */
-	if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
 	{
-		/* Copy the data from the queue. */
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
-		}
-		--( pxQueue->uxMessagesWaiting );
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
-		if( !( *pxCoRoutineWoken ) )
+		/* We cannot block from an ISR, so check there is data available. If
+		not then just leave without doing anything. */
+		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 		{
-			if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) )
+			/* Copy the data from the queue. */
+			pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+			if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
 			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+				pxQueue->u.pcReadFrom = pxQueue->pcHead;
+			}
+			--( pxQueue->uxMessagesWaiting );
+			( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+
+			if( ( *pxCoRoutineWoken ) == pdFALSE )
+			{
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 				{
-					*pxCoRoutineWoken = pdTRUE;
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						*pxCoRoutineWoken = pdTRUE;
+					}
 				}
 			}
+
+			xReturn = pdPASS;
+		}
+		else
+		{
+			xReturn = pdFAIL;
 		}
 
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = pdFAIL;
+		return xReturn;
 	}
 
-	return xReturn;
-}
-#endif
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
 	{
@@ -1426,7 +1883,7 @@ signed portBASE_TYPE xReturn;
 
 		/* See if there is an empty space in the registry.  A NULL name denotes
 		a free slot. */
-		for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
+		for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )
 		{
 			if( xQueueRegistry[ ux ].pcQueueName == NULL )
 			{
@@ -1438,18 +1895,18 @@ signed portBASE_TYPE xReturn;
 		}
 	}
 
-#endif
-	/*-----------------------------------------------------------*/
+#endif /* configQUEUE_REGISTRY_SIZE */
+/*-----------------------------------------------------------*/
 
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	static void vQueueUnregisterQueue( xQueueHandle xQueue )
+	void vQueueUnregisterQueue( xQueueHandle xQueue )
 	{
 	unsigned portBASE_TYPE ux;
 
 		/* See if the handle of the queue being unregistered in actually in the
 		registry. */
-		for( ux = 0; ux < configQUEUE_REGISTRY_SIZE; ux++ )
+		for( ux = ( unsigned portBASE_TYPE ) 0U; ux < ( unsigned portBASE_TYPE ) configQUEUE_REGISTRY_SIZE; ux++ )
 		{
 			if( xQueueRegistry[ ux ].xHandle == xQueue )
 			{
@@ -1459,7 +1916,190 @@ signed portBASE_TYPE xReturn;
 			}
 		}
 
+	} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
+
+#endif /* configQUEUE_REGISTRY_SIZE */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TIMERS == 1 )
+
+	void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )
+	{
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* This function should not be called by application code hence the
+		'Restricted' in its name.  It is not part of the public API.  It is
+		designed for use by kernel code, and has special calling requirements.
+		It can result in vListInsert() being called on a list that can only
+		possibly ever have one item in it, so the list will be fast, but even
+		so it should be called with the scheduler locked and not from a critical
+		section. */
+
+		/* Only do anything if there are no messages in the queue.  This function
+		will not actually cause the task to block, just place it on a blocked
+		list.  It will not block until the scheduler is unlocked - at which
+		time a yield will be performed.  If an item is added to the queue while
+		the queue is locked, and the calling task blocks on the queue, then the
+		calling task will be immediately unblocked when the queue is unlocked. */
+		prvLockQueue( pxQueue );
+		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0U )
+		{
+			/* There is nothing in the queue, block for the specified period. */
+			vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
+		}
+		prvUnlockQueue( pxQueue );
 	}
 
-#endif
+#endif /* configUSE_TIMERS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
+	{
+	xQueueSetHandle pxQueue;
+
+		pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );
+
+		return pxQueue;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+
+		if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
+		{
+			/* Cannot add a queue/semaphore to more than one queue set. */
+			xReturn = pdFAIL;
+		}
+		else if( ( ( xQUEUE * ) xQueueOrSemaphore )->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* Cannot add a queue/semaphore to a queue set if there are already
+			items in the queue/semaphore. */
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+	xQUEUE * const pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;
+
+		if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
+		{
+			/* The queue was not a member of the set. */
+			xReturn = pdFAIL;
+		}
+		else if( pxQueueOrSemaphore->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* It is dangerous to remove a queue from a set when the queue is
+			not empty because the queue set will still hold pending events for
+			the queue. */
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				/* The queue is no longer contained in the set. */
+				pxQueueOrSemaphore->pxQueueSetContainer = NULL;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	} /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		( void ) xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		( void ) xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition )
+	{
+	xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
+	portBASE_TYPE xReturn = pdFALSE;
+
+		configASSERT( pxQueueSetContainer );
+		configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
+
+		if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
+		{
+			traceQUEUE_SEND( pxQueueSetContainer );
+			/* The data copies is the handle of the queue that contains data. */
+			prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+			if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
+			{
+				if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
+				{
+					/* The task waiting has a higher priority */
+					xReturn = pdTRUE;
+				}
+			}
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+
+
+
+
+
+
+
+
+
+
+
 
diff --git a/Source/tasks.c b/Source/tasks.c
index 6616c31..33f2dec 100644
--- a/Source/tasks.c
+++ b/Source/tasks.c
@@ -1,58 +1,69 @@
 /*
-    FreeRTOS V6.0.2 - Copyright (C) 2010 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
-    *                                                                         *
-    * If you are:                                                             *
-    *                                                                         *
-    *    + New to FreeRTOS,                                                   *
-    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
-    *    + Looking for basic training,                                        *
-    *    + Wanting to improve your FreeRTOS skills and productivity           *
-    *                                                                         *
-    * then take a look at the FreeRTOS eBook                                  *
-    *                                                                         *
-    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
-    *                  http://www.FreeRTOS.org/Documentation                  *
-    *                                                                         *
-    * A pdf reference manual is also available.  Both are usually delivered   *
-    * to your inbox within 20 minutes to two hours when purchased between 8am *
-    * and 8pm GMT (although please allow up to 24 hours in case of            *
-    * exceptional circumstances).  Thank you for your support!                *
-    *                                                                         *
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
     ***************************************************************************
 
     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 exception 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.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public 
-    License and the FreeRTOS license exception along with FreeRTOS; if not it 
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    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 from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-    http://www.FreeRTOS.org - Documentation, latest information, license and
-    contact details.
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.SafeRTOS.com - A version that is certified for use in safety
-    critical systems.
+    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.OpenRTOS.com - Commercial support, development, porting,
-    licensing and training services.
-*/
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
+*/
 
-#include 
+/* Standard includes. */
 #include 
 #include 
 
@@ -61,47 +72,76 @@ all the API functions to use the MPU wrappers.  That should only be done when
 task.h is included from an application file. */
 #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
 
+/* FreeRTOS includes. */
 #include "FreeRTOS.h"
 #include "task.h"
+#include "timers.h"
 #include "StackMacros.h"
 
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
+
+#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
+	/* At the bottom of this file are two optional functions that can be used
+	to generate human readable text from the raw data generated by the
+	uxTaskGetSystemState() function.  Note the formatting functions are provided
+	for convenience only, and are NOT considered part of the kernel. */
+	#include 
+#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
+
+/* Sanity check the configuration. */
+#if configUSE_TICKLESS_IDLE != 0
+	#if INCLUDE_vTaskSuspend != 1
+		#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
+	#endif /* INCLUDE_vTaskSuspend */
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
- * Macro to define the amount of stack available to the idle task.
+ * Defines the size, in words, of the stack allocated to the idle task.
  */
 #define tskIDLE_STACK_SIZE	configMINIMAL_STACK_SIZE
 
-#define tskIDLE_PRIORITY			( ( unsigned portBASE_TYPE ) 0 )
+#if( configUSE_PREEMPTION == 0 )
+	/* If the cooperative scheduler is being used then a yield should not be
+	performed just because a higher priority task has been woken. */
+	#define taskYIELD_IF_USING_PREEMPTION()
+#else
+	#define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+#endif
 
 /*
- * Task control block.  A task control block (TCB) is allocated to each task,
- * and stores the context of the task.
+ * Task control block.  A task control block (TCB) is allocated for each task,
+ * and stores task state information, including a pointer to the task's context
+ * (the task's run time environment, including register values)
  */
 typedef struct tskTaskControlBlock
 {
-	volatile portSTACK_TYPE	*pxTopOfStack;		/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */
+	volatile portSTACK_TYPE	*pxTopOfStack;		/*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
 
 	#if ( portUSING_MPU_WRAPPERS == 1 )
-		xMPU_SETTINGS xMPUSettings;				/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE STRUCT. */
-	#endif	
-	
-	xListItem				xGenericListItem;	/*< List item used to place the TCB in ready and blocked queues. */
-	xListItem				xEventListItem;		/*< List item used to place the TCB in event lists. */
-	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task where 0 is the lowest priority. */
+		xMPU_SETTINGS xMPUSettings;				/*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
+	#endif
+
+	xListItem				xGenericListItem;	/*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
+	xListItem				xEventListItem;		/*< Used to reference a task from an event list. */
+	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task.  0 is the lowest priority. */
 	portSTACK_TYPE			*pxStack;			/*< Points to the start of the stack. */
 	signed char				pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created.  Facilitates debugging only. */
 
 	#if ( portSTACK_GROWTH > 0 )
-		portSTACK_TYPE *pxEndOfStack;			/*< Used for stack overflow checking on architectures where the stack grows up from low memory. */
+		portSTACK_TYPE *pxEndOfStack;			/*< Points to the end of the stack on architectures where the stack grows up from low memory. */
 	#endif
 
 	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-		unsigned portBASE_TYPE uxCriticalNesting;
+		unsigned portBASE_TYPE uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
 	#endif
 
 	#if ( configUSE_TRACE_FACILITY == 1 )
-		unsigned portBASE_TYPE	uxTCBNumber;	/*< This is used for tracing the scheduler and making debugging easier only. */
+		unsigned portBASE_TYPE	uxTCBNumber;	/*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
+		unsigned portBASE_TYPE  uxTaskNumber;	/*< Stores a number specifically for use by third party trace code. */
 	#endif
 
 	#if ( configUSE_MUTEXES == 1 )
@@ -113,36 +153,48 @@ typedef struct tskTaskControlBlock
 	#endif
 
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
-		unsigned long ulRunTimeCounter;		/*< Used for calculating how much CPU time each task is utilising. */
+		unsigned long ulRunTimeCounter;			/*< Stores the amount of time the task has spent in the Running state. */
+	#endif
+
+	#if ( configUSE_NEWLIB_REENTRANT == 1 )
+		/* Allocate a Newlib reent structure that is specific to this task.
+		Note Newlib support has been included by popular demand, but is not
+		used by the FreeRTOS maintainers themselves.  FreeRTOS is not
+		responsible for resulting newlib operation.  User must be familiar with
+		newlib and must provide system-wide implementations of the necessary
+		stubs. Be warned that (at the time of writing) the current newlib design
+		implements a system-wide malloc() that must be provided with locks. */
+		struct _reent xNewLib_reent;
 	#endif
 
 } tskTCB;
 
 
 /*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
+ * Some kernel aware debuggers require the data the debugger needs access to to
+ * be global, rather than file scope.
  */
 #ifdef portREMOVE_STATIC_QUALIFIER
 	#define static
 #endif
 
-/*lint -e956 */
+/*lint -e956 A manual analysis and inspection has been used to determine which
+static variables must be declared volatile. */
+
 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
 
 /* Lists for ready and blocked tasks. --------------------*/
-
 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ];	/*< Prioritised ready tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList1;							/*< Delayed tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList2;							/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ;				/*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static xList * volatile pxDelayedTaskList;				/*< Points to the delayed task list currently being used. */
 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready queue when the scheduler is resumed. */
+PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	PRIVILEGED_DATA static volatile xList xTasksWaitingTermination;		/*< Tasks that have been deleted - but the their memory not yet freed. */
-	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0;
+	PRIVILEGED_DATA static xList xTasksWaitingTermination;				/*< Tasks that have been deleted - but the their memory not yet freed. */
+	PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0U;
 
 #endif
 
@@ -152,33 +204,40 @@ PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been r
 
 #endif
 
-/* File private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks 	= ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portTickType xTickCount 						= ( portTickType ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority	 				= tskIDLE_PRIORITY;
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+
+	PRIVILEGED_DATA static xTaskHandle xIdleTaskHandle = NULL;			/*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */
+
+#endif
+
+/* Other file private variables. --------------------------------*/
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks 	= ( unsigned portBASE_TYPE ) 0U;
+PRIVILEGED_DATA static volatile portTickType xTickCount 						= ( portTickType ) 0U;
 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority 		= tskIDLE_PRIORITY;
 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning 			= pdFALSE;
 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended	 	= ( unsigned portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks 			= ( unsigned portBASE_TYPE ) 0;
-PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield 						= ( portBASE_TYPE ) pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks 			= ( unsigned portBASE_TYPE ) 0U;
+PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending 					= pdFALSE;
 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows 					= ( portBASE_TYPE ) 0;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0U;
+PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= portMAX_DELAY;
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-	PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
 	PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;	/*< Holds the value of a timer/counter the last time a task was switched in. */
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
+	PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL;			/*< Holds the total amount of execution time as defined by the run time counter clock. */
 
 #endif
 
+/*lint +e956 */
+
 /* Debugging and trace facilities private variables and macros. ------------*/
 
 /*
  * The value used to fill the stack of a task when the task is created.  This
  * is used purely for checking the high water mark for tasks.
  */
-#define tskSTACK_FILL_BYTE	( 0xa5 )
+#define tskSTACK_FILL_BYTE	( 0xa5U )
 
 /*
  * Macros used by vListTask to indicate which state a task is in.
@@ -188,104 +247,130 @@ PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned po
 #define tskDELETED_CHAR		( ( signed char ) 'D' )
 #define tskSUSPENDED_CHAR	( ( signed char ) 'S' )
 
-/*
- * Macros and private variables used by the trace facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
+/*-----------------------------------------------------------*/
 
-	#define tskSIZE_OF_EACH_TRACE_LINE			( ( unsigned long ) ( sizeof( unsigned long ) + sizeof( unsigned long ) ) )
-	PRIVILEGED_DATA static volatile signed char * volatile pcTraceBuffer;
-	PRIVILEGED_DATA static signed char *pcTraceBufferStart;
-	PRIVILEGED_DATA static signed char *pcTraceBufferEnd;
-	PRIVILEGED_DATA static signed portBASE_TYPE xTracing = pdFALSE;
-	static unsigned portBASE_TYPE uxPreviousTask = 255;
-	PRIVILEGED_DATA static char pcStatusString[ 50 ];
+#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
 
-#endif
+	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
+	performed in a generic way that is not optimised to any particular
+	microcontroller architecture. */
 
-/*-----------------------------------------------------------*/
+	/* uxTopReadyPriority holds the priority of the highest priority ready
+	state task. */
+	#define taskRECORD_READY_PRIORITY( uxPriority )																		\
+	{																													\
+		if( ( uxPriority ) > uxTopReadyPriority )																		\
+		{																												\
+			uxTopReadyPriority = ( uxPriority );																		\
+		}																												\
+	} /* taskRECORD_READY_PRIORITY */
 
-/*
- * Macro that writes a trace of scheduler activity to a buffer.  This trace
- * shows which task is running when and is very useful as a debugging tool.
- * As this macro is called each context switch it is a good idea to undefine
- * it if not using the facility.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
+	/*-----------------------------------------------------------*/
+
+	#define taskSELECT_HIGHEST_PRIORITY_TASK()																			\
+	{																													\
+		/* Find the highest priority queue that contains ready tasks. */												\
+		while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )										\
+		{																												\
+			configASSERT( uxTopReadyPriority );																			\
+			--uxTopReadyPriority;																						\
+		}																												\
+																														\
+		/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of										\
+		the	same priority get an equal share of the processor time. */													\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );						\
+	} /* taskSELECT_HIGHEST_PRIORITY_TASK */
+
+	/*-----------------------------------------------------------*/
+
+	/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
+	they are only required when a port optimised method of task selection is
+	being used. */
+	#define taskRESET_READY_PRIORITY( uxPriority )
+	#define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
+
+	/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
+	performed in a way that is tailored to the particular microcontroller
+	architecture being used. */
 
-	#define vWriteTraceToBuffer()																	\
+	/* A port optimised version is provided.  Call the port defined macros. */
+	#define taskRECORD_READY_PRIORITY( uxPriority )	portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
+
+	/*-----------------------------------------------------------*/
+
+	#define taskSELECT_HIGHEST_PRIORITY_TASK()														\
+	{																								\
+	unsigned portBASE_TYPE uxTopPriority;															\
+																									\
+		/* Find the highest priority queue that contains ready tasks. */							\
+		portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );								\
+		configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );		\
+		listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );		\
+	} /* taskSELECT_HIGHEST_PRIORITY_TASK() */
+
+	/*-----------------------------------------------------------*/
+
+	/* A port optimised version is provided, call it only if the TCB being reset
+	is being referenced from a ready list.  If it is referenced from a delayed
+	or suspended list then it won't be in a ready list. */
+	#define taskRESET_READY_PRIORITY( uxPriority )													\
 	{																								\
-		if( xTracing )																				\
+		if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == 0 )				\
 		{																							\
-			if( uxPreviousTask != pxCurrentTCB->uxTCBNumber )										\
-			{																						\
-				if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd )				\
-				{																					\
-					uxPreviousTask = pxCurrentTCB->uxTCBNumber;										\
-					*( unsigned long * ) pcTraceBuffer = ( unsigned long ) xTickCount;		\
-					pcTraceBuffer += sizeof( unsigned long );									\
-					*( unsigned long * ) pcTraceBuffer = ( unsigned long ) uxPreviousTask;	\
-					pcTraceBuffer += sizeof( unsigned long );									\
-				}																					\
-				else																				\
-				{																					\
-					xTracing = pdFALSE;																\
-				}																					\
-			}																						\
+			portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );						\
 		}																							\
 	}
 
-#else
-
-	#define vWriteTraceToBuffer()
+#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 
-#endif
 /*-----------------------------------------------------------*/
 
-/*
- * Place the task represented by pxTCB into the appropriate ready queue for
- * the task.  It is inserted at the end of the list.  One quirk of this is
- * that if the task being inserted is at the same priority as the currently
- * executing task, then it will only be rescheduled after the currently
- * executing task has been rescheduled.
- */
-#define prvAddTaskToReadyQueue( pxTCB )																			\
-{																												\
-	if( pxTCB->uxPriority > uxTopReadyPriority )																\
-	{																											\
-		uxTopReadyPriority = pxTCB->uxPriority;																	\
-	}																											\
-	vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) );	\
+/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
+count overflows. */
+#define taskSWITCH_DELAYED_LISTS()																	\
+{																									\
+	xList *pxTemp;																					\
+																									\
+	/* The delayed tasks list should be empty when the lists are switched. */						\
+	configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );										\
+																									\
+	pxTemp = pxDelayedTaskList;																		\
+	pxDelayedTaskList = pxOverflowDelayedTaskList;													\
+	pxOverflowDelayedTaskList = pxTemp;																\
+	xNumOfOverflows++;																				\
+																									\
+	if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )											\
+	{																								\
+		/* The new current delayed list is empty.  Set												\
+		xNextTaskUnblockTime to the maximum possible value so it is									\
+		extremely unlikely that the																	\
+		if( xTickCount >= xNextTaskUnblockTime ) test will pass until								\
+		there is an item in the delayed list. */													\
+		xNextTaskUnblockTime = portMAX_DELAY;														\
+	}																								\
+	else																							\
+	{																								\
+		/* The new current delayed list is not empty, get the value of								\
+		the item at the head of the delayed list.  This is the time at								\
+		which the task at the head of the delayed list should be removed							\
+		from the Blocked state. */																	\
+		pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );						\
+		xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );				\
+	}																								\
 }
+
 /*-----------------------------------------------------------*/
 
 /*
- * Macro that looks at the list of tasks that are currently delayed to see if
- * any require waking.
- *
- * Tasks are stored in the queue in the order of their wake time - meaning
- * once one tasks has been found whose timer has not expired we need not look
- * any further down the list.
+ * Place the task represented by pxTCB into the appropriate ready list for
+ * the task.  It is inserted at the end of the list.
  */
-#define prvCheckDelayedTasks()																						\
-{																													\
-register tskTCB *pxTCB;																								\
-																													\
-	while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL )						\
-	{																												\
-		if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) )									\
-		{																											\
-			break;																									\
-		}																											\
-		vListRemove( &( pxTCB->xGenericListItem ) );																\
-		/* Is the task waiting on an event also? */																	\
-		if( pxTCB->xEventListItem.pvContainer )																		\
-		{																											\
-			vListRemove( &( pxTCB->xEventListItem ) );																\
-		}																											\
-		prvAddTaskToReadyQueue( pxTCB );																			\
-	}																												\
-}
+#define prvAddTaskToReadyList( pxTCB )																				\
+	traceMOVED_TASK_TO_READY_STATE( pxTCB )																			\
+	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );																\
+	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
 /*-----------------------------------------------------------*/
 
 /*
@@ -294,8 +379,11 @@ register tskTCB *pxTCB;																								\
  * task should be used in place of the parameter.  This macro simply checks to
  * see if the parameter is NULL and returns a pointer to the appropriate TCB.
  */
-#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle )
+#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
 
+/* Callback function prototypes. --------------------------*/
+extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
+extern void vApplicationTickHook( void );
 
 /* File private functions. --------------------------------*/
 
@@ -331,7 +419,7 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
  * This does not free memory allocated by the task itself (i.e. memory
  * allocated by calls to pvPortMalloc from within the tasks application code).
  */
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+#if ( INCLUDE_vTaskDelete == 1 )
 
 	static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
 
@@ -344,6 +432,12 @@ static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
  */
 static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
 
+/*
+ * The currently executing task is entering the Blocked state.  Add the task to
+ * either the current or the overflow delayed task list.
+ */
+static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGED_FUNCTION;
+
 /*
  * Allocates memory from the heap for a TCB and associated stack.  Checks the
  * allocation was successful.
@@ -351,17 +445,16 @@ static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
 
 /*
- * Called from vTaskList.  vListTasks details all the tasks currently under
- * control of the scheduler.  The tasks may be in one of a number of lists.
- * prvListTaskWithinSingleList accepts a list and details the tasks from
- * within just that list.
+ * Fills an xTaskStatusType structure with information on each task that is
+ * referenced from the pxList list (which may be a ready list, a delayed list,
+ * a suspended list, etc.).
  *
  * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
  * NORMAL APPLICATION CODE.
  */
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
+	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -372,24 +465,33 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
  */
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
+	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
 
 #endif
 
+/*
+ * Return the amount of time, in ticks, that will pass before the kernel will
+ * next move a task from the Blocked state to the Running state.
+ *
+ * This conditional compilation should use inequality to 0, not equality to 1.
+ * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
+ * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
+ * set to a value other than 1.
+ */
+#if ( configUSE_TICKLESS_IDLE != 0 )
 
-/*lint +e956 */
-
-
+	static portTickType prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
 
-/*-----------------------------------------------------------
- * TASK CREATION API documented in task.h
- *----------------------------------------------------------*/
+#endif
 
 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
 {
 signed portBASE_TYPE xReturn;
 tskTCB * pxNewTCB;
 
+	configASSERT( pxTaskCode );
+	configASSERT( ( ( uxPriority & ( ~portPRIVILEGE_BIT ) ) < configMAX_PRIORITIES ) );
+
 	/* Allocate the memory required by the TCB and stack for the new task,
 	checking that the allocation was successful. */
 	pxNewTCB = prvAllocateTCBAndStack( usStackDepth, puxStackBuffer );
@@ -401,7 +503,7 @@ tskTCB * pxNewTCB;
 		#if( portUSING_MPU_WRAPPERS == 1 )
 			/* Should the task be created in privileged mode? */
 			portBASE_TYPE xRunPrivileged;
-			if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
+			if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
 			{
 				xRunPrivileged = pdTRUE;
 			}
@@ -418,19 +520,25 @@ tskTCB * pxNewTCB;
 		required by the port. */
 		#if( portSTACK_GROWTH < 0 )
 		{
-			pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
-			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK  ) );
+			pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
+			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK  ) ); /*lint !e923 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type. */
+
+			/* Check the alignment of the calculated top of stack is correct. */
+			configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 		}
-		#else
+		#else /* portSTACK_GROWTH */
 		{
 			pxTopOfStack = pxNewTCB->pxStack;
 
+			/* Check the alignment of the stack buffer is correct. */
+			configASSERT( ( ( ( unsigned long ) pxNewTCB->pxStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+
 			/* If we want to use stack checking on architectures that use
 			a positive stack growth direction then we also need to store the
 			other extreme of the stack space. */
 			pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
 		}
-		#endif
+		#endif /* portSTACK_GROWTH */
 
 		/* Setup the newly allocated TCB with the initial state of the task. */
 		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
@@ -443,26 +551,38 @@ tskTCB * pxNewTCB;
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
 		}
-		#else
+		#else /* portUSING_MPU_WRAPPERS */
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
 		}
-		#endif
+		#endif /* portUSING_MPU_WRAPPERS */
+
+		if( ( void * ) pxCreatedTask != NULL )
+		{
+			/* Pass the TCB out - in an anonymous way.  The calling function/
+			task can use this as a handle to delete the task later if
+			required.*/
+			*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
+		}
 
-		/* We are going to manipulate the task queues to add this task to a
-		ready list, so must make sure no interrupts occur. */
-		portENTER_CRITICAL();
+		/* Ensure interrupts don't access the task lists while they are being
+		updated. */
+		taskENTER_CRITICAL();
 		{
 			uxCurrentNumberOfTasks++;
-			if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
+			if( pxCurrentTCB == NULL )
 			{
-				/* As this is the first task it must also be the current task. */
+				/* There are no other tasks, or all the other tasks are in
+				the suspended state - make this the current task. */
 				pxCurrentTCB =  pxNewTCB;
 
-				/* This is the first task to be created so do the preliminary
-				initialisation required.  We will not recover if this call
-				fails, but we will report the failure. */
-				prvInitialiseTaskLists();
+				if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 )
+				{
+					/* This is the first task to be created so do the preliminary
+					initialisation required.  We will not recover if this call
+					fails, but we will report the failure. */
+					prvInitialiseTaskLists();
+				}
 			}
 			else
 			{
@@ -478,51 +598,38 @@ tskTCB * pxNewTCB;
 				}
 			}
 
-			/* Remember the top priority to make context switching faster.  Use
-			the priority in pxNewTCB as this has been capped to a valid value. */
-			if( pxNewTCB->uxPriority > uxTopUsedPriority )
-			{
-				uxTopUsedPriority = pxNewTCB->uxPriority;
-			}
+			uxTaskNumber++;
 
 			#if ( configUSE_TRACE_FACILITY == 1 )
 			{
 				/* Add a counter into the TCB for tracing only. */
 				pxNewTCB->uxTCBNumber = uxTaskNumber;
 			}
-			#endif
-			uxTaskNumber++;
+			#endif /* configUSE_TRACE_FACILITY */
+			traceTASK_CREATE( pxNewTCB );
 
-			prvAddTaskToReadyQueue( pxNewTCB );
+			prvAddTaskToReadyList( pxNewTCB );
 
 			xReturn = pdPASS;
-			traceTASK_CREATE( pxNewTCB );
+			portSETUP_TCB( pxNewTCB );
 		}
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 	}
 	else
 	{
 		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-		traceTASK_CREATE_FAILED( pxNewTCB );
+		traceTASK_CREATE_FAILED();
 	}
 
 	if( xReturn == pdPASS )
 	{
-		if( ( void * ) pxCreatedTask != NULL )
-		{
-			/* Pass the TCB out - in an anonymous way.  The calling function/
-			task can use this as a handle to delete the task later if
-			required.*/
-			*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
-		}
-
 		if( xSchedulerRunning != pdFALSE )
 		{
 			/* If the created task is of a higher priority than the current task
 			then it should run now. */
 			if( pxCurrentTCB->uxPriority < uxPriority )
 			{
-				portYIELD_WITHIN_API();
+				taskYIELD_IF_USING_PREEMPTION();
 			}
 		}
 	}
@@ -533,35 +640,31 @@ tskTCB * pxNewTCB;
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	void vTaskDelete( xTaskHandle pxTaskToDelete )
+	void vTaskDelete( xTaskHandle xTaskToDelete )
 	{
 	tskTCB *pxTCB;
 
-		portENTER_CRITICAL();
+		taskENTER_CRITICAL();
 		{
-			/* Ensure a yield is performed if the current task is being
-			deleted. */
-			if( pxTaskToDelete == pxCurrentTCB )
-			{
-				pxTaskToDelete = NULL;
-			}
-
 			/* If null is passed in here then we are deleting ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
+			pxTCB = prvGetTCBFromHandle( xTaskToDelete );
 
 			/* Remove task from the ready list and place in the	termination list.
 			This will stop the task from be scheduled.  The idle task will check
 			the termination list and free up any memory allocated by the
 			scheduler for the TCB and stack. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
+			if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+			{
+				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+			}
 
 			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer )
+			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
 			{
-				vListRemove( &( pxTCB->xEventListItem ) );
+				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
-			vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
+			vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
 
 			/* Increment the ucTasksDeleted variable so the idle task knows
 			there is a task that has been deleted and that it should therefore
@@ -574,28 +677,20 @@ tskTCB * pxNewTCB;
 
 			traceTASK_DELETE( pxTCB );
 		}
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 
 		/* Force a reschedule if we have just deleted the current task. */
 		if( xSchedulerRunning != pdFALSE )
 		{
-			if( ( void * ) pxTaskToDelete == NULL )
+			if( pxTCB == pxCurrentTCB )
 			{
 				portYIELD_WITHIN_API();
 			}
 		}
 	}
 
-#endif
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API documented in task.h
- *----------------------------------------------------------*/
+#endif /* INCLUDE_vTaskDelete */
+/*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelayUntil == 1 )
 
@@ -604,19 +699,26 @@ tskTCB * pxNewTCB;
 	portTickType xTimeToWake;
 	portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
 
+		configASSERT( pxPreviousWakeTime );
+		configASSERT( ( xTimeIncrement > 0U ) );
+
 		vTaskSuspendAll();
 		{
+			/* Minor optimisation.  The tick count cannot change in this
+			block. */
+			const portTickType xConstTickCount = xTickCount;
+
 			/* Generate the tick time at which the task wants to wake. */
 			xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
 
-			if( xTickCount < *pxPreviousWakeTime )
+			if( xConstTickCount < *pxPreviousWakeTime )
 			{
 				/* The tick count has overflowed since this function was
 				lasted called.  In this case the only time we should ever
 				actually delay is if the wake time has also	overflowed,
 				and the wake time is greater than the tick time.  When this
 				is the case it is as if neither time had overflowed. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) )
+				if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
 				{
 					xShouldDelay = pdTRUE;
 				}
@@ -626,7 +728,7 @@ tskTCB * pxNewTCB;
 				/* The tick time has not overflowed.  In this case we will
 				delay if either the wake time has overflowed, and/or the
 				tick time is less than the wake time. */
-				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
+				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
 				{
 					xShouldDelay = pdTRUE;
 				}
@@ -635,43 +737,35 @@ tskTCB * pxNewTCB;
 			/* Update the wake time ready for the next call. */
 			*pxPreviousWakeTime = xTimeToWake;
 
-			if( xShouldDelay )
+			if( xShouldDelay != pdFALSE )
 			{
 				traceTASK_DELAY_UNTIL();
 
 				/* 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. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-				/* The list item will be inserted in wake time order. */
-				listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-				if( xTimeToWake < xTickCount )
-				{
-					/* Wake time has overflowed.  Place this item in the
-					overflow list. */
-					vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-				else
+				if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 				{
-					/* The wake time has not overflowed, so we can use the
-					current block list. */
-					vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+					/* The current task must be in a ready list, so there is
+					no need to check, and the port reset macro can be called
+					directly. */
+					portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
 				}
+
+				prvAddCurrentTaskToDelayedList( xTimeToWake );
 			}
 		}
 		xAlreadyYielded = xTaskResumeAll();
 
 		/* Force a reschedule if xTaskResumeAll has not already done so, we may
 		have put ourselves to sleep. */
-		if( !xAlreadyYielded )
+		if( xAlreadyYielded == pdFALSE )
 		{
 			portYIELD_WITHIN_API();
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelayUntil */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelay == 1 )
@@ -682,7 +776,7 @@ tskTCB * pxNewTCB;
 	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 
 		/* A delay time of zero just forces a reschedule. */
-		if( xTicksToDelay > ( portTickType ) 0 )
+		if( xTicksToDelay > ( portTickType ) 0U )
 		{
 			vTaskSuspendAll();
 			{
@@ -703,119 +797,194 @@ tskTCB * pxNewTCB;
 				/* 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. */
-				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
-				/* The list item will be inserted in wake time order. */
-				listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-				if( xTimeToWake < xTickCount )
-				{
-					/* Wake time has overflowed.  Place this item in the
-					overflow list. */
-					vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-				}
-				else
+				if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 				{
-					/* The wake time has not overflowed, so we can use the
-					current block list. */
-					vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+					/* The current task must be in a ready list, so there is
+					no need to check, and the port reset macro can be called
+					directly. */
+					portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
 				}
+				prvAddCurrentTaskToDelayedList( xTimeToWake );
 			}
 			xAlreadyYielded = xTaskResumeAll();
 		}
 
 		/* Force a reschedule if xTaskResumeAll has not already done so, we may
 		have put ourselves to sleep. */
-		if( !xAlreadyYielded )
+		if( xAlreadyYielded == pdFALSE )
 		{
 			portYIELD_WITHIN_API();
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelay */
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_eTaskGetState == 1 )
+
+	eTaskState eTaskGetState( xTaskHandle xTask )
+	{
+	eTaskState eReturn;
+	xList *pxStateList;
+	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
+
+		if( pxTCB == pxCurrentTCB )
+		{
+			/* The task calling this function is querying its own state. */
+			eReturn = eRunning;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				pxStateList = ( xList * ) listLIST_ITEM_CONTAINER( &( pxTCB->xGenericListItem ) );
+			}
+			taskEXIT_CRITICAL();
+
+			if( ( pxStateList == pxDelayedTaskList ) || ( pxStateList == pxOverflowDelayedTaskList ) )
+			{
+				/* The task being queried is referenced from one of the Blocked
+				lists. */
+				eReturn = eBlocked;
+			}
+
+			#if ( INCLUDE_vTaskSuspend == 1 )
+				else if( pxStateList == &xSuspendedTaskList )
+				{
+					/* The task being queried is referenced from the suspended
+					list.  Is it genuinely suspended or is it block
+					indefinitely? */
+					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
+					{
+						eReturn = eSuspended;
+					}
+					else
+					{
+						eReturn = eBlocked;
+					}
+				}
+			#endif
+
+			#if ( INCLUDE_vTaskDelete == 1 )
+				else if( pxStateList == &xTasksWaitingTermination )
+				{
+					/* The task being queried is referenced from the deleted
+					tasks list. */
+					eReturn = eDeleted;
+				}
+			#endif
+
+			else
+			{
+				/* If the task is not in any other state, it must be in the
+				Ready (including pending ready) state. */
+				eReturn = eReady;
+			}
+		}
+
+		return eReturn;
+	}
+
+#endif /* INCLUDE_eTaskGetState */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskPriorityGet == 1 )
 
-	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
+	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
 	{
 	tskTCB *pxTCB;
 	unsigned portBASE_TYPE uxReturn;
 
-		portENTER_CRITICAL();
+		taskENTER_CRITICAL();
 		{
 			/* If null is passed in here then we are changing the
 			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
+			pxTCB = prvGetTCBFromHandle( xTask );
 			uxReturn = pxTCB->uxPriority;
 		}
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskPriorityGet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskPrioritySet == 1 )
 
-	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
+	void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
 	{
 	tskTCB *pxTCB;
-	unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE;
+	unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
+	portBASE_TYPE xYieldRequired = pdFALSE;
+
+		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
 
 		/* Ensure the new priority is valid. */
-		if( uxNewPriority >= configMAX_PRIORITIES )
+		if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
 		{
-			uxNewPriority = configMAX_PRIORITIES - 1;
+			uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
 		}
 
-		portENTER_CRITICAL();
+		taskENTER_CRITICAL();
 		{
-			if( pxTask == pxCurrentTCB )
-			{
-				pxTask = NULL;
-			}
+			/* If null is passed in here then it is the priority of the calling
+			task that is being changed. */
+			pxTCB = prvGetTCBFromHandle( xTask );
 
-			/* If null is passed in here then we are changing the
-			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
-
-			traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
+			traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
 
 			#if ( configUSE_MUTEXES == 1 )
 			{
-				uxCurrentPriority = pxTCB->uxBasePriority;
+				uxCurrentBasePriority = pxTCB->uxBasePriority;
 			}
 			#else
 			{
-				uxCurrentPriority = pxTCB->uxPriority;
+				uxCurrentBasePriority = pxTCB->uxPriority;
 			}
 			#endif
 
-			if( uxCurrentPriority != uxNewPriority )
+			if( uxCurrentBasePriority != uxNewPriority )
 			{
 				/* The priority change may have readied a task of higher
 				priority than the calling task. */
-				if( uxNewPriority > uxCurrentPriority )
+				if( uxNewPriority > uxCurrentBasePriority )
 				{
-					if( pxTask != NULL )
+					if( pxTCB != pxCurrentTCB )
 					{
-						/* The priority of another task is being raised.  If we
-						were raising the priority of the currently running task
-						there would be no need to switch as it must have already
-						been the highest priority task. */
-						xYieldRequired = pdTRUE;
+						/* The priority of a task other than the currently
+						running task is being raised.  Is the priority being
+						raised above that of the running task? */
+						if( uxNewPriority >= pxCurrentTCB->uxPriority )
+						{
+							xYieldRequired = pdTRUE;
+						}
+					}
+					else
+					{
+						/* The priority of the running task is being raised,
+						but the running task must already be the highest
+						priority task able to run so no yield is required. */
 					}
 				}
-				else if( pxTask == NULL )
+				else if( pxTCB == pxCurrentTCB )
 				{
-					/* Setting our own priority down means there may now be another
-					task of higher priority that is ready to execute. */
+					/* Setting the priority of the running task down means
+					there may now be another task of higher priority that
+					is ready to execute. */
 					xYieldRequired = pdTRUE;
 				}
+				else
+				{
+					/* Setting the priority of any other task down does not
+					require a yield as the running task must be above the
+					new priority of the task being modified. */
+				}
 
-
+				/* Remember the ready list the task might be referenced from
+				before its uxPriority member is changed so the
+				taskRESET_READY_PRIORITY() macro can function correctly. */
+				uxPriorityUsedOnEntry = pxTCB->uxPriority;
 
 				#if ( configUSE_MUTEXES == 1 )
 				{
@@ -835,74 +1004,102 @@ tskTCB * pxNewTCB;
 				}
 				#endif
 
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 				/* If the task is in the blocked or suspended list we need do
 				nothing more than change it's priority variable. However, if
 				the task is in a ready list it needs to be removed and placed
-				in the queue appropriate to its new priority. */
-				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
+				in the list appropriate to its new priority. */
+				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
 				{
 					/* The task is currently in its ready list - remove before adding
 					it to it's new ready list.  As we are in a critical section we
 					can do this even if the scheduler is suspended. */
-					vListRemove( &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+					{
+						/* It is known that the task is in its ready list so
+						there is no need to check again and the port level
+						reset macro can be called directly. */
+						portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
+					}
+					prvAddTaskToReadyList( pxTCB );
 				}
 
 				if( xYieldRequired == pdTRUE )
 				{
-					portYIELD_WITHIN_API();
+					taskYIELD_IF_USING_PREEMPTION();
 				}
+
+				/* Remove compiler warning about unused variables when the port
+				optimised task selection is not being used. */
+				( void ) uxPriorityUsedOnEntry;
 			}
 		}
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 	}
 
-#endif
+#endif /* INCLUDE_vTaskPrioritySet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
+	void vTaskSuspend( xTaskHandle xTaskToSuspend )
 	{
 	tskTCB *pxTCB;
 
-		portENTER_CRITICAL();
+		taskENTER_CRITICAL();
 		{
-			/* Ensure a yield is performed if the current task is being
-			suspended. */
-			if( pxTaskToSuspend == pxCurrentTCB )
-			{
-				pxTaskToSuspend = NULL;
-			}
-
-			/* If null is passed in here then we are suspending ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
+			/* If null is passed in here then it is the running task that is
+			being suspended. */
+			pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
 
 			traceTASK_SUSPEND( pxTCB );
 
 			/* Remove task from the ready/delayed list and place in the	suspended list. */
-			vListRemove( &( pxTCB->xGenericListItem ) );
+			if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+			{
+				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+			}
 
 			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer )
+			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
 			{
-				vListRemove( &( pxTCB->xEventListItem ) );
+				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
+			vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
 		}
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 
-		/* We may have just suspended the current task. */
-		if( ( void * ) pxTaskToSuspend == NULL )
+		if( pxTCB == pxCurrentTCB )
 		{
-			portYIELD_WITHIN_API();
+			if( xSchedulerRunning != pdFALSE )
+			{
+				/* The current task has just been suspended. */
+				portYIELD_WITHIN_API();
+			}
+			else
+			{
+				/* The scheduler is not running, but the task that was pointed
+				to by pxCurrentTCB has just been suspended and pxCurrentTCB
+				must be adjusted to point to a different task. */
+				if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks )
+				{
+					/* No other tasks are ready, so set pxCurrentTCB back to
+					NULL so when the next task is created pxCurrentTCB will
+					be set to point to it no matter what its relative priority
+					is. */
+					pxCurrentTCB = NULL;
+				}
+				else
+				{
+					vTaskSwitchContext();
+				}
+			}
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
@@ -912,18 +1109,21 @@ tskTCB * pxNewTCB;
 	portBASE_TYPE xReturn = pdFALSE;
 	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
 
+		/* It does not make sense to check if the calling task is suspended. */
+		configASSERT( xTask );
+
 		/* Is the task we are attempting to resume actually in the
 		suspended list? */
 		if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
 		{
 			/* Has the task already been resumed from within an ISR? */
-			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
+			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
 			{
 				/* Is it in the suspended list because it is in the
 				Suspended state?  It is possible to be in the suspended
 				list because it is blocked on a task with no timeout
 				specified. */
-				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
+				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
 				{
 					xReturn = pdTRUE;
 				}
@@ -931,26 +1131,25 @@ tskTCB * pxNewTCB;
 		}
 
 		return xReturn;
-	}
+	} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskResume( xTaskHandle pxTaskToResume )
+	void vTaskResume( xTaskHandle xTaskToResume )
 	{
-	tskTCB *pxTCB;
+	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
 
-		/* Remove the task from whichever list it is currently in, and place
-		it in the ready list. */
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+		/* It does not make sense to resume the calling task. */
+		configASSERT( xTaskToResume );
 
 		/* The parameter cannot be NULL as it is impossible to resume the
 		currently executing task. */
 		if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
 		{
-			portENTER_CRITICAL();
+			taskENTER_CRITICAL();
 			{
 				if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
 				{
@@ -958,73 +1157,114 @@ tskTCB * pxNewTCB;
 
 					/* As we are in a critical section we can access the ready
 					lists even if the scheduler is suspended. */
-					vListRemove(  &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
 
 					/* We may have just resumed a higher priority task. */
 					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
 					{
-						/* This yield may not cause the task just resumed to run, but
-						will leave the lists in the correct state for the next yield. */
-						portYIELD_WITHIN_API();
+						/* This yield may not cause the task just resumed to run,
+						but will leave the lists in the correct state for the
+						next yield. */
+						taskYIELD_IF_USING_PREEMPTION();
 					}
 				}
 			}
-			portEXIT_CRITICAL();
+			taskEXIT_CRITICAL();
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
+	portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
 	{
 	portBASE_TYPE xYieldRequired = pdFALSE;
-	tskTCB *pxTCB;
-
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
+	unsigned portBASE_TYPE uxSavedInterruptStatus;
+
+		configASSERT( xTaskToResume );
+
+		/* RTOS ports that support interrupt nesting have the concept of a
+		maximum	system call (or maximum API call) interrupt priority.
+		Interrupts that are	above the maximum system call priority are keep
+		permanently enabled, even when the RTOS kernel is in a critical section,
+		but cannot make any calls to FreeRTOS API functions.  If configASSERT()
+		is defined in FreeRTOSConfig.h then
+		portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+		failure if a FreeRTOS API function is called from an interrupt that has
+		been assigned a priority above the configured maximum system call
+		priority.  Only FreeRTOS functions that end in FromISR can be called
+		from interrupts	that have been assigned a priority at or (logically)
+		below the maximum system call interrupt priority.  FreeRTOS maintains a
+		separate interrupt safe API to ensure interrupt entry is as fast and as
+		simple as possible.  More information (albeit Cortex-M specific) is
+		provided on the following link:
+		http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+		{
+			if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
+			{
+				traceTASK_RESUME_FROM_ISR( pxTCB );
 
-		if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
-		{
-			traceTASK_RESUME_FROM_ISR( pxTCB );
+				if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+				{
+					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+					{
+						xYieldRequired = pdTRUE;
+					}
 
-			if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
-			{
-				xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
-				vListRemove(  &( pxTCB->xGenericListItem ) );
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-			else
-			{
-				/* We cannot access the delayed or ready lists, so will hold this
-				task pending until the scheduler is resumed, at which point a
-				yield will be performed if necessary. */
-				vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+					( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
+				}
+				else
+				{
+					/* We cannot access the delayed or ready lists, so will hold this
+					task pending until the scheduler is resumed, at which point a
+					yield will be performed if necessary. */
+					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+				}
 			}
 		}
+		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
 
 		return xYieldRequired;
 	}
 
-#endif
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC SCHEDULER CONTROL documented in task.h
- *----------------------------------------------------------*/
-
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
+/*-----------------------------------------------------------*/
 
 void vTaskStartScheduler( void )
 {
 portBASE_TYPE xReturn;
 
 	/* Add the idle task at the lowest priority. */
-	xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), ( xTaskHandle * ) NULL );
+	#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+	{
+		/* Create the idle task, storing its handle in xIdleTaskHandle so it can
+		be returned by the xTaskGetIdleTaskHandle() function. */
+		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+	}
+	#else
+	{
+		/* Create the idle task without storing its handle. */
+		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );  /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
+	}
+	#endif /* INCLUDE_xTaskGetIdleTaskHandle */
+
+	#if ( configUSE_TIMERS == 1 )
+	{
+		if( xReturn == pdPASS )
+		{
+			xReturn = xTimerCreateTimerTask();
+		}
+	}
+	#endif /* configUSE_TIMERS */
 
 	if( xReturn == pdPASS )
 	{
@@ -1032,14 +1272,19 @@ portBASE_TYPE xReturn;
 		before or during the call to xPortStartScheduler().  The stacks of
 		the created tasks contain a status word with interrupts switched on
 		so interrupts will automatically get re-enabled when the first task
-		starts to run.
-
-		STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
-		DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+		starts to run. */
 		portDISABLE_INTERRUPTS();
 
+		#if ( configUSE_NEWLIB_REENTRANT == 1 )
+		{
+			/* Switch Newlib's _impure_ptr variable to point to the _reent
+			structure specific to the task that will run first. */
+			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+		}
+		#endif /* configUSE_NEWLIB_REENTRANT */
+
 		xSchedulerRunning = pdTRUE;
-		xTickCount = ( portTickType ) 0;
+		xTickCount = ( portTickType ) 0U;
 
 		/* If configGENERATE_RUN_TIME_STATS is defined then the following
 		macro must be defined to configure the timer/counter used to generate
@@ -1048,7 +1293,7 @@ portBASE_TYPE xReturn;
 
 		/* Setting up the timer tick is hardware specific and thus in the
 		portable interface. */
-		if( xPortStartScheduler() )
+		if( xPortStartScheduler() != pdFALSE )
 		{
 			/* Should not reach here as if the scheduler is running the
 			function will not return. */
@@ -1058,6 +1303,13 @@ portBASE_TYPE xReturn;
 			/* Should only reach here if a task calls xTaskEndScheduler(). */
 		}
 	}
+	else
+	{
+		/* This line will only be reached if the kernel could not be started,
+		because there was not enough FreeRTOS heap to create the idle task
+		or the timer task. */
+		configASSERT( xReturn );
+	}
 }
 /*-----------------------------------------------------------*/
 
@@ -1080,103 +1332,150 @@ void vTaskSuspendAll( void )
 }
 /*----------------------------------------------------------*/
 
-signed portBASE_TYPE xTaskResumeAll( void )
-{
-register tskTCB *pxTCB;
-signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+#if ( configUSE_TICKLESS_IDLE != 0 )
 
-	/* It is possible that an ISR caused a task to be removed from an event
-	list while the scheduler was suspended.  If this was the case then the
+	static portTickType prvGetExpectedIdleTime( void )
+	{
+	portTickType xReturn;
+
+		if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
+		{
+			xReturn = 0;
+		}
+		else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
+		{
+			/* There are other idle priority tasks in the ready state.  If
+			time slicing is used then the very next tick interrupt must be
+			processed. */
+			xReturn = 0;
+		}
+		else
+		{
+			xReturn = xNextTaskUnblockTime - xTickCount;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskResumeAll( void )
+{
+tskTCB *pxTCB;
+portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+	/* If uxSchedulerSuspended is zero then this function does not match a
+	previous call to vTaskSuspendAll(). */
+	configASSERT( uxSchedulerSuspended );
+
+	/* It is possible that an ISR caused a task to be removed from an event
+	list while the scheduler was suspended.  If this was the case then the
 	removed task will have been added to the xPendingReadyList.  Once the
 	scheduler has been resumed it is safe to move all the pending ready
 	tasks from this list into their appropriate ready list. */
-	portENTER_CRITICAL();
+	taskENTER_CRITICAL();
 	{
 		--uxSchedulerSuspended;
 
 		if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 		{
-			if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
+			if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
 			{
-				portBASE_TYPE xYieldRequired = pdFALSE;
-
 				/* Move any readied tasks from the pending list into the
 				appropriate ready list. */
-				while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) ) ) != NULL )
+				while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
 				{
-					vListRemove( &( pxTCB->xEventListItem ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
+					( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+					( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
 
 					/* If we have moved a task that has a priority higher than
 					the current task then we should yield. */
 					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
 					{
-						xYieldRequired = pdTRUE;
+						xYieldPending = pdTRUE;
 					}
 				}
 
 				/* If any ticks occurred while the scheduler was suspended then
 				they should be processed now.  This ensures the tick count does not
 				slip, and that any delayed tasks are resumed at the correct time. */
-				if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
+				if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
 				{
-					while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
+					while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
 					{
-						vTaskIncrementTick();
-						--uxMissedTicks;
+						if( xTaskIncrementTick() != pdFALSE )
+						{
+							xYieldPending = pdTRUE;
+						}
+						--uxPendedTicks;
 					}
+				}
 
-					/* As we have processed some ticks it is appropriate to yield
-					to ensure the highest priority task that is ready to run is
-					the task actually running. */
-					#if configUSE_PREEMPTION == 1
+				if( xYieldPending == pdTRUE )
+				{
+					#if( configUSE_PREEMPTION != 0 )
 					{
-						xYieldRequired = pdTRUE;
+						xAlreadyYielded = pdTRUE;
 					}
 					#endif
-				}
-
-				if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
-				{
-					xAlreadyYielded = pdTRUE;
-					xMissedYield = pdFALSE;
-					portYIELD_WITHIN_API();
+					taskYIELD_IF_USING_PREEMPTION();
 				}
 			}
 		}
 	}
-	portEXIT_CRITICAL();
+	taskEXIT_CRITICAL();
 
 	return xAlreadyYielded;
 }
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC TASK UTILITIES documented in task.h
- *----------------------------------------------------------*/
-
-
+/*-----------------------------------------------------------*/
 
 portTickType xTaskGetTickCount( void )
 {
 portTickType xTicks;
 
 	/* Critical section required if running on a 16 bit processor. */
-	portENTER_CRITICAL();
+	taskENTER_CRITICAL();
 	{
 		xTicks = xTickCount;
 	}
-	portEXIT_CRITICAL();
+	taskEXIT_CRITICAL();
 
 	return xTicks;
 }
 /*-----------------------------------------------------------*/
 
+portTickType xTaskGetTickCountFromISR( void )
+{
+portTickType xReturn;
+unsigned portBASE_TYPE uxSavedInterruptStatus;
+
+	/* RTOS ports that support interrupt nesting have the concept of a maximum
+	system call (or maximum API call) interrupt priority.  Interrupts that are
+	above the maximum system call priority are keep permanently enabled, even
+	when the RTOS kernel is in a critical section, but cannot make any calls to
+	FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
+	then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
+	failure if a FreeRTOS API function is called from an interrupt that has been
+	assigned a priority above the configured maximum system call priority.
+	Only FreeRTOS functions that end in FromISR can be called from interrupts
+	that have been assigned a priority at or (logically) below the maximum
+	system call	interrupt priority.  FreeRTOS maintains a separate interrupt
+	safe API to ensure interrupt entry is as fast and as simple as possible.
+	More information (albeit Cortex-M specific) is provided on the following
+	link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+	xReturn = xTickCount;
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 {
 	/* A critical section is not required because the variables are of type
@@ -1185,288 +1484,270 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 }
 /*-----------------------------------------------------------*/
 
-#if ( configUSE_TRACE_FACILITY == 1 )
+#if ( INCLUDE_pcTaskGetTaskName == 1 )
 
-	void vTaskList( signed char *pcWriteBuffer )
+	signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery )
 	{
-	unsigned portBASE_TYPE uxQueue;
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
-
-		vTaskSuspendAll();
-		{
-			/* Run through all the lists that could potentially contain a TCB and
-			report the task name, state and stack high water mark. */
-
-			pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
-			uxQueue = uxTopUsedPriority + 1;
-
-			do
-			{
-				uxQueue--;
-
-				if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
-				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-			if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
-			}
-
-			if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
-			}
-
-			#if( INCLUDE_vTaskDelete == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
-				}
-			}
-			#endif
+	tskTCB *pxTCB;
 
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
-				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
-				}
-			}
-			#endif
-		}
-		xTaskResumeAll();
+		/* If null is passed in here then the name of the calling task is being queried. */
+		pxTCB = prvGetTCBFromHandle( xTaskToQuery );
+		configASSERT( pxTCB );
+		return &( pxTCB->pcTaskName[ 0 ] );
 	}
 
-#endif
-/*----------------------------------------------------------*/
+#endif /* INCLUDE_pcTaskGetTaskName */
+/*-----------------------------------------------------------*/
 
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
+#if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
 	{
-	unsigned portBASE_TYPE uxQueue;
-	unsigned long ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
+	unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
 
 		vTaskSuspendAll();
 		{
-			/* Run through all the lists that could potentially contain a TCB,
-			generating a table of run timer percentages in the provided
-			buffer. */
-
-			pcWriteBuffer[ 0 ] = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
+			/* Is there a space in the array for each task in the system? */
+			if( uxArraySize >= uxCurrentNumberOfTasks )
+			{
+				/* Fill in an xTaskStatusType structure with information on each
+				task in the Ready state. */
+				do
+				{
+					uxQueue--;
+					uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
 
-			uxQueue = uxTopUsedPriority + 1;
+				} while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-			do
-			{
-				uxQueue--;
+				/* Fill in an xTaskStatusType structure with information on each
+				task in the Blocked state. */
+				uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
+				uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
 
-				if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) )
+				#if( INCLUDE_vTaskDelete == 1 )
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
+					/* Fill in an xTaskStatusType structure with information on
+					each task that has been deleted but not yet cleaned up. */
+					uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
 				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-			if( !listLIST_IS_EMPTY( pxDelayedTaskList ) )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
-			}
-
-			if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
-			}
+				#endif
 
-			#if ( INCLUDE_vTaskDelete == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) )
+				#if ( INCLUDE_vTaskSuspend == 1 )
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
+					/* Fill in an xTaskStatusType structure with information on
+					each task in the Suspended state. */
+					uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
 				}
-			}
-			#endif
+				#endif
 
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
+				#if ( configGENERATE_RUN_TIME_STATS == 1)
+				{
+					if( pulTotalRunTime != NULL )
+					{
+						#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+							portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
+						#else
+							*pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+						#endif
+					}
+				}
+				#else
 				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
+					if( pulTotalRunTime != NULL )
+					{
+						*pulTotalRunTime = 0;
+					}
 				}
+				#endif
 			}
-			#endif
 		}
-		xTaskResumeAll();
+		( void ) xTaskResumeAll();
+
+		return uxTask;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*----------------------------------------------------------*/
 
-#if ( configUSE_TRACE_FACILITY == 1 )
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
 
-	void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
+	xTaskHandle xTaskGetIdleTaskHandle( void )
 	{
-		portENTER_CRITICAL();
-		{
-			pcTraceBuffer = ( signed char * )pcBuffer;
-			pcTraceBufferStart = pcBuffer;
-			pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
-			xTracing = pdTRUE;
-		}
-		portEXIT_CRITICAL();
+		/* If xTaskGetIdleTaskHandle() is called before the scheduler has been
+		started, then xIdleTaskHandle will be NULL. */
+		configASSERT( ( xIdleTaskHandle != NULL ) );
+		return xIdleTaskHandle;
 	}
 
-#endif
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */
 /*----------------------------------------------------------*/
 
-#if ( configUSE_TRACE_FACILITY == 1 )
+/* This conditional compilation should use inequality to 0, not equality to 1.
+This is to ensure vTaskStepTick() is available when user defined low power mode
+implementations require configUSE_TICKLESS_IDLE to be set to a value other than
+1. */
+#if ( configUSE_TICKLESS_IDLE != 0 )
 
-	unsigned long ulTaskEndTrace( void )
+	void vTaskStepTick( portTickType xTicksToJump )
 	{
-	unsigned long ulBufferLength;
-
-		portENTER_CRITICAL();
-			xTracing = pdFALSE;
-		portEXIT_CRITICAL();
-
-		ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
-
-		return ulBufferLength;
+		/* Correct the tick count value after a period during which the tick
+		was suppressed.  Note this does *not* call the tick hook function for
+		each stepped tick. */
+		configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
+		xTickCount += xTicksToJump;
+		traceINCREASE_TICK_COUNT( xTicksToJump );
 	}
 
-#endif
-
-
-
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- * documented in task.h
- *----------------------------------------------------------*/
-
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
 
-void vTaskIncrementTick( void )
+portBASE_TYPE xTaskIncrementTick( void )
 {
+tskTCB * pxTCB;
+portTickType xItemValue;
+portBASE_TYPE xSwitchRequired = pdFALSE;
+
 	/* Called by the portable layer each time a tick interrupt occurs.
 	Increments the tick then checks to see if the new tick value will cause any
 	tasks to be unblocked. */
+	traceTASK_INCREMENT_TICK( xTickCount );
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
+		/* Increment the RTOS tick, switching the delayed and overflowed
+		delayed lists if it wraps to 0. */
 		++xTickCount;
-		if( xTickCount == ( portTickType ) 0 )
+
 		{
-			xList *pxTemp;
+			/* Minor optimisation.  The tick count cannot change in this
+			block. */
+			const portTickType xConstTickCount = xTickCount;
+
+			if( xConstTickCount == ( portTickType ) 0U )
+			{
+				taskSWITCH_DELAYED_LISTS();
+			}
+
+			/* See if this tick has made a timeout expire.  Tasks are stored in the
+			queue in the order of their wake time - meaning once one tasks has been
+			found whose block time has not expired there is no need not look any
+			further	down the list. */
+			if( xConstTickCount >= xNextTaskUnblockTime )
+			{
+				for( ;; )
+				{
+					if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+					{
+						/* The delayed list is empty.  Set xNextTaskUnblockTime to
+						the	maximum possible value so it is extremely unlikely that
+						the if( xTickCount >= xNextTaskUnblockTime ) test will pass
+						next time through. */
+						xNextTaskUnblockTime = portMAX_DELAY;
+						break;
+					}
+					else
+					{
+						/* The delayed list is not empty, get the value of the item
+						at the head of the delayed list.  This is the time at which
+						the task at the head of the delayed list must be removed
+						from the Blocked state. */
+						pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
+						xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
+
+						if( xConstTickCount < xItemValue )
+						{
+							/* It is not time to unblock this item yet, but the item
+							value is the time at which the task at the head of the
+							blocked list must be removed from the Blocked state -
+							so record the item value in xNextTaskUnblockTime. */
+							xNextTaskUnblockTime = xItemValue;
+							break;
+						}
+
+						/* It is time to remove the item from the Blocked state. */
+						( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
+
+						/* Is the task waiting on an event also?  If so remove it
+						from the event list. */
+						if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
+						{
+							( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+						}
+
+						/* Place the unblocked task into the appropriate ready
+						list. */
+						prvAddTaskToReadyList( pxTCB );
+
+						/* A task being unblocked cannot cause an immediate context
+						switch if preemption is turned off. */
+						#if (  configUSE_PREEMPTION == 1 )
+						{
+							/* Preemption is on, but a context switch should only
+							be performed if the unblocked task has a priority that
+							is equal to or higher than the currently executing
+							task. */
+							if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+							{
+								xSwitchRequired = pdTRUE;
+							}
+						}
+						#endif /* configUSE_PREEMPTION */
+					}
+				}
+			}
+		}
 
-			/* Tick count has overflowed so we need to swap the delay lists.
-			If there are any items in pxDelayedTaskList here then there is
-			an error! */
-			pxTemp = pxDelayedTaskList;
-			pxDelayedTaskList = pxOverflowDelayedTaskList;
-			pxOverflowDelayedTaskList = pxTemp;
-			xNumOfOverflows++;
+		/* Tasks of equal priority to the currently running task will share
+		processing time (time slice) if preemption is on, and the application
+		writer has not explicitly turned time slicing off. */
+		#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
+		{
+			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
+			{
+				xSwitchRequired = pdTRUE;
+			}
 		}
+		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
 
-		/* See if this tick has made a timeout expire. */
-		prvCheckDelayedTasks();
+		#if ( configUSE_TICK_HOOK == 1 )
+		{
+			/* Guard against the tick hook being called when the pended tick
+			count is being unwound (when the scheduler is being unlocked). */
+			if( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
+			{
+				vApplicationTickHook();
+			}
+		}
+		#endif /* configUSE_TICK_HOOK */
 	}
 	else
 	{
-		++uxMissedTicks;
+		++uxPendedTicks;
 
 		/* The tick hook gets called at regular intervals, even if the
 		scheduler is locked. */
 		#if ( configUSE_TICK_HOOK == 1 )
 		{
-			extern void vApplicationTickHook( void );
-
 			vApplicationTickHook();
 		}
 		#endif
 	}
 
-	#if ( configUSE_TICK_HOOK == 1 )
+	#if ( configUSE_PREEMPTION == 1 )
 	{
-		extern void vApplicationTickHook( void );
-
-		/* Guard against the tick hook being called when the missed tick
-		count is being unwound (when the scheduler is being unlocked. */
-		if( uxMissedTicks == 0 )
+		if( xYieldPending != pdFALSE )
 		{
-			vApplicationTickHook();
+			xSwitchRequired = pdTRUE;
 		}
 	}
-	#endif
+	#endif /* configUSE_PREEMPTION */
 
-	traceTASK_INCREMENT_TICK( xTickCount );
+	return xSwitchRequired;
 }
 /*-----------------------------------------------------------*/
 
-#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
-	void vTaskCleanUpResources( void )
-	{
-	unsigned short usQueue;
-	volatile tskTCB *pxTCB;
-
-		usQueue = ( unsigned short ) uxTopUsedPriority + ( unsigned short ) 1;
-
-		/* Remove any TCB's from the ready queues. */
-		do
-		{
-			usQueue--;
-
-			while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) )
-			{
-				listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) );
-				vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-				prvDeleteTCB( ( tskTCB * ) pxTCB );
-			}
-		}while( usQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-		/* Remove any TCB's from the delayed queue. */
-		while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-
-		/* Remove any TCB's from the overflow delayed queue. */
-		while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-
-		while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) )
-		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList );
-			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
-
-			prvDeleteTCB( ( tskTCB * ) pxTCB );
-		}
-	}
-
-#endif
-/*-----------------------------------------------------------*/
-
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
 
-	void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxTagValue )
+	void vTaskSetApplicationTaskTag( xTaskHandle xTask, pdTASK_HOOK_CODE pxHookFunction )
 	{
 	tskTCB *xTCB;
 
@@ -1482,12 +1763,12 @@ void vTaskIncrementTick( void )
 
 		/* Save the hook function in the TCB.  A critical section is required as
 		the value can be accessed from an interrupt. */
-		portENTER_CRITICAL();
-			xTCB->pxTaskTag = pxTagValue;
-		portEXIT_CRITICAL();
+		taskENTER_CRITICAL();
+			xTCB->pxTaskTag = pxHookFunction;
+		taskEXIT_CRITICAL();
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1509,14 +1790,14 @@ void vTaskIncrementTick( void )
 
 		/* Save the hook function in the TCB.  A critical section is required as
 		the value can be accessed from an interrupt. */
-		portENTER_CRITICAL();
+		taskENTER_CRITICAL();
 			xReturn = xTCB->pxTaskTag;
-		portEXIT_CRITICAL();
+		taskEXIT_CRITICAL();
 
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1548,7 +1829,7 @@ void vTaskIncrementTick( void )
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 void vTaskSwitchContext( void )
@@ -1557,61 +1838,77 @@ void vTaskSwitchContext( void )
 	{
 		/* The scheduler is currently suspended - do not allow a context
 		switch. */
-		xMissedYield = pdTRUE;
-		return;
+		xYieldPending = pdTRUE;
 	}
-
-	traceTASK_SWITCHED_OUT();
-
-	#if ( configGENERATE_RUN_TIME_STATS == 1 )
+	else
 	{
-		unsigned long ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+		xYieldPending = pdFALSE;
+		traceTASK_SWITCHED_OUT();
 
-			/* Add the amount of time the task has been running to the accumulated
-			time so far.  The time the task started running was stored in
-			ulTaskSwitchedInTime.  Note that there is no overflow protection here
-			so count values are only valid until the timer overflows.  Generally
-			this will be about 1 hour assuming a 1uS timer increment. */
-			pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
-			ulTaskSwitchedInTime = ulTempCounter;
-	}
-	#endif
+		#if ( configGENERATE_RUN_TIME_STATS == 1 )
+		{
+				#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
+				#else
+					ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+				#endif
 
-	taskFIRST_CHECK_FOR_STACK_OVERFLOW();
-	taskSECOND_CHECK_FOR_STACK_OVERFLOW();
+				/* Add the amount of time the task has been running to the
+				accumulated	time so far.  The time the task started running was
+				stored in ulTaskSwitchedInTime.  Note that there is no overflow
+				protection here	so count values are only valid until the timer
+				overflows.  The guard against negative values is to protect
+				against suspect run time stat counter implementations - which
+				are provided by the application, not the kernel. */
+				if( ulTotalRunTime > ulTaskSwitchedInTime )
+				{
+					pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+				}
+				ulTaskSwitchedInTime = ulTotalRunTime;
+		}
+		#endif /* configGENERATE_RUN_TIME_STATS */
 
-	/* Find the highest priority queue that contains ready tasks. */
-	while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
-	{
-		--uxTopReadyPriority;
-	}
+		taskFIRST_CHECK_FOR_STACK_OVERFLOW();
+		taskSECOND_CHECK_FOR_STACK_OVERFLOW();
 
-	/* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the
-	same priority get an equal share of the processor time. */
-	listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) );
+		taskSELECT_HIGHEST_PRIORITY_TASK();
 
-	traceTASK_SWITCHED_IN();
-	vWriteTraceToBuffer();
+		traceTASK_SWITCHED_IN();
+
+		#if ( configUSE_NEWLIB_REENTRANT == 1 )
+		{
+			/* Switch Newlib's _impure_ptr variable to point to the _reent
+			structure specific to this task. */
+			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+		}
+		#endif /* configUSE_NEWLIB_REENTRANT */
+	}
 }
 /*-----------------------------------------------------------*/
 
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
+void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
 {
 portTickType xTimeToWake;
 
+	configASSERT( pxEventList );
+
 	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
 	SCHEDULER SUSPENDED. */
 
 	/* Place the event list item of the TCB in the appropriate event list.
 	This is placed in the list in priority order so the highest priority task
 	is the first to be woken by the event. */
-	vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
+	vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
 	/* 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.  We have
 	exclusive access to the ready lists as the scheduler is locked. */
-	vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-
+	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+	{
+		/* The current task must be in a ready list, so there is no need to
+		check, and the port reset macro can be called directly. */
+		portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+	}
 
 	#if ( INCLUDE_vTaskSuspend == 1 )
 	{
@@ -1620,49 +1917,66 @@ portTickType xTimeToWake;
 			/* Add ourselves to the suspended task list instead of a delayed task
 			list to ensure we are not woken by a timing event.  We will block
 			indefinitely. */
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+			vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
 		}
 		else
 		{
 			/* Calculate the time at which the task should be woken if the event does
 			not occur.  This may overflow but this doesn't matter. */
 			xTimeToWake = xTickCount + xTicksToWait;
-
-			listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
-
-			if( xTimeToWake < xTickCount )
-			{
-				/* Wake time has overflowed.  Place this item in the overflow list. */
-				vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-			else
-			{
-				/* The wake time has not overflowed, so we can use the current block list. */
-				vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
+			prvAddCurrentTaskToDelayedList( xTimeToWake );
 		}
 	}
-	#else
+	#else /* INCLUDE_vTaskSuspend */
 	{
 			/* Calculate the time at which the task should be woken if the event does
 			not occur.  This may overflow but this doesn't matter. */
 			xTimeToWake = xTickCount + xTicksToWait;
+			prvAddCurrentTaskToDelayedList( xTimeToWake );
+	}
+	#endif /* INCLUDE_vTaskSuspend */
+}
+/*-----------------------------------------------------------*/
 
-			listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+#if configUSE_TIMERS == 1
 
-			if( xTimeToWake < xTickCount )
-			{
-				/* Wake time has overflowed.  Place this item in the overflow list. */
-				vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
-			else
-			{
-				/* The wake time has not overflowed, so we can use the current block list. */
-				vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
-			}
+	void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
+	{
+	portTickType xTimeToWake;
+
+		configASSERT( pxEventList );
+
+		/* This function should not be called by application code hence the
+		'Restricted' in its name.  It is not part of the public API.  It is
+		designed for use by kernel code, and has special calling requirements -
+		it should be called from a critical section. */
+
+
+		/* Place the event list item of the TCB in the appropriate event list.
+		In this case it is assume that this is the only task that is going to
+		be waiting on this event list, so the faster vListInsertEnd() function
+		can be used in place of vListInsert. */
+		vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
+
+		/* We must remove this task from the ready list before adding it to the
+		blocked list as the same list item is used for both lists.  This
+		function is called form a critical section. */
+		if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* The current task must be in a ready list, so there is no need to
+			check, and the port reset macro can be called directly. */
+			portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority );
+		}
+
+		/* Calculate the time at which the task should be woken if the event does
+		not occur.  This may overflow but this doesn't matter. */
+		xTimeToWake = xTickCount + xTicksToWait;
+
+		traceTASK_DELAY_UNTIL();
+		prvAddCurrentTaskToDelayedList( xTimeToWake );
 	}
-	#endif
-}
+
+#endif /* configUSE_TIMERS */
 /*-----------------------------------------------------------*/
 
 signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
@@ -1679,20 +1993,24 @@ portBASE_TYPE xReturn;
 
 	If an event is for a queue that is locked then this function will never
 	get called - the lock count on the queue will get modified instead.  This
-	means we can always expect exclusive access to the event list here. */
+	means we can always expect exclusive access to the event list here.
+
+	This function assumes that a check has already been made to ensure that
+	pxEventList is not empty. */
 	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
-	vListRemove( &( pxUnblockedTCB->xEventListItem ) );
+	configASSERT( pxUnblockedTCB );
+	( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
 
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
-		vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
-		prvAddTaskToReadyQueue( pxUnblockedTCB );
+		( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
+		prvAddTaskToReadyList( pxUnblockedTCB );
 	}
 	else
 	{
 		/* We cannot access the delayed or ready lists, so will hold this
 		task pending until the scheduler is resumed. */
-		vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+		vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
 	}
 
 	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
@@ -1702,6 +2020,10 @@ portBASE_TYPE xReturn;
 		the calling task to know if it should force a context
 		switch now. */
 		xReturn = pdTRUE;
+
+		/* Mark that a yield is pending in case the user is not using the
+		"xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
+		xYieldPending = pdTRUE;
 	}
 	else
 	{
@@ -1714,6 +2036,7 @@ portBASE_TYPE xReturn;
 
 void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
 {
+	configASSERT( pxTimeOut );
 	pxTimeOut->xOverflowCount = xNumOfOverflows;
 	pxTimeOut->xTimeOnEntering = xTickCount;
 }
@@ -1723,8 +2046,14 @@ portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType
 {
 portBASE_TYPE xReturn;
 
-	portENTER_CRITICAL();
+	configASSERT( pxTimeOut );
+	configASSERT( pxTicksToWait );
+
+	taskENTER_CRITICAL();
 	{
+		/* Minor optimisation.  The tick count cannot change in this block. */
+		const portTickType xConstTickCount = xTickCount;
+
 		#if ( INCLUDE_vTaskSuspend == 1 )
 			/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
 			the maximum block time then the task should block indefinitely, and
@@ -1736,7 +2065,7 @@ portBASE_TYPE xReturn;
 			else /* We are not blocking indefinitely, perform the checks below. */
 		#endif
 
-		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
+		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
 		{
 			/* The tick count is greater than the time at which vTaskSetTimeout()
 			was called, but has also overflowed since vTaskSetTimeOut() was called.
@@ -1744,10 +2073,10 @@ portBASE_TYPE xReturn;
 			passed since vTaskSetTimeout() was called. */
 			xReturn = pdTRUE;
 		}
-		else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
+		else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
 		{
 			/* Not a genuine timeout. Adjust parameters for time remaining. */
-			*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
+			*pxTicksToWait -= ( xConstTickCount -  pxTimeOut->xTimeOnEntering );
 			vTaskSetTimeOutState( pxTimeOut );
 			xReturn = pdFALSE;
 		}
@@ -1756,7 +2085,7 @@ portBASE_TYPE xReturn;
 			xReturn = pdTRUE;
 		}
 	}
-	portEXIT_CRITICAL();
+	taskEXIT_CRITICAL();
 
 	return xReturn;
 }
@@ -1764,8 +2093,47 @@ portBASE_TYPE xReturn;
 
 void vTaskMissedYield( void )
 {
-	xMissedYield = pdTRUE;
+	xYieldPending = pdTRUE;
 }
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
+	{
+	unsigned portBASE_TYPE uxReturn;
+	tskTCB *pxTCB;
+
+		if( xTask != NULL )
+		{
+			pxTCB = ( tskTCB * ) xTask;
+			uxReturn = pxTCB->uxTaskNumber;
+		}
+		else
+		{
+			uxReturn = 0U;
+		}
+
+		return uxReturn;
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
+	{
+	tskTCB *pxTCB;
+
+		if( xTask != NULL )
+		{
+			pxTCB = ( tskTCB * ) xTask;
+			pxTCB->uxTaskNumber = uxHandle;
+		}
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
 
 /*
  * -----------------------------------------------------------
@@ -1796,7 +2164,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			will automatically get the processor anyway. */
 			taskYIELD();
 		}
-		#endif
+		#endif /* configUSE_PREEMPTION */
 
 		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
 		{
@@ -1814,7 +2182,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 				taskYIELD();
 			}
 		}
-		#endif
+		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
 
 		#if ( configUSE_IDLE_HOOK == 1 )
 		{
@@ -1827,38 +2195,115 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			CALL A FUNCTION THAT MIGHT BLOCK. */
 			vApplicationIdleHook();
 		}
-		#endif
-	}
-} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
-
+		#endif /* configUSE_IDLE_HOOK */
 
+		/* This conditional compilation should use inequality to 0, not equality
+		to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
+		user defined low power mode	implementations require
+		configUSE_TICKLESS_IDLE to be set to a value other than 1. */
+		#if ( configUSE_TICKLESS_IDLE != 0 )
+		{
+		portTickType xExpectedIdleTime;
 
+			/* It is not desirable to suspend then resume the scheduler on
+			each iteration of the idle task.  Therefore, a preliminary
+			test of the expected idle time is performed without the
+			scheduler suspended.  The result here is not necessarily
+			valid. */
+			xExpectedIdleTime = prvGetExpectedIdleTime();
 
+			if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+			{
+				vTaskSuspendAll();
+				{
+					/* Now the scheduler is suspended, the expected idle
+					time can be sampled again, and this time its value can
+					be used. */
+					configASSERT( xNextTaskUnblockTime >= xTickCount );
+					xExpectedIdleTime = prvGetExpectedIdleTime();
 
+					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
+					{
+						traceLOW_POWER_IDLE_BEGIN();
+						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+						traceLOW_POWER_IDLE_END();
+					}
+				}
+				( void ) xTaskResumeAll();
+			}
+		}
+		#endif /* configUSE_TICKLESS_IDLE */
+	}
+}
+/*-----------------------------------------------------------*/
 
+#if configUSE_TICKLESS_IDLE != 0
 
-/*-----------------------------------------------------------
- * File private functions documented at the top of the file.
- *----------------------------------------------------------*/
+	eSleepModeStatus eTaskConfirmSleepModeStatus( void )
+	{
+	eSleepModeStatus eReturn = eStandardSleep;
 
+		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+		{
+			/* A task was made ready while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else if( xYieldPending != pdFALSE )
+		{
+			/* A yield was pended while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else
+		{
+			#if configUSE_TIMERS == 0
+			{
+				/* The idle task exists in addition to the application tasks. */
+				const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
+
+				/* If timers are not being used and all the tasks are in the
+				suspended list (which might mean they have an infinite block
+				time rather than actually being suspended) then it is safe to
+				turn all clocks off and just wait for external interrupts. */
+				if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
+				{
+					eReturn = eNoTasksWaitingTimeout;
+				}
+			}
+			#endif /* configUSE_TIMERS */
+		}
 
+		return eReturn;
+	}
+#endif /* configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
 {
-	/* Store the function name in the TCB. */
-	#if configMAX_TASK_NAME_LEN > 1
+unsigned portBASE_TYPE x;
+
+	/* Store the task name in the TCB. */
+	for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
 	{
-		/* Don't bring strncpy into the build unnecessarily. */
-		strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
+		pxTCB->pcTaskName[ x ] = pcName[ x ];
+
+		/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
+		configMAX_TASK_NAME_LEN characters just in case the memory after the
+		string is not accessible (extremely unlikely). */
+		if( pcName[ x ] == 0x00 )
+		{
+			break;
+		}
 	}
-	#endif
-	pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = '\0';
+
+	/* Ensure the name string is terminated in the case that the string length
+	was greater or equal to configMAX_TASK_NAME_LEN. */
+	pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
 
 	/* This is used as an array index so must ensure it's not too large.  First
 	remove the privilege bit if one is present. */
-	if( uxPriority >= configMAX_PRIORITIES )
+	if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
 	{
-		uxPriority = configMAX_PRIORITIES - 1;
+		uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
 	}
 
 	pxTCB->uxPriority = uxPriority;
@@ -1866,7 +2311,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	{
 		pxTCB->uxBasePriority = uxPriority;
 	}
-	#endif
+	#endif /* configUSE_MUTEXES */
 
 	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
 	vListInitialiseItem( &( pxTCB->xEventListItem ) );
@@ -1876,37 +2321,44 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
 
 	/* Event lists are always in priority order. */
-	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
+	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 	listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
 
 	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
 	{
-		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
+		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
 	}
-	#endif
+	#endif /* portCRITICAL_NESTING_IN_TCB */
 
 	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
 	{
 		pxTCB->pxTaskTag = NULL;
 	}
-	#endif
+	#endif /* configUSE_APPLICATION_TASK_TAG */
 
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
 	{
 		pxTCB->ulRunTimeCounter = 0UL;
 	}
-	#endif
+	#endif /* configGENERATE_RUN_TIME_STATS */
 
 	#if ( portUSING_MPU_WRAPPERS == 1 )
 	{
 		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
 	}
-	#else
+	#else /* portUSING_MPU_WRAPPERS */
 	{
 		( void ) xRegions;
 		( void ) usStackDepth;
 	}
-	#endif
+	#endif /* portUSING_MPU_WRAPPERS */
+
+	#if ( configUSE_NEWLIB_REENTRANT == 1 )
+	{
+		/* Initialise this task's Newlib reent structure. */
+		_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
+	}
+	#endif /* configUSE_NEWLIB_REENTRANT */
 }
 /*-----------------------------------------------------------*/
 
@@ -1915,44 +2367,40 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	void vTaskAllocateMPURegions( xTaskHandle xTaskToModify, const xMemoryRegion * const xRegions )
 	{
 	tskTCB *pxTCB;
-	
-		if( xTaskToModify == pxCurrentTCB )
-		{
-			xTaskToModify = NULL;
-		}
 
 		/* If null is passed in here then we are deleting ourselves. */
 		pxTCB = prvGetTCBFromHandle( xTaskToModify );
 
         vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
 	}
-	/*-----------------------------------------------------------*/
-#endif
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTaskLists( void )
 {
 unsigned portBASE_TYPE uxPriority;
 
-	for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ )
+	for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
 	{
-		vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
+		vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
 	}
 
-	vListInitialise( ( xList * ) &xDelayedTaskList1 );
-	vListInitialise( ( xList * ) &xDelayedTaskList2 );
-	vListInitialise( ( xList * ) &xPendingReadyList );
+	vListInitialise( &xDelayedTaskList1 );
+	vListInitialise( &xDelayedTaskList2 );
+	vListInitialise( &xPendingReadyList );
 
 	#if ( INCLUDE_vTaskDelete == 1 )
 	{
-		vListInitialise( ( xList * ) &xTasksWaitingTermination );
+		vListInitialise( &xTasksWaitingTermination );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskDelete */
 
 	#if ( INCLUDE_vTaskSuspend == 1 )
 	{
-		vListInitialise( ( xList * ) &xSuspendedTaskList );
+		vListInitialise( &xSuspendedTaskList );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskSuspend */
 
 	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
 	using list2. */
@@ -1969,30 +2417,56 @@ static void prvCheckTasksWaitingTermination( void )
 
 		/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
 		too often in the idle task. */
-		if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
+		while( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0U )
 		{
 			vTaskSuspendAll();
 				xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
-			xTaskResumeAll();
+			( void ) xTaskResumeAll();
 
-			if( !xListIsEmpty )
+			if( xListIsEmpty == pdFALSE )
 			{
 				tskTCB *pxTCB;
 
-				portENTER_CRITICAL();
+				taskENTER_CRITICAL();
 				{
-					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
-					vListRemove( &( pxTCB->xGenericListItem ) );
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
+					( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
 					--uxCurrentNumberOfTasks;
 					--uxTasksDeleted;
 				}
-				portEXIT_CRITICAL();
+				taskEXIT_CRITICAL();
 
 				prvDeleteTCB( pxTCB );
 			}
 		}
 	}
-	#endif
+	#endif /* vTaskDelete */
+}
+/*-----------------------------------------------------------*/
+
+static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
+{
+	/* The list item will be inserted in wake time order. */
+	listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake );
+
+	if( xTimeToWake < xTickCount )
+	{
+		/* Wake time has overflowed.  Place this item in the overflow list. */
+		vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+	}
+	else
+	{
+		/* The wake time has not overflowed, so we can use the current block list. */
+		vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
+
+		/* If the task entering the blocked state was placed at the head of the
+		list of blocked tasks then xNextTaskUnblockTime needs to be updated
+		too. */
+		if( xTimeToWake < xNextTaskUnblockTime )
+		{
+			xNextTaskUnblockTime = xTimeToWake;
+		}
+	}
 }
 /*-----------------------------------------------------------*/
 
@@ -2009,7 +2483,7 @@ tskTCB *pxNewTCB;
 		/* Allocate space for the stack used by the task being created.
 		The base of the stack memory stored in the TCB so the task can
 		be deleted later if required. */
-		pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
+		pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 		if( pxNewTCB->pxStack == NULL )
 		{
@@ -2020,7 +2494,7 @@ tskTCB *pxNewTCB;
 		else
 		{
 			/* Just to help debugging. */
-			memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
+			( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
 		}
 	}
 
@@ -2030,90 +2504,75 @@ tskTCB *pxNewTCB;
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
+	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
 	{
 	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned short usStackRemaining;
+	unsigned portBASE_TYPE uxTask = 0;
 
-		/* Write the details of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
+		if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
 		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-			#if ( portSTACK_GROWTH > 0 )
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
-			}
-			#else
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
-			}
-			#endif			
-			
-			sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
-			strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
-
-		} while( pxNextTCB != pxFirstTCB );
-	}
+			listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
 
-#endif
-/*-----------------------------------------------------------*/
+			/* Populate an xTaskStatusType structure within the
+			pxTaskStatusArray array for each task that is referenced from
+			pxList.  See the definition of xTaskStatusType in task.h for the
+			meaning of each xTaskStatusType structure member. */
+			do
+			{
+				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
 
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
+				pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
+				pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
+				pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
+				pxTaskStatusArray[ uxTask ].eCurrentState = eState;
+				pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
 
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
-	{
-	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned long ulStatsAsPercentage;
-
-		/* Write the run time stats of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
-		{
-			/* Get next TCB in from the list. */
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
+				#if ( configUSE_MUTEXES == 1 )
+				{
+					pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
+				}
+				#else
+				{
+					pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
+				}
+				#endif
 
-			/* Divide by zero check. */
-			if( ulTotalRunTime > 0UL )
-			{
-				/* Has the task run at all? */
-				if( pxNextTCB->ulRunTimeCounter == 0 )
+				#if ( configGENERATE_RUN_TIME_STATS == 1 )
 				{
-					/* The task has used no CPU time at all. */
-					sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
+					pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
 				}
-				else
+				#else
 				{
-					/* What percentage of the total run time as the task used?
-					This will always be rounded down to the nearest integer. */
-					ulStatsAsPercentage = ( 100UL * pxNextTCB->ulRunTimeCounter ) / ulTotalRunTime;
+					pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
+				}
+				#endif
 
-					if( ulStatsAsPercentage > 0UL )
-					{
-						sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
-					}
-					else
-					{
-						/* If the percentage is zero here then the task has
-						consumed less than 1% of the total run time. */
-						sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
-					}
+				#if ( portSTACK_GROWTH > 0 )
+				{
+					pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
+				}
+				#else
+				{
+					pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
 				}
+				#endif
 
-				strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
-			}
+				uxTask++;
 
-		} while( pxNextTCB != pxFirstTCB );
+			} while( pxNextTCB != pxFirstTCB );
+		}
+
+		return uxTask;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
+	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
 	{
-	register unsigned short usCount = 0;
+	unsigned short usCount = 0U;
 
 		while( *pucStackByte == tskSTACK_FILL_BYTE )
 		{
@@ -2126,7 +2585,7 @@ tskTCB *pxNewTCB;
 		return usCount;
 	}
 
-#endif
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
@@ -2149,30 +2608,33 @@ tskTCB *pxNewTCB;
 		}
 		#endif
 
-		uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
+		uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
 
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
-#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+#if ( INCLUDE_vTaskDelete == 1 )
 
 	static void prvDeleteTCB( tskTCB *pxTCB )
 	{
+		/* This call is required specifically for the TriCore port.  It must be
+		above the vPortFree() calls.  The call is also used by ports/demos that
+		want to allocate and clean RAM statically. */
+		portCLEAN_UP_TCB( pxTCB );
+
 		/* Free up the memory allocated by the scheduler for the task.  It is up to
 		the task to free any memory allocated at the application level. */
 		vPortFreeAligned( pxTCB->pxStack );
 		vPortFree( pxTCB );
 	}
 
-#endif
-
-
+#endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 )
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
 
 	xTaskHandle xTaskGetCurrentTaskHandle( void )
 	{
@@ -2186,11 +2648,10 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
-
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_xTaskGetSchedulerState == 1 )
+#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
 
 	portBASE_TYPE xTaskGetSchedulerState( void )
 	{
@@ -2215,44 +2676,54 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
+	void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
 	{
 	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
 
-		if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
+		/* If the mutex was given back by an interrupt while the queue was
+		locked then the mutex holder might now be NULL. */
+		if( pxMutexHolder != NULL )
 		{
-			/* Adjust the mutex holder state to account for its new priority. */
-			listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
-
-			/* If the task being modified is in the ready state it will need to
-			be moved in to a new list. */
-			if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) )
+			if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
 			{
-				vListRemove( &( pxTCB->xGenericListItem ) );
+				/* Adjust the mutex holder state to account for its new priority. */
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-				/* Inherit the priority before being moved into the new list. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-				prvAddTaskToReadyQueue( pxTCB );
-			}
-			else
-			{
-				/* Just inherit the priority. */
-				pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+				/* If the task being modified is in the ready state it will need to
+				be moved into a new list. */
+				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
+				{
+					if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+					{
+						taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+					}
+
+					/* Inherit the priority before being moved into the new list. */
+					pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+					prvAddTaskToReadyList( pxTCB );
+				}
+				else
+				{
+					/* Just inherit the priority. */
+					pxTCB->uxPriority = pxCurrentTCB->uxPriority;
+				}
+
+				traceTASK_PRIORITY_INHERIT( pxTCB, pxCurrentTCB->uxPriority );
 			}
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
+	void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
 	{
 	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
 
@@ -2262,18 +2733,22 @@ tskTCB *pxNewTCB;
 			{
 				/* We must be the running task to be able to give the mutex back.
 				Remove ourselves from the ready list we currently appear in. */
-				vListRemove( &( pxTCB->xGenericListItem ) );
+				if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
+				{
+					taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+				}
 
-				/* Disinherit the priority before adding ourselves into the new
+				/* Disinherit the priority before adding the task into the new
 				ready list. */
+				traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
 				pxTCB->uxPriority = pxTCB->uxBasePriority;
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
-				prvAddTaskToReadyQueue( pxTCB );
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+				prvAddTaskToReadyList( pxTCB );
 			}
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
@@ -2284,34 +2759,220 @@ tskTCB *pxNewTCB;
 
 		if( xSchedulerRunning != pdFALSE )
 		{
-			pxCurrentTCB->uxCriticalNesting++;
+			( pxCurrentTCB->uxCriticalNesting )++;
 		}
 	}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
 
-void vTaskExitCritical( void )
-{
-	if( xSchedulerRunning != pdFALSE )
+	void vTaskExitCritical( void )
 	{
-		if( pxCurrentTCB->uxCriticalNesting > 0 )
+		if( xSchedulerRunning != pdFALSE )
 		{
-			pxCurrentTCB->uxCriticalNesting--;
-
-			if( pxCurrentTCB->uxCriticalNesting == 0 )
+			if( pxCurrentTCB->uxCriticalNesting > 0U )
 			{
-				portENABLE_INTERRUPTS();
+				( pxCurrentTCB->uxCriticalNesting )--;
+
+				if( pxCurrentTCB->uxCriticalNesting == 0U )
+				{
+					portENABLE_INTERRUPTS();
+				}
 			}
 		}
 	}
-}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
+
+	void vTaskList( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE uxArraySize, x;
+	char cStatus;
+
+		/*
+		 * PLEASE NOTE:
+		 *
+		 * This function is provided for convenience only, and is used by many
+		 * of the demo applications.  Do not consider it to be part of the
+		 * scheduler.
+		 *
+		 * vTaskList() calls uxTaskGetSystemState(), then formats part of the
+		 * uxTaskGetSystemState() output into a human readable table that
+		 * displays task names, states and stack usage.
+		 *
+		 * vTaskList() has a dependency on the sprintf() C library function that
+		 * might bloat the code size, use a lot of stack, and provide different
+		 * results on different platforms.  An alternative, tiny, third party,
+		 * and limited functionality implementation of sprintf() is provided in
+		 * many of the FreeRTOS/Demo sub-directories in a file called
+		 * printf-stdarg.c (note printf-stdarg.c does not provide a full
+		 * snprintf() implementation!).
+		 *
+		 * It is recommended that production systems call uxTaskGetSystemState()
+		 * directly to get access to raw stats data, rather than indirectly
+		 * through a call to vTaskList().
+		 */
+
+
+		/* Make sure the write buffer does not contain a string. */
+		*pcWriteBuffer = 0x00;
+
+		/* Take a snapshot of the number of tasks in case it changes while this
+		function is executing. */
+		uxArraySize = uxCurrentNumberOfTasks;
+
+		/* Allocate an array index for each task. */
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		if( pxTaskStatusArray != NULL )
+		{
+			/* Generate the (binary) data. */
+			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
+
+			/* Create a human readable table from the binary data. */
+			for( x = 0; x < uxArraySize; x++ )
+			{
+				switch( pxTaskStatusArray[ x ].eCurrentState )
+				{
+				case eReady:		cStatus = tskREADY_CHAR;
+									break;
+
+				case eBlocked:		cStatus = tskBLOCKED_CHAR;
+									break;
+
+				case eSuspended:	cStatus = tskSUSPENDED_CHAR;
+									break;
+
+				case eDeleted:		cStatus = tskDELETED_CHAR;
+									break;
+
+				default:			/* Should not get here, but it is included
+									to prevent static checking errors. */
+									cStatus = 0x00;
+									break;
+				}
+
+				sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
+				pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+			}
+
+			/* Free the array again. */
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*----------------------------------------------------------*/
+
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
+
+	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE uxArraySize, x;
+	unsigned long ulTotalTime, ulStatsAsPercentage;
+
+		/*
+		 * PLEASE NOTE:
+		 *
+		 * This function is provided for convenience only, and is used by many
+		 * of the demo applications.  Do not consider it to be part of the
+		 * scheduler.
+		 *
+		 * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
+		 * of the uxTaskGetSystemState() output into a human readable table that
+		 * displays the amount of time each task has spent in the Running state
+		 * in both absolute and percentage terms.
+		 *
+		 * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
+		 * function that might bloat the code size, use a lot of stack, and
+		 * provide different results on different platforms.  An alternative,
+		 * tiny, third party, and limited functionality implementation of
+		 * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
+		 * a file called printf-stdarg.c (note printf-stdarg.c does not provide
+		 * a full snprintf() implementation!).
+		 *
+		 * It is recommended that production systems call uxTaskGetSystemState()
+		 * directly to get access to raw stats data, rather than indirectly
+		 * through a call to vTaskGetRunTimeStats().
+		 */
+
+		/* Make sure the write buffer does not contain a string. */
+		*pcWriteBuffer = 0x00;
+
+		/* Take a snapshot of the number of tasks in case it changes while this
+		function is executing. */
+		uxArraySize = uxCurrentNumberOfTasks;
+
+		/* Allocate an array index for each task. */
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		if( pxTaskStatusArray != NULL )
+		{
+			/* Generate the (binary) data. */
+			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
+
+			/* For percentage calculations. */
+			ulTotalTime /= 100UL;
+
+			/* Avoid divide by zero errors. */
+			if( ulTotalTime > 0 )
+			{
+				/* Create a human readable table from the binary data. */
+				for( x = 0; x < uxArraySize; x++ )
+				{
+					/* What percentage of the total run time has the task used?
+					This will always be rounded down to the nearest integer.
+					ulTotalRunTimeDiv100 has already been divided by 100. */
+					ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
+
+					if( ulStatsAsPercentage > 0UL )
+					{
+						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+						{
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
+						}
+						#endif
+					}
+					else
+					{
+						/* If the percentage is zero here then the task has
+						consumed less than 1% of the total run time. */
+						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+						{
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
+						}
+						#endif
+					}
+
+					pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+				}
+			}
+
+			/* Free the array again. */
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+
+#endif /* configGENERATE_RUN_TIME_STATS */
 
 
 
diff --git a/Source/timers.c b/Source/timers.c
new file mode 100644
index 0000000..3fd10fe
--- /dev/null
+++ b/Source/timers.c
@@ -0,0 +1,707 @@
+/*
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
+
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
+     *                                                                       *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
+     *                                                                       *
+     *    Thank you!                                                         *
+     *                                                                       *
+    ***************************************************************************
+
+    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 from the following
+    link: http://www.freertos.org/a00114.html
+
+    1 tab == 4 spaces!
+
+    ***************************************************************************
+     *                                                                       *
+     *    Having a problem?  Start by reading the FAQ "My application does   *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
+    ***************************************************************************
+
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
+
+    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and 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!
+*/
+
+/* Standard includes. */
+#include 
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "timers.h"
+
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
+
+
+/* This entire source file will be skipped if the application is not configured
+to include software timer functionality.  This #if is closed at the very bottom
+of this file.  If you want to include software timer functionality then ensure
+configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
+#if ( configUSE_TIMERS == 1 )
+
+/* Misc definitions. */
+#define tmrNO_DELAY		( portTickType ) 0U
+
+/* The definition of the timers themselves. */
+typedef struct tmrTimerControl
+{
+	const signed char		*pcTimerName;		/*<< Text name.  This is not used by the kernel, it is included simply to make debugging easier. */
+	xListItem				xTimerListItem;		/*<< Standard linked list item as used by all kernel features for event management. */
+	portTickType			xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
+	unsigned portBASE_TYPE	uxAutoReload;		/*<< Set to pdTRUE if the timer should be automatically restarted once expired.  Set to pdFALSE if the timer is, in effect, a one shot timer. */
+	void 					*pvTimerID;			/*<< An ID to identify the timer.  This allows the timer to be identified when the same callback is used for multiple timers. */
+	tmrTIMER_CALLBACK		pxCallbackFunction;	/*<< The function that will be called when the timer expires. */
+} xTIMER;
+
+/* The definition of messages that can be sent and received on the timer
+queue. */
+typedef struct tmrTimerQueueMessage
+{
+	portBASE_TYPE			xMessageID;			/*<< The command being sent to the timer service task. */
+	portTickType			xMessageValue;		/*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
+	xTIMER *				pxTimer;			/*<< The timer to which the command will be applied. */
+} xTIMER_MESSAGE;
+
+/*lint -e956 A manual analysis and inspection has been used to determine which
+static variables must be declared volatile. */
+
+/* The list in which active timers are stored.  Timers are referenced in expire
+time order, with the nearest expiry time at the front of the list.  Only the
+timer service task is allowed to access xActiveTimerList. */
+PRIVILEGED_DATA static xList xActiveTimerList1;
+PRIVILEGED_DATA static xList xActiveTimerList2;
+PRIVILEGED_DATA static xList *pxCurrentTimerList;
+PRIVILEGED_DATA static xList *pxOverflowTimerList;
+
+/* A queue that is used to send commands to the timer service task. */
+PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;
+
+#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
+
+	PRIVILEGED_DATA static xTaskHandle xTimerTaskHandle = NULL;
+
+#endif
+
+/*lint +e956 */
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Initialise the infrastructure used by the timer service task if it has not
+ * been initialised already.
+ */
+static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * The timer service task (daemon).  Timer functionality is controlled by this
+ * task.  Other tasks communicate with the timer service task using the
+ * xTimerQueue queue.
+ */
+static void prvTimerTask( void *pvParameters ) PRIVILEGED_FUNCTION;
+
+/*
+ * Called by the timer service task to interpret and process a command it
+ * received on the timer queue.
+ */
+static void	prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
+ * depending on if the expire time causes a timer counter overflow.
+ */
+static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime ) PRIVILEGED_FUNCTION;
+
+/*
+ * An active timer has reached its expire time.  Reload the timer if it is an
+ * auto reload timer, then call its callback.
+ */
+static void prvProcessExpiredTimer( portTickType xNextExpireTime, portTickType xTimeNow ) PRIVILEGED_FUNCTION;
+
+/*
+ * The tick count has overflowed.  Switch the timer lists after ensuring the
+ * current timer list does not still reference some timers.
+ */
+static void prvSwitchTimerLists( portTickType xLastTime ) PRIVILEGED_FUNCTION;
+
+/*
+ * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
+ * if a tick count overflow occurred since prvSampleTimeNow() was last called.
+ */
+static portTickType prvSampleTimeNow( portBASE_TYPE *pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
+
+/*
+ * If the timer list contains any active timers then return the expire time of
+ * the timer that will expire first and set *pxListWasEmpty to false.  If the
+ * timer list does not contain any timers then return 0 and set *pxListWasEmpty
+ * to pdTRUE.
+ */
+static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty ) PRIVILEGED_FUNCTION;
+
+/*
+ * If a timer has expired, process it.  Otherwise, block the timer service task
+ * until either a timer does expire or a command is received.
+ */
+static void prvProcessTimerOrBlockTask( portTickType xNextExpireTime, portBASE_TYPE xListWasEmpty ) PRIVILEGED_FUNCTION;
+
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTimerCreateTimerTask( void )
+{
+portBASE_TYPE xReturn = pdFAIL;
+
+	/* This function is called when the scheduler is started if
+	configUSE_TIMERS is set to 1.  Check that the infrastructure used by the
+	timer service task has been created/initialised.  If timers have already
+	been created then the initialisation will already have been performed. */
+	prvCheckForValidListAndQueue();
+
+	if( xTimerQueue != NULL )
+	{
+		#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
+		{
+			/* Create the timer task, storing its handle in xTimerTaskHandle so
+			it can be returned by the xTimerGetTimerDaemonTaskHandle() function. */
+			xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, &xTimerTaskHandle );
+		}
+		#else
+		{
+			/* Create the timer task without storing its handle. */
+			xReturn = xTaskCreate( prvTimerTask, ( const signed char * ) "Tmr Svc", ( unsigned short ) configTIMER_TASK_STACK_DEPTH, NULL, ( ( unsigned portBASE_TYPE ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT, NULL);
+		}
+		#endif
+	}
+
+	configASSERT( xReturn );
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void *pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction )
+{
+xTIMER *pxNewTimer;
+
+	/* Allocate the timer structure. */
+	if( xTimerPeriodInTicks == ( portTickType ) 0U )
+	{
+		pxNewTimer = NULL;
+	}
+	else
+	{
+		pxNewTimer = ( xTIMER * ) pvPortMalloc( sizeof( xTIMER ) );
+		if( pxNewTimer != NULL )
+		{
+			/* Ensure the infrastructure used by the timer service task has been
+			created/initialised. */
+			prvCheckForValidListAndQueue();
+
+			/* Initialise the timer structure members using the function parameters. */
+			pxNewTimer->pcTimerName = pcTimerName;
+			pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
+			pxNewTimer->uxAutoReload = uxAutoReload;
+			pxNewTimer->pvTimerID = pvTimerID;
+			pxNewTimer->pxCallbackFunction = pxCallbackFunction;
+			vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
+
+			traceTIMER_CREATE( pxNewTimer );
+		}
+		else
+		{
+			traceTIMER_CREATE_FAILED();
+		}
+	}
+
+	/* 0 is not a valid value for xTimerPeriodInTicks. */
+	configASSERT( ( xTimerPeriodInTicks > 0 ) );
+
+	return ( xTimerHandle ) pxNewTimer;
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTimerGenericCommand( xTimerHandle xTimer, portBASE_TYPE xCommandID, portTickType xOptionalValue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portTickType xBlockTime )
+{
+portBASE_TYPE xReturn = pdFAIL;
+xTIMER_MESSAGE xMessage;
+
+	/* Send a message to the timer service task to perform a particular action
+	on a particular timer definition. */
+	if( xTimerQueue != NULL )
+	{
+		/* Send a command to the timer service task to start the xTimer timer. */
+		xMessage.xMessageID = xCommandID;
+		xMessage.xMessageValue = xOptionalValue;
+		xMessage.pxTimer = ( xTIMER * ) xTimer;
+
+		if( pxHigherPriorityTaskWoken == NULL )
+		{
+			if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
+			{
+				xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xBlockTime );
+			}
+			else
+			{
+				xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
+			}
+		}
+		else
+		{
+			xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
+		}
+
+		traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTimerGetTimerDaemonTaskHandle == 1 )
+
+	xTaskHandle xTimerGetTimerDaemonTaskHandle( void )
+	{
+		/* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
+		started, then xTimerTaskHandle will be NULL. */
+		configASSERT( ( xTimerTaskHandle != NULL ) );
+		return xTimerTaskHandle;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+static void prvProcessExpiredTimer( portTickType xNextExpireTime, portTickType xTimeNow )
+{
+xTIMER *pxTimer;
+portBASE_TYPE xResult;
+
+	/* Remove the timer from the list of active timers.  A check has already
+	been performed to ensure the list is not empty. */
+	pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
+	( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
+	traceTIMER_EXPIRED( pxTimer );
+
+	/* If the timer is an auto reload timer then calculate the next
+	expiry time and re-insert the timer in the list of active timers. */
+	if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
+	{
+		/* This is the only time a timer is inserted into a list using
+		a time relative to anything other than the current time.  It
+		will therefore be inserted into the correct list relative to
+		the time this task thinks it is now, even if a command to
+		switch lists due to a tick count overflow is already waiting in
+		the timer queue. */
+		if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) == pdTRUE )
+		{
+			/* The timer expired before it was added to the active timer
+			list.  Reload it now.  */
+			xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );
+			configASSERT( xResult );
+			( void ) xResult;
+		}
+	}
+
+	/* Call the timer callback. */
+	pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
+}
+/*-----------------------------------------------------------*/
+
+static void prvTimerTask( void *pvParameters )
+{
+portTickType xNextExpireTime;
+portBASE_TYPE xListWasEmpty;
+
+	/* Just to avoid compiler warnings. */
+	( void ) pvParameters;
+
+	for( ;; )
+	{
+		/* Query the timers list to see if it contains any timers, and if so,
+		obtain the time at which the next timer will expire. */
+		xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
+
+		/* If a timer has expired, process it.  Otherwise, block this task
+		until either a timer does expire, or a command is received. */
+		prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
+
+		/* Empty the command queue. */
+		prvProcessReceivedCommands();
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvProcessTimerOrBlockTask( portTickType xNextExpireTime, portBASE_TYPE xListWasEmpty )
+{
+portTickType xTimeNow;
+portBASE_TYPE xTimerListsWereSwitched;
+
+	vTaskSuspendAll();
+	{
+		/* Obtain the time now to make an assessment as to whether the timer
+		has expired or not.  If obtaining the time causes the lists to switch
+		then don't process this timer as any timers that remained in the list
+		when the lists were switched will have been processed within the
+		prvSampelTimeNow() function. */
+		xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
+		if( xTimerListsWereSwitched == pdFALSE )
+		{
+			/* The tick count has not overflowed, has the timer expired? */
+			if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
+			{
+				( void ) xTaskResumeAll();
+				prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
+			}
+			else
+			{
+				/* The tick count has not overflowed, and the next expire
+				time has not been reached yet.  This task should therefore
+				block to wait for the next expire time or a command to be
+				received - whichever comes first.  The following line cannot
+				be reached unless xNextExpireTime > xTimeNow, except in the
+				case when the current timer list is empty. */
+				vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ) );
+
+				if( xTaskResumeAll() == pdFALSE )
+				{
+					/* Yield to wait for either a command to arrive, or the block time
+					to expire.  If a command arrived between the critical section being
+					exited and this yield then the yield will not cause the task
+					to block. */
+					portYIELD_WITHIN_API();
+				}
+			}
+		}
+		else
+		{
+			( void ) xTaskResumeAll();
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+static portTickType prvGetNextExpireTime( portBASE_TYPE *pxListWasEmpty )
+{
+portTickType xNextExpireTime;
+
+	/* Timers are listed in expiry time order, with the head of the list
+	referencing the task that will expire first.  Obtain the time at which
+	the timer with the nearest expiry time will expire.  If there are no
+	active timers then just set the next expire time to 0.  That will cause
+	this task to unblock when the tick count overflows, at which point the
+	timer lists will be switched and the next expiry time can be
+	re-assessed.  */
+	*pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
+	if( *pxListWasEmpty == pdFALSE )
+	{
+		xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
+	}
+	else
+	{
+		/* Ensure the task unblocks when the tick count rolls over. */
+		xNextExpireTime = ( portTickType ) 0U;
+	}
+
+	return xNextExpireTime;
+}
+/*-----------------------------------------------------------*/
+
+static portTickType prvSampleTimeNow( portBASE_TYPE *pxTimerListsWereSwitched )
+{
+portTickType xTimeNow;
+PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U; /*lint !e956 Variable is only accessible to one task. */
+
+	xTimeNow = xTaskGetTickCount();
+
+	if( xTimeNow < xLastTime )
+	{
+		prvSwitchTimerLists( xLastTime );
+		*pxTimerListsWereSwitched = pdTRUE;
+	}
+	else
+	{
+		*pxTimerListsWereSwitched = pdFALSE;
+	}
+
+	xLastTime = xTimeNow;
+
+	return xTimeNow;
+}
+/*-----------------------------------------------------------*/
+
+static portBASE_TYPE prvInsertTimerInActiveList( xTIMER *pxTimer, portTickType xNextExpiryTime, portTickType xTimeNow, portTickType xCommandTime )
+{
+portBASE_TYPE xProcessTimerNow = pdFALSE;
+
+	listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
+	listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
+
+	if( xNextExpiryTime <= xTimeNow )
+	{
+		/* Has the expiry time elapsed between the command to start/reset a
+		timer was issued, and the time the command was processed? */
+		if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
+		{
+			/* The time between a command being issued and the command being
+			processed actually exceeds the timers period.  */
+			xProcessTimerNow = pdTRUE;
+		}
+		else
+		{
+			vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
+		}
+	}
+	else
+	{
+		if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
+		{
+			/* If, since the command was issued, the tick count has overflowed
+			but the expiry time has not, then the timer must have already passed
+			its expiry time and should be processed immediately. */
+			xProcessTimerNow = pdTRUE;
+		}
+		else
+		{
+			vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
+		}
+	}
+
+	return xProcessTimerNow;
+}
+/*-----------------------------------------------------------*/
+
+static void	prvProcessReceivedCommands( void )
+{
+xTIMER_MESSAGE xMessage;
+xTIMER *pxTimer;
+portBASE_TYPE xTimerListsWereSwitched, xResult;
+portTickType xTimeNow;
+
+	while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
+	{
+		pxTimer = xMessage.pxTimer;
+
+		if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
+		{
+			/* The timer is in a list, remove it. */
+			( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
+		}
+
+		traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );
+
+		/* In this case the xTimerListsWereSwitched parameter is not used, but 
+		it must be present in the function call.  prvSampleTimeNow() must be 
+		called after the message is received from xTimerQueue so there is no 
+		possibility of a higher priority task adding a message to the message
+		queue with a time that is ahead of the timer daemon task (because it
+		pre-empted the timer daemon task after the xTimeNow value was set). */
+		xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
+
+		switch( xMessage.xMessageID )
+		{
+			case tmrCOMMAND_START :
+				/* Start or restart a timer. */
+				if( prvInsertTimerInActiveList( pxTimer,  xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.xMessageValue ) == pdTRUE )
+				{
+					/* The timer expired before it was added to the active timer
+					list.  Process it now. */
+					pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
+
+					if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
+					{
+						xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xMessage.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
+						configASSERT( xResult );
+						( void ) xResult;
+					}
+				}
+				break;
+
+			case tmrCOMMAND_STOP :
+				/* The timer has already been removed from the active list.
+				There is nothing to do here. */
+				break;
+
+			case tmrCOMMAND_CHANGE_PERIOD :
+				pxTimer->xTimerPeriodInTicks = xMessage.xMessageValue;
+				configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
+
+				/* The new period does not really have a reference, and can be
+				longer or shorter than the old one.  The command time is 
+				therefore set to the current time, and as the period cannot be
+				zero the next expiry time can only be in the future, meaning
+				(unlike for the xTimerStart() case above) there is no fail case
+				that needs to be handled here. */
+				( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
+				break;
+
+			case tmrCOMMAND_DELETE :
+				/* The timer has already been removed from the active list,
+				just free up the memory. */
+				vPortFree( pxTimer );
+				break;
+
+			default	:
+				/* Don't expect to get here. */
+				break;
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+static void prvSwitchTimerLists( portTickType xLastTime )
+{
+portTickType xNextExpireTime, xReloadTime;
+xList *pxTemp;
+xTIMER *pxTimer;
+portBASE_TYPE xResult;
+
+	/* Remove compiler warnings if configASSERT() is not defined. */
+	( void ) xLastTime;
+
+	/* The tick count has overflowed.  The timer lists must be switched.
+	If there are any timers still referenced from the current timer list
+	then they must have expired and should be processed before the lists
+	are switched. */
+	while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
+	{
+		xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
+
+		/* Remove the timer from the list. */
+		pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
+		( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
+
+		/* Execute its callback, then send a command to restart the timer if
+		it is an auto-reload timer.  It cannot be restarted here as the lists
+		have not yet been switched. */
+		pxTimer->pxCallbackFunction( ( xTimerHandle ) pxTimer );
+
+		if( pxTimer->uxAutoReload == ( unsigned portBASE_TYPE ) pdTRUE )
+		{
+			/* Calculate the reload value, and if the reload value results in
+			the timer going into the same timer list then it has already expired
+			and the timer should be re-inserted into the current list so it is
+			processed again within this loop.  Otherwise a command should be sent
+			to restart the timer to ensure it is only inserted into a list after
+			the lists have been swapped. */
+			xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
+			if( xReloadTime > xNextExpireTime )
+			{
+				listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
+				listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
+				vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
+			}
+			else
+			{
+				xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START, xNextExpireTime, NULL, tmrNO_DELAY );
+				configASSERT( xResult );
+				( void ) xResult;
+			}
+		}
+	}
+
+	pxTemp = pxCurrentTimerList;
+	pxCurrentTimerList = pxOverflowTimerList;
+	pxOverflowTimerList = pxTemp;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckForValidListAndQueue( void )
+{
+	/* Check that the list from which active timers are referenced, and the
+	queue used to communicate with the timer service, have been
+	initialised. */
+	taskENTER_CRITICAL();
+	{
+		if( xTimerQueue == NULL )
+		{
+			vListInitialise( &xActiveTimerList1 );
+			vListInitialise( &xActiveTimerList2 );
+			pxCurrentTimerList = &xActiveTimerList1;
+			pxOverflowTimerList = &xActiveTimerList2;
+			xTimerQueue = xQueueCreate( ( unsigned portBASE_TYPE ) configTIMER_QUEUE_LENGTH, sizeof( xTIMER_MESSAGE ) );
+		}
+	}
+	taskEXIT_CRITICAL();
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer )
+{
+portBASE_TYPE xTimerIsInActiveList;
+xTIMER *pxTimer = ( xTIMER * ) xTimer;
+
+	/* Is the timer in the list of active timers? */
+	taskENTER_CRITICAL();
+	{
+		/* Checking to see if it is in the NULL list in effect checks to see if
+		it is referenced from either the current or the overflow timer lists in
+		one go, but the logic has to be reversed, hence the '!'. */
+		xTimerIsInActiveList = !( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) );
+	}
+	taskEXIT_CRITICAL();
+
+	return xTimerIsInActiveList;
+}
+/*-----------------------------------------------------------*/
+
+void *pvTimerGetTimerID( xTimerHandle xTimer )
+{
+xTIMER *pxTimer = ( xTIMER * ) xTimer;
+
+	return pxTimer->pvTimerID;
+}
+/*-----------------------------------------------------------*/
+
+/* This entire source file will be skipped if the application is not configured
+to include software timer functionality.  If you want to include software timer
+functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
+#endif /* configUSE_TIMERS == 1 */
+
+
+