Merge branch 'freertos'

1 files changed, 2522 insertions, 0 deletions

diff --git a/libraries/FreeRTOS/utility/tasks.c b/libraries/FreeRTOS/utility/tasks.c
new file mode 100755
index 0000000..d48dd4d
--- /dev/null
+++ b/libraries/FreeRTOS/utility/tasks.c
@@ -0,0 +1,2522 @@
+/*
+    FreeRTOS V7.0.1 - Copyright (C) 2011 Real Time Engineers Ltd.
+	
+
+	FreeRTOS supports many tools and architectures. V7.0.0 is sponsored by:
+	Atollic AB - Atollic provides professional embedded systems development 
+	tools for C/C++ development, code analysis and test automation.  
+	See http://www.atollic.com
+	
+
+    ***************************************************************************
+     *                                                                       *
+     *    FreeRTOS tutorial books are available in pdf and paperback.        *
+     *    Complete, revised, and edited pdf reference manuals are also       *
+     *    available.                                                         *
+     *                                                                       *
+     *    Purchasing FreeRTOS documentation will not only help you, by       *
+     *    ensuring you get running as quickly as possible and with an        *
+     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
+     *    the FreeRTOS project to continue with its mission of providing     *
+     *    professional grade, cross platform, de facto standard solutions    *
+     *    for microcontrollers - completely free of charge!                  *
+     *                                                                       *
+     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
+     *                                                                       *
+     *    Thank you for using FreeRTOS, and 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 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.  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.
+*/
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
+all the API functions to use the MPU wrappers.  That should only be done when
+task.h is included from an application file. */
+#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+#include "StackMacros.h"
+
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+
+/*
+ * Macro to define the amount of stack available to the idle task.
+ */
+#define tskIDLE_STACK_SIZE	configMINIMAL_STACK_SIZE
+
+/*
+ * Task control block.  A task control block (TCB) is allocated to each task,
+ * and stores the context of the task.
+ */
+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. */
+
+	#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. */
+	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. */
+	#endif
+
+	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+		unsigned portBASE_TYPE uxCriticalNesting;
+	#endif
+
+	#if ( configUSE_TRACE_FACILITY == 1 )
+		unsigned portBASE_TYPE	uxTCBNumber;	/*< This is used for tracing the scheduler and making debugging easier only. */
+	#endif
+
+	#if ( configUSE_MUTEXES == 1 )
+		unsigned portBASE_TYPE uxBasePriority;	/*< The priority last assigned to the task - used by the priority inheritance mechanism. */
+	#endif
+
+	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+		pdTASK_HOOK_CODE pxTaskTag;
+	#endif
+
+	#if ( configGENERATE_RUN_TIME_STATS == 1 )
+		unsigned long ulRunTimeCounter;		/*< Used for calculating how much CPU time each task is utilising. */
+	#endif
+
+} tskTCB;
+
+
+/*
+ * Some kernel aware debuggers require data to be viewed to be global, rather
+ * than file scope.
+ */
+#ifdef portREMOVE_STATIC_QUALIFIER
+	#define static
+#endif
+
+/*lint -e956 */
+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 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. */
+
+#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;
+
+#endif
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+	PRIVILEGED_DATA static xList xSuspendedTaskList;					/*< Tasks that are currently suspended. */
+
+#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;
+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 portBASE_TYPE xNumOfOverflows 					= ( portBASE_TYPE ) 0;
+PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0;
+PRIVILEGED_DATA static portTickType xNextTaskUnblockTime						= ( portTickType ) 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;
+
+#endif
+
+/* 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	( 0xa5U )
+
+/*
+ * Macros used by vListTask to indicate which state a task is in.
+ */
+#define tskBLOCKED_CHAR		( ( signed char ) 'B' )
+#define tskREADY_CHAR		( ( signed char ) 'R' )
+#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 = 255U;
+	PRIVILEGED_DATA static char pcStatusString[ 50 ];
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+/*
+ * 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 vWriteTraceToBuffer()																	\
+	{																								\
+		if( xTracing )																				\
+		{																							\
+			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;																\
+				}																					\
+			}																						\
+		}																							\
+	}
+
+#else
+
+	#define vWriteTraceToBuffer()
+
+#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 ) )
+/*-----------------------------------------------------------*/
+
+/*
+ * 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.
+ */
+#define prvCheckDelayedTasks()															\
+{																						\
+portTickType xItemValue;																\
+																						\
+	/* Is the tick count greater than or equal to the wake time of the first			\
+	task referenced from the delayed tasks list? */										\
+	if( xTickCount >= 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 should be removed from				\
+				the Blocked state. */													\
+				pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );	\
+				xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );	\
+																						\
+				if( xTickCount < 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 should 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. */				\
+				vListRemove( &( pxTCB->xGenericListItem ) );							\
+																						\
+				/* Is the task waiting on an event also? */								\
+				if( pxTCB->xEventListItem.pvContainer )									\
+				{																		\
+					vListRemove( &( pxTCB->xEventListItem ) );							\
+				}																		\
+				prvAddTaskToReadyQueue( pxTCB );										\
+			}																			\
+		}																				\
+	}																					\
+}
+/*-----------------------------------------------------------*/
+
+/*
+ * Several functions take an xTaskHandle parameter that can optionally be NULL,
+ * where NULL is used to indicate that the handle of the currently executing
+ * task should be used in place of the parameter.  This macro simply checks to
+ * see if the parameter is NULL and returns a pointer to the appropriate TCB.
+ */
+#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
+
+/* Callback function prototypes. --------------------------*/
+extern void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName );
+extern void vApplicationTickHook( void );
+		
+/* File private functions. --------------------------------*/
+
+/*
+ * Utility to ready a TCB for a given task.  Mainly just copies the parameters
+ * into the TCB structure.
+ */
+static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth ) PRIVILEGED_FUNCTION;
+
+/*
+ * Utility to ready all the lists used by the scheduler.  This is called
+ * automatically upon the creation of the first task.
+ */
+static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
+
+/*
+ * The idle task, which as all tasks is implemented as a never ending loop.
+ * The idle task is automatically created and added to the ready lists upon
+ * creation of the first user task.
+ *
+ * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
+ * language extensions.  The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
+
+/*
+ * Utility to free all memory allocated by the scheduler to hold a TCB,
+ * including the stack pointed to by the TCB.
+ *
+ * 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 ) )
+
+	static void prvDeleteTCB( tskTCB *pxTCB ) PRIVILEGED_FUNCTION;
+
+#endif
+
+/*
+ * Used only by the idle task.  This checks to see if anything has been placed
+ * in the list of tasks waiting to be deleted.  If so the task is cleaned up
+ * and its TCB deleted.
+ */
+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.
+ */
+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.
+ *
+ * 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;
+
+#endif
+
+/*
+ * When a task is created, the stack of the task is filled with a known value.
+ * This function determines the 'high water mark' of the task stack by
+ * determining how much of the stack remains at the original preset value.
+ */
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
+
+#endif
+
+
+/*lint +e956 */
+
+
+
+/*-----------------------------------------------------------
+ * TASK CREATION API documented in task.h
+ *----------------------------------------------------------*/
+
+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 < 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 );
+
+	if( pxNewTCB != NULL )
+	{
+		portSTACK_TYPE *pxTopOfStack;
+
+		#if( portUSING_MPU_WRAPPERS == 1 )
+			/* Should the task be created in privileged mode? */
+			portBASE_TYPE xRunPrivileged;
+			if( ( uxPriority & portPRIVILEGE_BIT ) != 0x00 )
+			{
+				xRunPrivileged = pdTRUE;
+			}
+			else
+			{
+				xRunPrivileged = pdFALSE;
+			}
+			uxPriority &= ~portPRIVILEGE_BIT;
+		#endif /* portUSING_MPU_WRAPPERS == 1 */
+
+		/* Calculate the top of stack address.  This depends on whether the
+		stack grows from high memory to low (as per the 80x86) or visa versa.
+		portSTACK_GROWTH is used to make the result positive or negative as
+		required by the port. */
+		#if( portSTACK_GROWTH < 0 )
+		{
+			pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
+			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( unsigned long ) pxTopOfStack ) & ( ( unsigned long ) ~portBYTE_ALIGNMENT_MASK  ) );
+
+			/* Check the alignment of the calculated top of stack is correct. */
+			configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+		}
+		#else
+		{
+			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
+
+		/* Setup the newly allocated TCB with the initial state of the task. */
+		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
+
+		/* Initialize the TCB stack to look as if the task was already running,
+		but had been interrupted by the scheduler.  The return address is set
+		to the start of the task function. Once the stack has been initialised
+		the	top of stack variable is updated. */
+		#if( portUSING_MPU_WRAPPERS == 1 )
+		{
+			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
+		}
+		#else
+		{
+			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
+		}
+		#endif
+
+		/* Check the alignment of the initialised stack. */
+		configASSERT( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+
+		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. */
+		taskENTER_CRITICAL();
+		{
+			uxCurrentNumberOfTasks++;
+			if( pxCurrentTCB == NULL )
+			{
+				/* There are no other tasks, or all the other tasks are in
+				the suspended state - make this the current task. */
+				pxCurrentTCB =  pxNewTCB;
+
+				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
+			{
+				/* If the scheduler is not already running, make this task the
+				current task if it is the highest priority task to be created
+				so far. */
+				if( xSchedulerRunning == pdFALSE )
+				{
+					if( pxCurrentTCB->uxPriority <= uxPriority )
+					{
+						pxCurrentTCB = 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;
+			}
+
+			#if ( configUSE_TRACE_FACILITY == 1 )
+			{
+				/* Add a counter into the TCB for tracing only. */
+				pxNewTCB->uxTCBNumber = uxTaskNumber;
+			}
+			#endif
+			uxTaskNumber++;
+
+			prvAddTaskToReadyQueue( pxNewTCB );
+
+			xReturn = pdPASS;
+			traceTASK_CREATE( pxNewTCB );
+		}
+		taskEXIT_CRITICAL();
+	}
+	else
+	{
+		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
+		traceTASK_CREATE_FAILED();
+	}
+
+	if( xReturn == pdPASS )
+	{
+		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();
+			}
+		}
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelete == 1 )
+
+	void vTaskDelete( xTaskHandle pxTaskToDelete )
+	{
+	tskTCB *pxTCB;
+
+		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 );
+
+			/* 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 ) );
+
+			/* Is the task waiting on an event also? */
+			if( pxTCB->xEventListItem.pvContainer )
+			{
+				vListRemove( &( pxTCB->xEventListItem ) );
+			}
+
+			vListInsertEnd( ( xList * ) &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
+			check the xTasksWaitingTermination list. */
+			++uxTasksDeleted;
+
+			/* Increment the uxTaskNumberVariable also so kernel aware debuggers
+			can detect that the task lists need re-generating. */
+			uxTaskNumber++;
+
+			traceTASK_DELETE( pxTCB );
+		}
+		taskEXIT_CRITICAL();
+
+		/* Force a reschedule if we have just deleted the current task. */
+		if( xSchedulerRunning != pdFALSE )
+		{
+			if( ( void * ) pxTaskToDelete == NULL )
+			{
+				portYIELD_WITHIN_API();
+			}
+		}
+	}
+
+#endif
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * TASK CONTROL API documented in task.h
+ *----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelayUntil == 1 )
+
+	void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement )
+	{
+	portTickType xTimeToWake;
+	portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE;
+
+		configASSERT( pxPreviousWakeTime );
+		configASSERT( ( xTimeIncrement > 0 ) );
+
+		vTaskSuspendAll();
+		{
+			/* Generate the tick time at which the task wants to wake. */
+			xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
+
+			if( xTickCount < *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 ) )
+				{
+					xShouldDelay = pdTRUE;
+				}
+			}
+			else
+			{
+				/* The tick time has not overflowed.  In this case we will
+				delay if either the wake time has overflowed, and/or the
+				tick time is less than the wake time. */
+				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) )
+				{
+					xShouldDelay = pdTRUE;
+				}
+			}
+
+			/* Update the wake time ready for the next call. */
+			*pxPreviousWakeTime = xTimeToWake;
+
+			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 ) );
+				prvAddCurrentTaskToDelayedList( xTimeToWake );
+			}
+		}
+		xAlreadyYielded = xTaskResumeAll();
+
+		/* Force a reschedule if xTaskResumeAll has not already done so, we may
+		have put ourselves to sleep. */
+		if( !xAlreadyYielded )
+		{
+			portYIELD_WITHIN_API();
+		}
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskDelay == 1 )
+
+	void vTaskDelay( portTickType xTicksToDelay )
+	{
+	portTickType xTimeToWake;
+	signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+
+		/* A delay time of zero just forces a reschedule. */
+		if( xTicksToDelay > ( portTickType ) 0 )
+		{
+			vTaskSuspendAll();
+			{
+				traceTASK_DELAY();
+
+				/* A task that is removed from the event list while the
+				scheduler is suspended will not get placed in the ready
+				list or removed from the blocked list until the scheduler
+				is resumed.
+
+				This task cannot be in an event list as it is the currently
+				executing task. */
+
+				/* Calculate the time to wake - this may overflow but this is
+				not a problem. */
+				xTimeToWake = xTickCount + xTicksToDelay;
+
+				/* We must remove ourselves from the ready list before adding
+				ourselves to the blocked list as the same list item is used for
+				both lists. */
+				vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+				prvAddCurrentTaskToDelayedList( xTimeToWake );
+			}
+			xAlreadyYielded = xTaskResumeAll();
+		}
+
+		/* Force a reschedule if xTaskResumeAll has not already done so, we may
+		have put ourselves to sleep. */
+		if( !xAlreadyYielded )
+		{
+			portYIELD_WITHIN_API();
+		}
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskPriorityGet == 1 )
+
+	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
+	{
+	tskTCB *pxTCB;
+	unsigned portBASE_TYPE uxReturn;
+
+		taskENTER_CRITICAL();
+		{
+			/* If null is passed in here then we are changing the
+			priority of the calling function. */
+			pxTCB = prvGetTCBFromHandle( pxTask );
+			uxReturn = pxTCB->uxPriority;
+		}
+		taskEXIT_CRITICAL();
+
+		return uxReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskPrioritySet == 1 )
+
+	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
+	{
+	tskTCB *pxTCB;
+	unsigned portBASE_TYPE uxCurrentPriority;
+	portBASE_TYPE xYieldRequired = pdFALSE;
+
+		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
+
+		/* Ensure the new priority is valid. */
+		if( uxNewPriority >= configMAX_PRIORITIES )
+		{
+			uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
+		}
+
+		taskENTER_CRITICAL();
+		{
+			if( pxTask == pxCurrentTCB )
+			{
+				pxTask = NULL;
+			}
+
+			/* If null is passed in here then we are changing the
+			priority of the calling function. */
+			pxTCB = prvGetTCBFromHandle( pxTask );
+
+			traceTASK_PRIORITY_SET( pxTask, uxNewPriority );
+
+			#if ( configUSE_MUTEXES == 1 )
+			{
+				uxCurrentPriority = pxTCB->uxBasePriority;
+			}
+			#else
+			{
+				uxCurrentPriority = pxTCB->uxPriority;
+			}
+			#endif
+
+			if( uxCurrentPriority != uxNewPriority )
+			{
+				/* The priority change may have readied a task of higher
+				priority than the calling task. */
+				if( uxNewPriority > uxCurrentPriority )
+				{
+					if( pxTask != NULL )
+					{
+						/* 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;
+					}
+				}
+				else if( pxTask == NULL )
+				{
+					/* Setting our own priority down means there may now be another
+					task of higher priority that is ready to execute. */
+					xYieldRequired = pdTRUE;
+				}
+
+
+
+				#if ( configUSE_MUTEXES == 1 )
+				{
+					/* Only change the priority being used if the task is not
+					currently using an inherited priority. */
+					if( pxTCB->uxBasePriority == pxTCB->uxPriority )
+					{
+						pxTCB->uxPriority = uxNewPriority;
+					}
+
+					/* The base priority gets set whatever. */
+					pxTCB->uxBasePriority = uxNewPriority;
+				}
+				#else
+				{
+					pxTCB->uxPriority = uxNewPriority;
+				}
+				#endif
+
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
+
+				/* 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 ) ) )
+				{
+					/* 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( xYieldRequired == pdTRUE )
+				{
+					portYIELD_WITHIN_API();
+				}
+			}
+		}
+		taskEXIT_CRITICAL();
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
+	{
+	tskTCB *pxTCB;
+
+		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 );
+
+			traceTASK_SUSPEND( pxTCB );
+
+			/* Remove task from the ready/delayed list and place in the	suspended list. */
+			vListRemove( &( pxTCB->xGenericListItem ) );
+
+			/* Is the task waiting on an event also? */
+			if( pxTCB->xEventListItem.pvContainer )
+			{
+				vListRemove( &( pxTCB->xEventListItem ) );
+			}
+
+			vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
+		}
+		taskEXIT_CRITICAL();
+
+		if( ( void * ) pxTaskToSuspend == NULL )
+		{
+			if( xSchedulerRunning != pdFALSE )
+			{
+				/* We have just suspended the current task. */
+				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
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+	signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask )
+	{
+	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 )
+			{
+				/* 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 )
+				{
+					xReturn = pdTRUE;
+				}
+			}
+		}
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_vTaskSuspend == 1 )
+
+	void vTaskResume( xTaskHandle pxTaskToResume )
+	{
+	tskTCB *pxTCB;
+
+		/* It does not make sense to resume the calling task. */
+		configASSERT( pxTaskToResume );
+
+		/* Remove the task from whichever list it is currently in, and place
+		it in the ready list. */
+		pxTCB = ( tskTCB * ) pxTaskToResume;
+
+		/* The parameter cannot be NULL as it is impossible to resume the
+		currently executing task. */
+		if( ( pxTCB != NULL ) && ( pxTCB != pxCurrentTCB ) )
+		{
+			taskENTER_CRITICAL();
+			{
+				if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
+				{
+					traceTASK_RESUME( pxTCB );
+
+					/* As we are in a critical section we can access the ready
+					lists even if the scheduler is suspended. */
+					vListRemove(  &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyQueue( 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();
+					}
+				}
+			}
+			taskEXIT_CRITICAL();
+		}
+	}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
+
+	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
+	{
+	portBASE_TYPE xYieldRequired = pdFALSE;
+	tskTCB *pxTCB;
+
+		configASSERT( pxTaskToResume );
+
+		pxTCB = ( tskTCB * ) pxTaskToResume;
+
+		if( xTaskIsTaskSuspended( pxTCB ) == pdTRUE )
+		{
+			traceTASK_RESUME_FROM_ISR( pxTCB );
+
+			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 ) );
+			}
+		}
+
+		return xYieldRequired;
+	}
+
+#endif
+
+
+
+
+/*-----------------------------------------------------------
+ * PUBLIC SCHEDULER CONTROL documented in task.h
+ *----------------------------------------------------------*/
+
+
+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 ( configUSE_TIMERS == 1 )
+	{
+		if( xReturn == pdPASS )
+		{
+			xReturn = xTimerCreateTimerTask();
+		}
+	}
+	#endif
+
+	if( xReturn == pdPASS )
+	{
+		/* Interrupts are turned off here, to ensure a tick does not occur
+		before or during the call to xPortStartScheduler().  The stacks of
+		the created tasks contain a status word with interrupts switched on
+		so interrupts will automatically get re-enabled when the first task
+		starts to run.
+
+		STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
+		DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+		portDISABLE_INTERRUPTS();
+
+		xSchedulerRunning = pdTRUE;
+		xTickCount = ( portTickType ) 0;
+
+		/* If configGENERATE_RUN_TIME_STATS is defined then the following
+		macro must be defined to configure the timer/counter used to generate
+		the run time counter time base. */
+		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
+		
+		/* Setting up the timer tick is hardware specific and thus in the
+		portable interface. */
+		if( xPortStartScheduler() )
+		{
+			/* Should not reach here as if the scheduler is running the
+			function will not return. */
+		}
+		else
+		{
+			/* Should only reach here if a task calls xTaskEndScheduler(). */
+		}
+	}
+
+	/* This line will only be reached if the kernel could not be started. */
+	configASSERT( xReturn );
+}
+/*-----------------------------------------------------------*/
+
+void vTaskEndScheduler( void )
+{
+	/* Stop the scheduler interrupts and call the portable scheduler end
+	routine so the original ISRs can be restored if necessary.  The port
+	layer must ensure interrupts enable	bit is left in the correct state. */
+	portDISABLE_INTERRUPTS();
+	xSchedulerRunning = pdFALSE;
+	vPortEndScheduler();
+}
+/*----------------------------------------------------------*/
+
+void vTaskSuspendAll( void )
+{
+	/* A critical section is not required as the variable is of type
+	portBASE_TYPE. */
+	++uxSchedulerSuspended;
+}
+/*----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskResumeAll( void )
+{
+register tskTCB *pxTCB;
+signed 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. */
+	taskENTER_CRITICAL();
+	{
+		--uxSchedulerSuspended;
+
+		if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+		{
+			if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 )
+			{
+				portBASE_TYPE xYieldRequired = pdFALSE;
+
+				/* Move any readied tasks from the pending list into the
+				appropriate ready list. */
+				while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
+				{
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) );
+					vListRemove( &( pxTCB->xEventListItem ) );
+					vListRemove( &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyQueue( 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;
+					}
+				}
+
+				/* 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 )
+				{
+					while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 )
+					{
+						vTaskIncrementTick();
+						--uxMissedTicks;
+					}
+
+					/* 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
+					{
+						xYieldRequired = pdTRUE;
+					}
+					#endif
+				}
+
+				if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
+				{
+					xAlreadyYielded = pdTRUE;
+					xMissedYield = pdFALSE;
+					portYIELD_WITHIN_API();
+				}
+			}
+		}
+	}
+	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. */
+	taskENTER_CRITICAL();
+	{
+		xTicks = xTickCount;
+	}
+	taskEXIT_CRITICAL();
+
+	return xTicks;
+}
+/*-----------------------------------------------------------*/
+
+portTickType xTaskGetTickCountFromISR( void )
+{
+portTickType xReturn;
+unsigned portBASE_TYPE uxSavedInterruptStatus;
+
+	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
+	portBASE_TYPE. */
+	return uxCurrentNumberOfTasks;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	void vTaskList( signed char *pcWriteBuffer )
+	{
+	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 = ( signed char ) 0x00;
+			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
+
+			uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
+
+			do
+			{
+				uxQueue--;
+
+				if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
+				{
+					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
+				}
+			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
+
+			if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
+			{
+				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
+			}
+
+			if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
+			{
+				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
+			}
+
+			#if( INCLUDE_vTaskDelete == 1 )
+			{
+				if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
+				{
+					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR );
+				}
+			}
+			#endif
+
+			#if ( INCLUDE_vTaskSuspend == 1 )
+			{
+				if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
+				{
+					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR );
+				}
+			}
+			#endif
+		}
+		xTaskResumeAll();
+	}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	{
+	unsigned portBASE_TYPE uxQueue;
+	unsigned long ulTotalRunTime;
+
+		/* This is a VERY costly function that should be used for debug only.
+		It leaves interrupts disabled for a LONG time. */
+
+		vTaskSuspendAll();
+		{
+			#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+				portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
+			#else
+				ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
+			#endif
+
+			/* Divide ulTotalRunTime by 100 to make the percentage caluclations
+			simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
+			ulTotalRunTime /= 100UL;
+			
+			/* Run through all the lists that could potentially contain a TCB,
+			generating a table of run timer percentages in the provided
+			buffer. */
+
+			*pcWriteBuffer = ( signed char ) 0x00;
+			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
+
+			uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
+
+			do
+			{
+				uxQueue--;
+
+				if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
+				{
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
+				}
+			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
+
+			if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
+			{
+				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
+			}
+
+			if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
+			{
+				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
+			}
+
+			#if ( INCLUDE_vTaskDelete == 1 )
+			{
+				if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
+				{
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, ulTotalRunTime );
+				}
+			}
+			#endif
+
+			#if ( INCLUDE_vTaskSuspend == 1 )
+			{
+				if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
+				{
+					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, ulTotalRunTime );
+				}
+			}
+			#endif
+		}
+		xTaskResumeAll();
+	}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	void vTaskStartTrace( signed char * pcBuffer, unsigned long ulBufferSize )
+	{
+		configASSERT( pcBuffer );
+		configASSERT( ulBufferSize );
+
+		taskENTER_CRITICAL();
+		{
+			pcTraceBuffer = ( signed char * )pcBuffer;
+			pcTraceBufferStart = pcBuffer;
+			pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE );
+			xTracing = pdTRUE;
+		}
+		taskEXIT_CRITICAL();
+	}
+
+#endif
+/*----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	unsigned long ulTaskEndTrace( void )
+	{
+	unsigned long ulBufferLength;
+
+		taskENTER_CRITICAL();
+			xTracing = pdFALSE;
+		taskEXIT_CRITICAL();
+
+		ulBufferLength = ( unsigned long ) ( pcTraceBuffer - pcTraceBufferStart );
+
+		return ulBufferLength;
+	}
+
+#endif
+
+
+
+/*-----------------------------------------------------------
+ * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
+ * documented in task.h
+ *----------------------------------------------------------*/
+
+
+void vTaskIncrementTick( void )
+{
+tskTCB * pxTCB;
+
+	/* 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. */
+	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+	{
+		++xTickCount;
+		if( xTickCount == ( portTickType ) 0 )
+		{
+			xList *pxTemp;
+
+			/* 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! */
+			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 ) );
+			}
+		}
+
+		/* See if this tick has made a timeout expire. */
+		prvCheckDelayedTasks();
+	}
+	else
+	{
+		++uxMissedTicks;
+
+		/* The tick hook gets called at regular intervals, even if the
+		scheduler is locked. */
+		#if ( configUSE_TICK_HOOK == 1 )
+		{
+			vApplicationTickHook();
+		}
+		#endif
+	}
+
+	#if ( configUSE_TICK_HOOK == 1 )
+	{
+		/* Guard against the tick hook being called when the missed tick
+		count is being unwound (when the scheduler is being unlocked. */
+		if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
+		{
+			vApplicationTickHook();
+		}
+	}
+	#endif
+
+	traceTASK_INCREMENT_TICK( xTickCount );
+}
+/*-----------------------------------------------------------*/
+
+#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 ] ) ) == pdFALSE )
+			{
+				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 ) == pdFALSE )
+		{
+			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 ) == pdFALSE )
+		{
+			listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 );
+			vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) );
+
+			prvDeleteTCB( ( tskTCB * ) pxTCB );
+		}
+
+		while( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
+		{
+			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 pxHookFunction )
+	{
+	tskTCB *xTCB;
+
+		/* If xTask is NULL then we are setting our own task hook. */
+		if( xTask == NULL )
+		{
+			xTCB = ( tskTCB * ) pxCurrentTCB;
+		}
+		else
+		{
+			xTCB = ( tskTCB * ) xTask;
+		}
+
+		/* Save the hook function in the TCB.  A critical section is required as
+		the value can be accessed from an interrupt. */
+		taskENTER_CRITICAL();
+			xTCB->pxTaskTag = pxHookFunction;
+		taskEXIT_CRITICAL();
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+	pdTASK_HOOK_CODE xTaskGetApplicationTaskTag( xTaskHandle xTask )
+	{
+	tskTCB *xTCB;
+	pdTASK_HOOK_CODE xReturn;
+
+		/* If xTask is NULL then we are setting our own task hook. */
+		if( xTask == NULL )
+		{
+			xTCB = ( tskTCB * ) pxCurrentTCB;
+		}
+		else
+		{
+			xTCB = ( tskTCB * ) xTask;
+		}
+
+		/* Save the hook function in the TCB.  A critical section is required as
+		the value can be accessed from an interrupt. */
+		taskENTER_CRITICAL();
+			xReturn = xTCB->pxTaskTag;
+		taskEXIT_CRITICAL();
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+
+	portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter )
+	{
+	tskTCB *xTCB;
+	portBASE_TYPE xReturn;
+
+		/* If xTask is NULL then we are calling our own task hook. */
+		if( xTask == NULL )
+		{
+			xTCB = ( tskTCB * ) pxCurrentTCB;
+		}
+		else
+		{
+			xTCB = ( tskTCB * ) xTask;
+		}
+
+		if( xTCB->pxTaskTag != NULL )
+		{
+			xReturn = xTCB->pxTaskTag( pvParameter );
+		}
+		else
+		{
+			xReturn = pdFAIL;
+		}
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+void vTaskSwitchContext( void )
+{
+	if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE )
+	{
+		/* The scheduler is currently suspended - do not allow a context
+		switch. */
+		xMissedYield = pdTRUE;
+	}
+	else
+	{
+		traceTASK_SWITCHED_OUT();
+	
+		#if ( configGENERATE_RUN_TIME_STATS == 1 )
+		{
+			unsigned long ulTempCounter;
+			
+				#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
+					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
+				#else
+					ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+				#endif
+	
+				/* Add the amount of time the task has been running to the accumulated
+				time so far.  The time the task started running was stored in
+				ulTaskSwitchedInTime.  Note that there is no overflow protection here
+				so count values are only valid until the timer overflows.  Generally
+				this will be about 1 hour assuming a 1uS timer increment. */
+				pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
+				ulTaskSwitchedInTime = ulTempCounter;
+		}
+		#endif
+	
+		taskFIRST_CHECK_FOR_STACK_OVERFLOW();
+		taskSECOND_CHECK_FOR_STACK_OVERFLOW();
+	
+		/* Find the highest priority queue that contains ready tasks. */
+		while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) )
+		{
+			configASSERT( uxTopReadyPriority );
+			--uxTopReadyPriority;
+		}
+	
+		/* 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 ] ) );
+	
+		traceTASK_SWITCHED_IN();
+		vWriteTraceToBuffer();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vTaskPlaceOnEventList( const 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 ) );
+
+	/* 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 ( INCLUDE_vTaskSuspend == 1 )
+	{
+		if( xTicksToWait == portMAX_DELAY )
+		{
+			/* 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 ) );
+		}
+		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;
+			prvAddCurrentTaskToDelayedList( xTimeToWake );
+		}
+	}
+	#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;
+			prvAddCurrentTaskToDelayedList( xTimeToWake );
+	}
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+#if configUSE_TIMERS == 1
+
+	void vTaskPlaceOnEventListRestricted( const 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( ( xList * ) pxEventList, ( xListItem * ) &( 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. */
+		vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+
+		/* 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 /* configUSE_TIMERS */
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList )
+{
+tskTCB *pxUnblockedTCB;
+portBASE_TYPE xReturn;
+
+	/* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE
+	SCHEDULER SUSPENDED.  It can also be called from within an ISR. */
+
+	/* The event list is sorted in priority order, so we can remove the
+	first in the list, remove the TCB from the delayed list, and add
+	it to the ready list.
+
+	If an event is for a queue that is locked then this function will never
+	get called - the lock count on the queue will get modified instead.  This
+	means 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 );
+	configASSERT( pxUnblockedTCB );
+	vListRemove( &( pxUnblockedTCB->xEventListItem ) );
+
+	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+	{
+		vListRemove( &( pxUnblockedTCB->xGenericListItem ) );
+		prvAddTaskToReadyQueue( 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 ) );
+	}
+
+	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
+	{
+		/* Return true if the task removed from the event list has
+		a higher priority than the calling task.  This allows
+		the calling task to know if it should force a context
+		switch now. */
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut )
+{
+	configASSERT( pxTimeOut );
+	pxTimeOut->xOverflowCount = xNumOfOverflows;
+	pxTimeOut->xTimeOnEntering = xTickCount;
+}
+/*-----------------------------------------------------------*/
+
+portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait )
+{
+portBASE_TYPE xReturn;
+
+	configASSERT( pxTimeOut );
+	configASSERT( pxTicksToWait );
+
+	taskENTER_CRITICAL();
+	{
+		#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
+			therefore never time out. */
+			if( *pxTicksToWait == portMAX_DELAY )
+			{
+				xReturn = pdFALSE;
+			}
+			else /* We are not blocking indefinitely, perform the checks below. */
+		#endif
+
+		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
+		{
+			/* The tick count is greater than the time at which vTaskSetTimeout()
+			was called, but has also overflowed since vTaskSetTimeOut() was called.
+			It must have wrapped all the way around and gone past us again. This
+			passed since vTaskSetTimeout() was called. */
+			xReturn = pdTRUE;
+		}
+		else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
+		{
+			/* Not a genuine timeout. Adjust parameters for time remaining. */
+			*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
+			vTaskSetTimeOutState( pxTimeOut );
+			xReturn = pdFALSE;
+		}
+		else
+		{
+			xReturn = pdTRUE;
+		}
+	}
+	taskEXIT_CRITICAL();
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+void vTaskMissedYield( void )
+{
+	xMissedYield = pdTRUE;
+}
+
+/*
+ * -----------------------------------------------------------
+ * The Idle task.
+ * ----------------------------------------------------------
+ *
+ * The portTASK_FUNCTION() macro is used to allow port/compiler specific
+ * language extensions.  The equivalent prototype for this function is:
+ *
+ * void prvIdleTask( void *pvParameters );
+ *
+ */
+static portTASK_FUNCTION( prvIdleTask, pvParameters )
+{
+	/* Stop warnings. */
+	( void ) pvParameters;
+
+	for( ;; )
+	{
+		/* See if any tasks have been deleted. */
+		prvCheckTasksWaitingTermination();
+
+		#if ( configUSE_PREEMPTION == 0 )
+		{
+			/* If we are not using preemption we keep forcing a task switch to
+			see if any other task has become available.  If we are using
+			preemption we don't need to do this as any task becoming available
+			will automatically get the processor anyway. */
+			taskYIELD();
+		}
+		#endif
+
+		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
+		{
+			/* When using preemption tasks of equal priority will be
+			timesliced.  If a task that is sharing the idle priority is ready
+			to run then the idle task should yield before the end of the
+			timeslice.
+
+			A critical region is not required here as we are just reading from
+			the list, and an occasional incorrect value will not matter.  If
+			the ready list at the idle priority contains more than one task
+			then a task other than the idle task is ready to execute. */
+			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 )
+			{
+				taskYIELD();
+			}
+		}
+		#endif
+
+		#if ( configUSE_IDLE_HOOK == 1 )
+		{
+			extern void vApplicationIdleHook( void );
+
+			/* Call the user defined function from within the idle task.  This
+			allows the application designer to add background functionality
+			without the overhead of a separate task.
+			NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
+			CALL A FUNCTION THAT MIGHT BLOCK. */
+			vApplicationIdleHook();
+		}
+		#endif
+	}
+} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+
+
+
+
+
+
+
+/*-----------------------------------------------------------
+ * File private functions documented at the top of the file.
+ *----------------------------------------------------------*/
+
+
+
+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
+	{
+		/* Don't bring strncpy into the build unnecessarily. */
+		strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
+	}
+	#endif
+	pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 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 )
+	{
+		uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
+	}
+
+	pxTCB->uxPriority = uxPriority;
+	#if ( configUSE_MUTEXES == 1 )
+	{
+		pxTCB->uxBasePriority = uxPriority;
+	}
+	#endif
+
+	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
+	vListInitialiseItem( &( pxTCB->xEventListItem ) );
+
+	/* Set the pxTCB as a link back from the xListItem.  This is so we can get
+	back to	the containing TCB from a generic item in a list. */
+	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_OWNER( &( pxTCB->xEventListItem ), pxTCB );
+
+	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+	{
+		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0;
+	}
+	#endif
+
+	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
+	{
+		pxTCB->pxTaskTag = NULL;
+	}
+	#endif
+
+	#if ( configGENERATE_RUN_TIME_STATS == 1 )
+	{
+		pxTCB->ulRunTimeCounter = 0UL;
+	}
+	#endif
+
+	#if ( portUSING_MPU_WRAPPERS == 1 )
+	{
+		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
+	}
+	#else
+	{
+		( void ) xRegions;
+		( void ) usStackDepth;
+	}
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+#if ( portUSING_MPU_WRAPPERS == 1 )
+
+	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
+
+static void prvInitialiseTaskLists( void )
+{
+unsigned portBASE_TYPE uxPriority;
+
+	for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
+	{
+		vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
+	}
+
+	vListInitialise( ( xList * ) &xDelayedTaskList1 );
+	vListInitialise( ( xList * ) &xDelayedTaskList2 );
+	vListInitialise( ( xList * ) &xPendingReadyList );
+
+	#if ( INCLUDE_vTaskDelete == 1 )
+	{
+		vListInitialise( ( xList * ) &xTasksWaitingTermination );
+	}
+	#endif
+
+	#if ( INCLUDE_vTaskSuspend == 1 )
+	{
+		vListInitialise( ( xList * ) &xSuspendedTaskList );
+	}
+	#endif
+
+	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
+	using list2. */
+	pxDelayedTaskList = &xDelayedTaskList1;
+	pxOverflowDelayedTaskList = &xDelayedTaskList2;
+}
+/*-----------------------------------------------------------*/
+
+static void prvCheckTasksWaitingTermination( void )
+{
+	#if ( INCLUDE_vTaskDelete == 1 )
+	{
+		portBASE_TYPE xListIsEmpty;
+
+		/* ucTasksDeleted is used to prevent vTaskSuspendAll() being called
+		too often in the idle task. */
+		if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 )
+		{
+			vTaskSuspendAll();
+				xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
+			xTaskResumeAll();
+
+			if( xListIsEmpty == pdFALSE )
+			{
+				tskTCB *pxTCB;
+
+				taskENTER_CRITICAL();
+				{
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
+					vListRemove( &( pxTCB->xGenericListItem ) );
+					--uxCurrentNumberOfTasks;
+					--uxTasksDeleted;
+				}
+				taskEXIT_CRITICAL();
+
+				prvDeleteTCB( pxTCB );
+			}
+		}
+	}
+	#endif
+}
+/*-----------------------------------------------------------*/
+
+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( ( 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 ) );
+
+		/* 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;
+		}
+	}
+}
+/*-----------------------------------------------------------*/
+
+static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer )
+{
+tskTCB *pxNewTCB;
+
+	/* Allocate space for the TCB.  Where the memory comes from depends on
+	the implementation of the port malloc function. */
+	pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) );
+
+	if( pxNewTCB != NULL )
+	{
+		/* Allocate space for the stack used by the task being created.
+		The base of the stack memory stored in the TCB so the task can
+		be deleted later if required. */
+		pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
+
+		if( pxNewTCB->pxStack == NULL )
+		{
+			/* Could not allocate the stack.  Delete the allocated TCB. */
+			vPortFree( pxNewTCB );
+			pxNewTCB = NULL;
+		}
+		else
+		{
+			/* Just to help debugging. */
+			memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) );
+		}
+	}
+
+	return pxNewTCB;
+}
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TRACE_FACILITY == 1 )
+
+	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
+	{
+	volatile tskTCB *pxNextTCB, *pxFirstTCB;
+	unsigned short usStackRemaining;
+
+		/* Write the details of all the TCB's in pxList into the buffer. */
+		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
+		do
+		{
+			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 );
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configGENERATE_RUN_TIME_STATS == 1 )
+
+	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 );
+
+			/* Divide by zero check. */
+			if( ulTotalRunTime > 0UL )
+			{
+				/* Has the task run at all? */
+				if( pxNextTCB->ulRunTimeCounter == 0 )
+				{
+					/* The task has used no CPU time at all. */
+					sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
+				}
+				else
+				{
+					/* What percentage of the total run time has the task used?
+					This will always be rounded down to the nearest integer.
+					ulTotalRunTime has already been divided by 100. */
+					ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
+
+					if( ulStatsAsPercentage > 0UL )
+					{
+						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+						{
+							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );							
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->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( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );							
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
+						}
+						#endif
+					}
+				}
+
+				strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
+			}
+
+		} while( pxNextTCB != pxFirstTCB );
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
+
+	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
+	{
+	register unsigned short usCount = 0;
+
+		while( *pucStackByte == tskSTACK_FILL_BYTE )
+		{
+			pucStackByte -= portSTACK_GROWTH;
+			usCount++;
+		}
+
+		usCount /= sizeof( portSTACK_TYPE );
+
+		return usCount;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
+
+	unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask )
+	{
+	tskTCB *pxTCB;
+	unsigned char *pcEndOfStack;
+	unsigned portBASE_TYPE uxReturn;
+
+		pxTCB = prvGetTCBFromHandle( xTask );
+
+		#if portSTACK_GROWTH < 0
+		{
+			pcEndOfStack = ( unsigned char * ) pxTCB->pxStack;
+		}
+		#else
+		{
+			pcEndOfStack = ( unsigned char * ) pxTCB->pxEndOfStack;
+		}
+		#endif
+
+		uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
+
+		return uxReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) )
+
+	static void prvDeleteTCB( tskTCB *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
+
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
+
+	xTaskHandle xTaskGetCurrentTaskHandle( void )
+	{
+	xTaskHandle xReturn;
+
+		/* A critical section is not required as this is not called from
+		an interrupt and the current TCB will always be the same for any
+		individual execution thread. */
+		xReturn = pxCurrentTCB;
+
+		return xReturn;
+	}
+
+#endif
+
+/*-----------------------------------------------------------*/
+
+#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
+
+	portBASE_TYPE xTaskGetSchedulerState( void )
+	{
+	portBASE_TYPE xReturn;
+
+		if( xSchedulerRunning == pdFALSE )
+		{
+			xReturn = taskSCHEDULER_NOT_STARTED;
+		}
+		else
+		{
+			if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
+			{
+				xReturn = taskSCHEDULER_RUNNING;
+			}
+			else
+			{
+				xReturn = taskSCHEDULER_SUSPENDED;
+			}
+		}
+
+		return xReturn;
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+	void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
+	{
+	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+		configASSERT( pxMutexHolder );
+
+		if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
+		{
+			/* 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 ) ) )
+			{
+				vListRemove( &( pxTCB->xGenericListItem ) );
+
+				/* 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;
+			}
+		}
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MUTEXES == 1 )
+
+	void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
+	{
+	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
+
+		if( pxMutexHolder != NULL )
+		{
+			if( pxTCB->uxPriority != pxTCB->uxBasePriority )
+			{
+				/* 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 ) );
+
+				/* Disinherit the priority before adding ourselves into the new
+				ready list. */
+				pxTCB->uxPriority = pxTCB->uxBasePriority;
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
+				prvAddTaskToReadyQueue( pxTCB );
+			}
+		}
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+	void vTaskEnterCritical( void )
+	{
+		portDISABLE_INTERRUPTS();
+
+		if( xSchedulerRunning != pdFALSE )
+		{
+			( pxCurrentTCB->uxCriticalNesting )++;
+		}
+	}
+
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( portCRITICAL_NESTING_IN_TCB == 1 )
+
+void vTaskExitCritical( void )
+{
+	if( xSchedulerRunning != pdFALSE )
+	{
+		if( pxCurrentTCB->uxCriticalNesting > 0 )
+		{
+			( pxCurrentTCB->uxCriticalNesting )--;
+
+			if( pxCurrentTCB->uxCriticalNesting == 0 )
+			{
+				portENABLE_INTERRUPTS();
+			}
+		}
+	}
+}
+
+#endif
+/*-----------------------------------------------------------*/
+
+
+
+