From ff56848a0eca09865ec92f1c72d55e39b3984392 Mon Sep 17 00:00:00 2001 From: Zim Kalinowski Date: Tue, 17 Aug 2021 16:10:45 +0800 Subject: [PATCH] revert dependency integrating changes from upstream --- .../freertos/include/freertos/FreeRTOS.h | 966 ++++++------- components/freertos/include/freertos/atomic.h | 301 ++-- .../freertos/include/freertos/croutine.h | 846 +++++------ .../include/freertos/deprecated_definitions.h | 163 +-- .../freertos/include/freertos/event_groups.h | 641 +++++---- components/freertos/include/freertos/list.h | 175 +-- .../include/freertos/message_buffer.h | 393 ++++-- .../freertos/include/freertos/mpu_wrappers.h | 271 ++-- .../freertos/include/freertos/portable.h | 124 +- .../freertos/include/freertos/projdefs.h | 135 +- components/freertos/include/freertos/queue.h | 969 ++++++++----- components/freertos/include/freertos/semphr.h | 852 ++++++----- .../freertos/include/freertos/stack_macros.h | 125 +- .../freertos/include/freertos/stream_buffer.h | 540 ++++--- components/freertos/include/freertos/task.h | 1243 ++++++++++------- components/freertos/include/freertos/timers.h | 590 ++++---- 16 files changed, 4832 insertions(+), 3502 deletions(-) diff --git a/components/freertos/include/freertos/FreeRTOS.h b/components/freertos/include/freertos/FreeRTOS.h index 2c9c5b13d0..0b0fce99dc 100644 --- a/components/freertos/include/freertos/FreeRTOS.h +++ b/components/freertos/include/freertos/FreeRTOS.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef INC_FREERTOS_H @@ -46,11 +45,14 @@ * contains the typedefs required to build FreeRTOS. Read the instructions * in FreeRTOS/source/stdint.readme for more information. */ -#include /* READ COMMENT ABOVE. */ +#include /* READ COMMENT ABOVE. */ +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ + /* for likely and unlikely */ #include "esp_compiler.h" @@ -65,13 +67,14 @@ extern "C" { /* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */ #ifndef configUSE_NEWLIB_REENTRANT - #define configUSE_NEWLIB_REENTRANT 0 + #define configUSE_NEWLIB_REENTRANT 0 #endif /* Required if struct _reent is used. */ #if ( configUSE_NEWLIB_REENTRANT == 1 ) - #include + #include #endif + /* * Check all the required application specific macros have been defined. * These macros are application specific and (as downloaded) are defined @@ -79,503 +82,513 @@ extern "C" { */ #ifndef configMINIMAL_STACK_SIZE - #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value. + #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value. #endif #ifndef configMAX_PRIORITIES - #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details. #endif #if configMAX_PRIORITIES < 1 - #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. + #error configMAX_PRIORITIES must be defined to be greater than or equal to 1. #endif #ifndef configUSE_PREEMPTION - #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_IDLE_HOOK - #error Missing definition: configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_TICK_HOOK - #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_16_BIT_TICKS - #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. + #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. #endif #ifndef configUSE_CO_ROUTINES - #define configUSE_CO_ROUTINES 0 + #define configUSE_CO_ROUTINES 0 #endif #ifndef INCLUDE_vTaskPrioritySet - #define INCLUDE_vTaskPrioritySet 0 + #define INCLUDE_vTaskPrioritySet 0 #endif #ifndef INCLUDE_uxTaskPriorityGet - #define INCLUDE_uxTaskPriorityGet 0 + #define INCLUDE_uxTaskPriorityGet 0 #endif #ifndef INCLUDE_vTaskDelete - #define INCLUDE_vTaskDelete 0 + #define INCLUDE_vTaskDelete 0 #endif #ifndef INCLUDE_vTaskSuspend - #define INCLUDE_vTaskSuspend 0 + #define INCLUDE_vTaskSuspend 0 #endif #ifndef INCLUDE_vTaskDelayUntil - #define INCLUDE_vTaskDelayUntil 0 + #define INCLUDE_vTaskDelayUntil 0 #endif #ifndef INCLUDE_vTaskDelay - #define INCLUDE_vTaskDelay 0 + #define INCLUDE_vTaskDelay 0 #endif #ifndef INCLUDE_xTaskGetIdleTaskHandle - #define INCLUDE_xTaskGetIdleTaskHandle 0 + #define INCLUDE_xTaskGetIdleTaskHandle 0 #endif #ifndef INCLUDE_xTaskAbortDelay - #define INCLUDE_xTaskAbortDelay 0 + #define INCLUDE_xTaskAbortDelay 0 #endif #ifndef INCLUDE_xQueueGetMutexHolder - #define INCLUDE_xQueueGetMutexHolder 0 + #define INCLUDE_xQueueGetMutexHolder 0 #endif #ifndef INCLUDE_xSemaphoreGetMutexHolder - #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder #endif #ifndef INCLUDE_xTaskGetHandle - #define INCLUDE_xTaskGetHandle 0 + #define INCLUDE_xTaskGetHandle 0 #endif #ifndef INCLUDE_uxTaskGetStackHighWaterMark - #define INCLUDE_uxTaskGetStackHighWaterMark 0 + #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif #ifndef INCLUDE_uxTaskGetStackHighWaterMark2 - #define INCLUDE_uxTaskGetStackHighWaterMark2 0 + #define INCLUDE_uxTaskGetStackHighWaterMark2 0 #endif #ifndef INCLUDE_eTaskGetState - #define INCLUDE_eTaskGetState 0 + #define INCLUDE_eTaskGetState 0 #endif #ifndef INCLUDE_xTaskResumeFromISR - #define INCLUDE_xTaskResumeFromISR 1 + #define INCLUDE_xTaskResumeFromISR 1 #endif #ifndef INCLUDE_xTimerPendFunctionCall - #define INCLUDE_xTimerPendFunctionCall 0 + #define INCLUDE_xTimerPendFunctionCall 0 #endif #ifndef INCLUDE_xTaskGetSchedulerState - #define INCLUDE_xTaskGetSchedulerState 0 + #define INCLUDE_xTaskGetSchedulerState 0 #endif #ifndef INCLUDE_xTaskGetCurrentTaskHandle - #define INCLUDE_xTaskGetCurrentTaskHandle 0 + #define INCLUDE_xTaskGetCurrentTaskHandle 0 #endif #if configUSE_CO_ROUTINES != 0 - #ifndef configMAX_CO_ROUTINE_PRIORITIES - #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. - #endif + #ifndef configMAX_CO_ROUTINE_PRIORITIES + #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1. + #endif #endif #ifndef configUSE_DAEMON_TASK_STARTUP_HOOK - #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + #define configUSE_DAEMON_TASK_STARTUP_HOOK 0 #endif #ifndef configUSE_APPLICATION_TASK_TAG - #define configUSE_APPLICATION_TASK_TAG 0 + #define configUSE_APPLICATION_TASK_TAG 0 #endif #ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS - #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 + #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0 #endif #ifndef configUSE_RECURSIVE_MUTEXES - #define configUSE_RECURSIVE_MUTEXES 0 + #define configUSE_RECURSIVE_MUTEXES 0 #endif #ifndef configUSE_MUTEXES - #define configUSE_MUTEXES 0 + #define configUSE_MUTEXES 0 #endif #ifndef configUSE_TIMERS - #define configUSE_TIMERS 0 + #define configUSE_TIMERS 0 #endif #ifndef configUSE_COUNTING_SEMAPHORES - #define configUSE_COUNTING_SEMAPHORES 0 + #define configUSE_COUNTING_SEMAPHORES 0 #endif #ifndef configUSE_ALTERNATIVE_API - #define configUSE_ALTERNATIVE_API 0 + #define configUSE_ALTERNATIVE_API 0 #endif #ifndef portCRITICAL_NESTING_IN_TCB - #define portCRITICAL_NESTING_IN_TCB 0 + #define portCRITICAL_NESTING_IN_TCB 0 #endif #ifndef configMAX_TASK_NAME_LEN - #define configMAX_TASK_NAME_LEN 16 + #define configMAX_TASK_NAME_LEN 16 #endif #ifndef configIDLE_SHOULD_YIELD - #define configIDLE_SHOULD_YIELD 1 + #define configIDLE_SHOULD_YIELD 1 #endif #if configMAX_TASK_NAME_LEN < 1 - #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h + #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h #endif #ifndef configASSERT - #define configASSERT( x ) - #define configASSERT_DEFINED 0 + #define configASSERT( x ) + #define configASSERT_DEFINED 0 #else - #define configASSERT_DEFINED 1 + #define configASSERT_DEFINED 1 #endif /* configPRECONDITION should be resolve to configASSERT. - The CBMC proofs need a way to track assumptions and assertions. - A configPRECONDITION statement should express an implicit invariant or assumption made. - A configASSERT statement should express an invariant that must hold explicit before calling - the code. */ + * The CBMC proofs need a way to track assumptions and assertions. + * A configPRECONDITION statement should express an implicit invariant or assumption made. + * A configASSERT statement should express an invariant that must hold explicit before calling + * the code. */ #ifndef configPRECONDITION - #define configPRECONDITION( X ) configASSERT(X) - #define configPRECONDITION_DEFINED 0 + #define configPRECONDITION( X ) configASSERT( X ) + #define configPRECONDITION_DEFINED 0 #else - #define configPRECONDITION_DEFINED 1 + #define configPRECONDITION_DEFINED 1 #endif #ifndef portMEMORY_BARRIER - #define portMEMORY_BARRIER() + #define portMEMORY_BARRIER() #endif /* The timers module relies on xTaskGetSchedulerState(). */ #if configUSE_TIMERS == 1 - #ifndef configTIMER_TASK_PRIORITY - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. - #endif /* configTIMER_TASK_PRIORITY */ + #ifndef configTIMER_TASK_PRIORITY + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined. + #endif /* configTIMER_TASK_PRIORITY */ - #ifndef configTIMER_QUEUE_LENGTH - #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. - #endif /* configTIMER_QUEUE_LENGTH */ + #ifndef configTIMER_QUEUE_LENGTH + #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined. + #endif /* configTIMER_QUEUE_LENGTH */ - #ifndef configTIMER_TASK_STACK_DEPTH - #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. - #endif /* configTIMER_TASK_STACK_DEPTH */ + #ifndef configTIMER_TASK_STACK_DEPTH + #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined. + #endif /* configTIMER_TASK_STACK_DEPTH */ #endif /* configUSE_TIMERS */ #ifndef portSET_INTERRUPT_MASK_FROM_ISR - #define portSET_INTERRUPT_MASK_FROM_ISR() 0 + #define portSET_INTERRUPT_MASK_FROM_ISR() 0 #endif #ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR - #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue + #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue #endif #ifndef portCLEAN_UP_TCB - #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB + #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB #endif #ifndef portPRE_TASK_DELETE_HOOK - #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) + #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending ) #endif #ifndef portSETUP_TCB - #define portSETUP_TCB( pxTCB ) ( void ) pxTCB + #define portSETUP_TCB( pxTCB ) ( void ) pxTCB #endif #ifndef configQUEUE_REGISTRY_SIZE - #define configQUEUE_REGISTRY_SIZE 0U + #define configQUEUE_REGISTRY_SIZE 0U #endif #if ( configQUEUE_REGISTRY_SIZE < 1 ) - #define vQueueAddToRegistry( xQueue, pcName ) - #define vQueueUnregisterQueue( xQueue ) - #define pcQueueGetName( xQueue ) + #define vQueueAddToRegistry( xQueue, pcName ) + #define vQueueUnregisterQueue( xQueue ) + #define pcQueueGetName( xQueue ) #endif #ifndef portPOINTER_SIZE_TYPE - #define portPOINTER_SIZE_TYPE uint32_t + #define portPOINTER_SIZE_TYPE uint32_t #endif /* Remove any unused trace macros. */ #ifndef traceSTART - /* Used to perform any necessary initialisation - for example, open a file - into which trace is to be written. */ - #define traceSTART() + +/* Used to perform any necessary initialisation - for example, open a file + * into which trace is to be written. */ + #define traceSTART() #endif #ifndef traceEND - /* Use to close a trace, for example close a file into which trace has been - written. */ - #define traceEND() + +/* Use to close a trace, for example close a file into which trace has been + * written. */ + #define traceEND() #endif #ifndef traceTASK_SWITCHED_IN - /* Called after a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the selected task. */ - #define traceTASK_SWITCHED_IN() + +/* Called after a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the selected task. */ + #define traceTASK_SWITCHED_IN() #endif #ifndef traceINCREASE_TICK_COUNT - /* Called before stepping the tick count after waking from tickless idle - sleep. */ - #define traceINCREASE_TICK_COUNT( x ) + +/* Called before stepping the tick count after waking from tickless idle + * sleep. */ + #define traceINCREASE_TICK_COUNT( x ) #endif #ifndef traceLOW_POWER_IDLE_BEGIN - /* Called immediately before entering tickless idle. */ - #define traceLOW_POWER_IDLE_BEGIN() + /* Called immediately before entering tickless idle. */ + #define traceLOW_POWER_IDLE_BEGIN() #endif -#ifndef traceLOW_POWER_IDLE_END - /* Called when returning to the Idle task after a tickless idle. */ - #define traceLOW_POWER_IDLE_END() +#ifndef traceLOW_POWER_IDLE_END + /* Called when returning to the Idle task after a tickless idle. */ + #define traceLOW_POWER_IDLE_END() #endif #ifndef traceTASK_SWITCHED_OUT - /* Called before a task has been selected to run. pxCurrentTCB holds a pointer - to the task control block of the task being switched out. */ - #define traceTASK_SWITCHED_OUT() + +/* Called before a task has been selected to run. pxCurrentTCB holds a pointer + * to the task control block of the task being switched out. */ + #define traceTASK_SWITCHED_OUT() #endif #ifndef traceTASK_PRIORITY_INHERIT - /* Called when a task attempts to take a mutex that is already held by a - lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task - that holds the mutex. uxInheritedPriority is the priority the mutex holder - will inherit (the priority of the task that is attempting to obtain the - muted. */ - #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) + +/* Called when a task attempts to take a mutex that is already held by a + * lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task + * that holds the mutex. uxInheritedPriority is the priority the mutex holder + * will inherit (the priority of the task that is attempting to obtain the + * muted. */ + #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority ) #endif #ifndef traceTASK_PRIORITY_DISINHERIT - /* Called when a task releases a mutex, the holding of which had resulted in - the task inheriting the priority of a higher priority task. - pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the - mutex. uxOriginalPriority is the task's configured (base) priority. */ - #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) + +/* Called when a task releases a mutex, the holding of which had resulted in + * the task inheriting the priority of a higher priority task. + * pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the + * mutex. uxOriginalPriority is the task's configured (base) priority. */ + #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority ) #endif #ifndef traceBLOCKING_ON_QUEUE_RECEIVE - /* Task is about to block because it cannot read from a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the - task that attempted the read. */ - #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue ) #endif #ifndef traceBLOCKING_ON_QUEUE_PEEK - /* Task is about to block because it cannot read from a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the read was attempted. pxCurrentTCB points to the TCB of the - task that attempted the read. */ - #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) + +/* Task is about to block because it cannot read from a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the read was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the read. */ + #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue ) #endif #ifndef traceBLOCKING_ON_QUEUE_SEND - /* Task is about to block because it cannot write to a - queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore - upon which the write was attempted. pxCurrentTCB points to the TCB of the - task that attempted the write. */ - #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) + +/* Task is about to block because it cannot write to a + * queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore + * upon which the write was attempted. pxCurrentTCB points to the TCB of the + * task that attempted the write. */ + #define traceBLOCKING_ON_QUEUE_SEND( pxQueue ) #endif #ifndef configCHECK_FOR_STACK_OVERFLOW - #define configCHECK_FOR_STACK_OVERFLOW 0 + #define configCHECK_FOR_STACK_OVERFLOW 0 #endif #ifndef configRECORD_STACK_HIGH_ADDRESS - #define configRECORD_STACK_HIGH_ADDRESS 0 + #define configRECORD_STACK_HIGH_ADDRESS 0 #endif #ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H - #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 + #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0 #endif /* The following event macros are embedded in the kernel API calls. */ #ifndef traceMOVED_TASK_TO_READY_STATE - #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) + #define traceMOVED_TASK_TO_READY_STATE( pxTCB ) #endif #ifndef tracePOST_MOVED_TASK_TO_READY_STATE - #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) + #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB ) #endif #ifndef traceQUEUE_CREATE - #define traceQUEUE_CREATE( pxNewQueue ) + #define traceQUEUE_CREATE( pxNewQueue ) #endif #ifndef traceQUEUE_CREATE_FAILED - #define traceQUEUE_CREATE_FAILED( ucQueueType ) + #define traceQUEUE_CREATE_FAILED( ucQueueType ) #endif #ifndef traceCREATE_MUTEX - #define traceCREATE_MUTEX( pxNewQueue ) + #define traceCREATE_MUTEX( pxNewQueue ) #endif #ifndef traceCREATE_MUTEX_FAILED - #define traceCREATE_MUTEX_FAILED() + #define traceCREATE_MUTEX_FAILED() #endif #ifndef traceGIVE_MUTEX_RECURSIVE - #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) + #define traceGIVE_MUTEX_RECURSIVE( pxMutex ) #endif #ifndef traceGIVE_MUTEX_RECURSIVE_FAILED - #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) + #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex ) #endif #ifndef traceTAKE_MUTEX_RECURSIVE - #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) + #define traceTAKE_MUTEX_RECURSIVE( pxMutex ) #endif #ifndef traceTAKE_MUTEX_RECURSIVE_FAILED - #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) + #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex ) #endif #ifndef traceCREATE_COUNTING_SEMAPHORE - #define traceCREATE_COUNTING_SEMAPHORE() + #define traceCREATE_COUNTING_SEMAPHORE() #endif #ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED - #define traceCREATE_COUNTING_SEMAPHORE_FAILED() + #define traceCREATE_COUNTING_SEMAPHORE_FAILED() #endif #ifndef traceQUEUE_SEMAPHORE_RECEIVE - #define traceQUEUE_SEMAPHORE_RECEIVE( pxQueue ) + #define traceQUEUE_SEMAPHORE_RECEIVE( pxQueue ) #endif #ifndef traceQUEUE_SEND - #define traceQUEUE_SEND( pxQueue ) + #define traceQUEUE_SEND( pxQueue ) #endif #ifndef traceQUEUE_SEND_FAILED - #define traceQUEUE_SEND_FAILED( pxQueue ) + #define traceQUEUE_SEND_FAILED( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE - #define traceQUEUE_RECEIVE( pxQueue ) + #define traceQUEUE_RECEIVE( pxQueue ) #endif #ifndef traceQUEUE_PEEK - #define traceQUEUE_PEEK( pxQueue ) + #define traceQUEUE_PEEK( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FAILED - #define traceQUEUE_PEEK_FAILED( pxQueue ) + #define traceQUEUE_PEEK_FAILED( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FROM_ISR - #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FAILED - #define traceQUEUE_RECEIVE_FAILED( pxQueue ) + #define traceQUEUE_RECEIVE_FAILED( pxQueue ) #endif #ifndef traceQUEUE_SEND_FROM_ISR - #define traceQUEUE_SEND_FROM_ISR( pxQueue ) + #define traceQUEUE_SEND_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_SEND_FROM_ISR_FAILED - #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FROM_ISR - #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) + #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED - #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_PEEK_FROM_ISR_FAILED - #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceQUEUE_DELETE - #define traceQUEUE_DELETE( pxQueue ) + #define traceQUEUE_DELETE( pxQueue ) #endif #ifndef traceQUEUE_GIVE_FROM_ISR - #define traceQUEUE_GIVE_FROM_ISR( pxQueue ) + #define traceQUEUE_GIVE_FROM_ISR( pxQueue ) #endif #ifndef traceQUEUE_GIVE_FROM_ISR_FAILED - #define traceQUEUE_GIVE_FROM_ISR_FAILED( pxQueue ) + #define traceQUEUE_GIVE_FROM_ISR_FAILED( pxQueue ) #endif #ifndef traceTASK_CREATE - #define traceTASK_CREATE( pxNewTCB ) + #define traceTASK_CREATE( pxNewTCB ) #endif #ifndef traceTASK_CREATE_FAILED - #define traceTASK_CREATE_FAILED() + #define traceTASK_CREATE_FAILED() #endif #ifndef traceTASK_DELETE - #define traceTASK_DELETE( pxTaskToDelete ) + #define traceTASK_DELETE( pxTaskToDelete ) #endif #ifndef traceTASK_DELAY_UNTIL - #define traceTASK_DELAY_UNTIL( x ) + #define traceTASK_DELAY_UNTIL( x ) #endif #ifndef traceTASK_DELAY - #define traceTASK_DELAY() + #define traceTASK_DELAY() #endif #ifndef traceTASK_PRIORITY_SET - #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) + #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority ) #endif #ifndef traceTASK_SUSPEND - #define traceTASK_SUSPEND( pxTaskToSuspend ) + #define traceTASK_SUSPEND( pxTaskToSuspend ) #endif #ifndef traceTASK_RESUME - #define traceTASK_RESUME( pxTaskToResume ) + #define traceTASK_RESUME( pxTaskToResume ) #endif #ifndef traceTASK_RESUME_FROM_ISR - #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) + #define traceTASK_RESUME_FROM_ISR( pxTaskToResume ) #endif #ifndef traceTASK_INCREMENT_TICK - #define traceTASK_INCREMENT_TICK( xTickCount ) + #define traceTASK_INCREMENT_TICK( xTickCount ) #endif #ifndef traceTIMER_CREATE - #define traceTIMER_CREATE( pxNewTimer ) + #define traceTIMER_CREATE( pxNewTimer ) #endif #ifndef traceTIMER_CREATE_FAILED - #define traceTIMER_CREATE_FAILED() + #define traceTIMER_CREATE_FAILED() #endif #ifndef traceTIMER_COMMAND_SEND - #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) + #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn ) #endif #ifndef traceTIMER_EXPIRED - #define traceTIMER_EXPIRED( pxTimer ) + #define traceTIMER_EXPIRED( pxTimer ) #endif #ifndef traceTIMER_COMMAND_RECEIVED - #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) + #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) #endif #ifndef traceMALLOC @@ -587,445 +600,449 @@ extern "C" { #endif #ifndef traceEVENT_GROUP_CREATE - #define traceEVENT_GROUP_CREATE( xEventGroup ) + #define traceEVENT_GROUP_CREATE( xEventGroup ) #endif #ifndef traceEVENT_GROUP_CREATE_FAILED - #define traceEVENT_GROUP_CREATE_FAILED() + #define traceEVENT_GROUP_CREATE_FAILED() #endif #ifndef traceEVENT_GROUP_SYNC_BLOCK - #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) + #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor ) #endif #ifndef traceEVENT_GROUP_SYNC_END - #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred + #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred #endif #ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK - #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ) + #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor ) #endif #ifndef traceEVENT_GROUP_WAIT_BITS_END - #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred + #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred #endif #ifndef traceEVENT_GROUP_CLEAR_BITS - #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) + #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear ) #endif #ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR - #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) + #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear ) #endif #ifndef traceEVENT_GROUP_SET_BITS - #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) + #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet ) #endif #ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR - #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) + #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet ) #endif #ifndef traceEVENT_GROUP_DELETE - #define traceEVENT_GROUP_DELETE( xEventGroup ) + #define traceEVENT_GROUP_DELETE( xEventGroup ) #endif #ifndef tracePEND_FUNC_CALL - #define tracePEND_FUNC_CALL(xFunctionToPend, pvParameter1, ulParameter2, ret) + #define tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, ret ) #endif #ifndef tracePEND_FUNC_CALL_FROM_ISR - #define tracePEND_FUNC_CALL_FROM_ISR(xFunctionToPend, pvParameter1, ulParameter2, ret) + #define tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, ret ) #endif #ifndef traceQUEUE_REGISTRY_ADD - #define traceQUEUE_REGISTRY_ADD(xQueue, pcQueueName) + #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName ) #endif #ifndef traceTASK_NOTIFY_TAKE_BLOCK - #define traceTASK_NOTIFY_TAKE_BLOCK() + #define traceTASK_NOTIFY_TAKE_BLOCK() #endif #ifndef traceTASK_NOTIFY_TAKE - #define traceTASK_NOTIFY_TAKE() + #define traceTASK_NOTIFY_TAKE() #endif #ifndef traceTASK_NOTIFY_WAIT_BLOCK - #define traceTASK_NOTIFY_WAIT_BLOCK() + #define traceTASK_NOTIFY_WAIT_BLOCK() #endif #ifndef traceTASK_NOTIFY_WAIT - #define traceTASK_NOTIFY_WAIT() + #define traceTASK_NOTIFY_WAIT() #endif #ifndef traceTASK_NOTIFY - #define traceTASK_NOTIFY() + #define traceTASK_NOTIFY() #endif #ifndef traceTASK_NOTIFY_FROM_ISR - #define traceTASK_NOTIFY_FROM_ISR() + #define traceTASK_NOTIFY_FROM_ISR() #endif #ifndef traceTASK_NOTIFY_GIVE_FROM_ISR - #define traceTASK_NOTIFY_GIVE_FROM_ISR() + #define traceTASK_NOTIFY_GIVE_FROM_ISR() #endif #ifndef traceSTREAM_BUFFER_CREATE_FAILED - #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED - #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_CREATE - #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) + #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer ) #endif #ifndef traceSTREAM_BUFFER_DELETE - #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) + #define traceSTREAM_BUFFER_DELETE( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RESET - #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) + #define traceSTREAM_BUFFER_RESET( xStreamBuffer ) #endif #ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND - #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) + #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_SEND - #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) + #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent ) #endif #ifndef traceSTREAM_BUFFER_SEND_FAILED - #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) + #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_SEND_FROM_ISR - #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) + #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent ) #endif #ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE - #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) + #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE - #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) + #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE_FAILED - #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) + #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer ) #endif #ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR - #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) + #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength ) #endif #ifndef traceISR_EXIT_TO_SCHEDULER - #define traceISR_EXIT_TO_SCHEDULER() + #define traceISR_EXIT_TO_SCHEDULER() #endif #ifndef traceISR_EXIT - #define traceISR_EXIT() + #define traceISR_EXIT() #endif #ifndef traceISR_ENTER - #define traceISR_ENTER(_n_) + #define traceISR_ENTER(_n_) #endif #ifndef configGENERATE_RUN_TIME_STATS - #define configGENERATE_RUN_TIME_STATS 0 + #define configGENERATE_RUN_TIME_STATS 0 #endif #if ( configGENERATE_RUN_TIME_STATS == 1 ) - #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. - #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ + #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS + #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base. + #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */ - #ifndef portGET_RUN_TIME_COUNTER_VALUE - #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE - #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. - #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ - #endif /* portGET_RUN_TIME_COUNTER_VALUE */ + #ifndef portGET_RUN_TIME_COUNTER_VALUE + #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE + #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information. + #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */ + #endif /* portGET_RUN_TIME_COUNTER_VALUE */ #endif /* configGENERATE_RUN_TIME_STATS */ #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS - #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() + #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() #endif #ifndef configUSE_MALLOC_FAILED_HOOK - #define configUSE_MALLOC_FAILED_HOOK 0 + #define configUSE_MALLOC_FAILED_HOOK 0 #endif #ifndef portPRIVILEGE_BIT - #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) + #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 ) #endif #ifndef portYIELD_WITHIN_API - #define portYIELD_WITHIN_API portYIELD + #define portYIELD_WITHIN_API portYIELD #endif #ifndef portSUPPRESS_TICKS_AND_SLEEP - #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) + #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime ) #endif #ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP - #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 + #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2 #endif #if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2 - #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 + #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2 #endif #ifndef configUSE_TICKLESS_IDLE - #define configUSE_TICKLESS_IDLE 0 + #define configUSE_TICKLESS_IDLE 0 #endif #ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING - #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) + #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x ) #endif #ifndef configPRE_SLEEP_PROCESSING - #define configPRE_SLEEP_PROCESSING( x ) + #define configPRE_SLEEP_PROCESSING( x ) #endif #ifndef configPOST_SLEEP_PROCESSING - #define configPOST_SLEEP_PROCESSING( x ) + #define configPOST_SLEEP_PROCESSING( x ) #endif #ifndef configUSE_QUEUE_SETS - #define configUSE_QUEUE_SETS 0 + #define configUSE_QUEUE_SETS 0 #endif #ifndef portTASK_USES_FLOATING_POINT - #define portTASK_USES_FLOATING_POINT() + #define portTASK_USES_FLOATING_POINT() #endif #ifndef portALLOCATE_SECURE_CONTEXT - #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) + #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize ) #endif #ifndef portDONT_DISCARD - #define portDONT_DISCARD + #define portDONT_DISCARD #endif #ifndef configUSE_TIME_SLICING - #define configUSE_TIME_SLICING 1 + #define configUSE_TIME_SLICING 1 #endif #ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS - #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 + #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0 #endif #ifndef configUSE_STATS_FORMATTING_FUNCTIONS - #define configUSE_STATS_FORMATTING_FUNCTIONS 0 + #define configUSE_STATS_FORMATTING_FUNCTIONS 0 #endif #ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID - #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() + #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() #endif #ifndef configUSE_TRACE_FACILITY - #define configUSE_TRACE_FACILITY 0 + #define configUSE_TRACE_FACILITY 0 #endif #ifndef mtCOVERAGE_TEST_MARKER - #define mtCOVERAGE_TEST_MARKER() + #define mtCOVERAGE_TEST_MARKER() #endif #ifndef mtCOVERAGE_TEST_DELAY - #define mtCOVERAGE_TEST_DELAY() + #define mtCOVERAGE_TEST_DELAY() #endif #ifndef portASSERT_IF_IN_ISR - #define portASSERT_IF_IN_ISR() + #define portASSERT_IF_IN_ISR() #endif #ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION - #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 + #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 #endif #ifndef configAPPLICATION_ALLOCATED_HEAP - #define configAPPLICATION_ALLOCATED_HEAP 0 + #define configAPPLICATION_ALLOCATED_HEAP 0 #endif #ifndef configUSE_TASK_NOTIFICATIONS - #define configUSE_TASK_NOTIFICATIONS 1 + #define configUSE_TASK_NOTIFICATIONS 1 #endif #ifndef configUSE_POSIX_ERRNO - #define configUSE_POSIX_ERRNO 0 + #define configUSE_POSIX_ERRNO 0 #endif #ifndef portTICK_TYPE_IS_ATOMIC - #define portTICK_TYPE_IS_ATOMIC 0 + #define portTICK_TYPE_IS_ATOMIC 0 #endif #ifndef configSUPPORT_STATIC_ALLOCATION - /* Defaults to 0 for backward compatibility. */ - #define configSUPPORT_STATIC_ALLOCATION 0 + /* Defaults to 0 for backward compatibility. */ + #define configSUPPORT_STATIC_ALLOCATION 0 #endif #ifndef configSUPPORT_DYNAMIC_ALLOCATION - /* Defaults to 1 for backward compatibility. */ - #define configSUPPORT_DYNAMIC_ALLOCATION 1 + /* Defaults to 1 for backward compatibility. */ + #define configSUPPORT_DYNAMIC_ALLOCATION 1 #endif #ifndef configSTACK_DEPTH_TYPE - /* Defaults to uint16_t for backward compatibility, but can be overridden - in FreeRTOSConfig.h if uint16_t is too restrictive. */ - #define configSTACK_DEPTH_TYPE uint16_t +/* Defaults to uint16_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if uint16_t is too restrictive. */ + #define configSTACK_DEPTH_TYPE uint16_t #endif #ifndef configMESSAGE_BUFFER_LENGTH_TYPE - /* Defaults to size_t for backward compatibility, but can be overridden - in FreeRTOSConfig.h if lengths will always be less than the number of bytes - in a size_t. */ - #define configMESSAGE_BUFFER_LENGTH_TYPE size_t +/* Defaults to size_t for backward compatibility, but can be overridden + * in FreeRTOSConfig.h if lengths will always be less than the number of bytes + * in a size_t. */ + #define configMESSAGE_BUFFER_LENGTH_TYPE size_t #endif /* Sanity check the configuration. */ -#if( configUSE_TICKLESS_IDLE != 0 ) - #if( INCLUDE_vTaskSuspend != 1 ) - #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 - #endif /* INCLUDE_vTaskSuspend */ +#if ( configUSE_TICKLESS_IDLE != 0 ) + #if ( INCLUDE_vTaskSuspend != 1 ) + #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0 + #endif /* INCLUDE_vTaskSuspend */ #endif /* configUSE_TICKLESS_IDLE */ -#if( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) - #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. +#if ( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) ) + #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1. #endif -#if( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) - #error configUSE_MUTEXES must be set to 1 to use recursive mutexes +#if ( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) ) + #error configUSE_MUTEXES must be set to 1 to use recursive mutexes #endif #ifndef configINITIAL_TICK_COUNT - #define configINITIAL_TICK_COUNT 0 + #define configINITIAL_TICK_COUNT 0 #endif -#if( portTICK_TYPE_IS_ATOMIC == 0 ) - /* Either variables of tick type cannot be read atomically, or - portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when - the tick count is returned to the standard critical section macros. */ - #define portTICK_TYPE_ENTER_CRITICAL(mux) portENTER_CRITICAL(mux) - #define portTICK_TYPE_EXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) - #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() - #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) +#if ( portTICK_TYPE_IS_ATOMIC == 0 ) +/* Either variables of tick type cannot be read atomically, or + * portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when + * the tick count is returned to the standard critical section macros. */ + #define portTICK_TYPE_ENTER_CRITICAL(mux) portENTER_CRITICAL(mux) + #define portTICK_TYPE_EXIT_CRITICAL(mux) portEXIT_CRITICAL(mux) + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR() + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) ) #else - /* The tick type can be read atomically, so critical sections used when the - tick count is returned can be defined away. */ - #define portTICK_TYPE_ENTER_CRITICAL() - #define portTICK_TYPE_EXIT_CRITICAL() - #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 - #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x -#endif + +/* The tick type can be read atomically, so critical sections used when the + * tick count is returned can be defined away. */ + #define portTICK_TYPE_ENTER_CRITICAL() + #define portTICK_TYPE_EXIT_CRITICAL() + #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0 + #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x +#endif /* if ( portTICK_TYPE_IS_ATOMIC == 0 ) */ /* Definitions to allow backward compatibility with FreeRTOS versions prior to -V8 if desired. */ + * V8 if desired. */ #ifndef configENABLE_BACKWARD_COMPATIBILITY - #define configENABLE_BACKWARD_COMPATIBILITY 1 + #define configENABLE_BACKWARD_COMPATIBILITY 1 #endif #ifndef configPRINTF - /* configPRINTF() was not defined, so define it away to nothing. To use - configPRINTF() then define it as follows (where MyPrintFunction() is - provided by the application writer): - void MyPrintFunction(const char *pcFormat, ... ); - #define configPRINTF( X ) MyPrintFunction X - - Then call like a standard printf() function, but placing brackets around - all parameters so they are passed as a single parameter. For example: - configPRINTF( ("Value = %d", MyVariable) ); */ - #define configPRINTF( X ) +/* configPRINTF() was not defined, so define it away to nothing. To use + * configPRINTF() then define it as follows (where MyPrintFunction() is + * provided by the application writer): + * + * void MyPrintFunction(const char *pcFormat, ... ); + #define configPRINTF( X ) MyPrintFunction X + * + * Then call like a standard printf() function, but placing brackets around + * all parameters so they are passed as a single parameter. For example: + * configPRINTF( ("Value = %d", MyVariable) ); */ + #define configPRINTF( X ) #endif #ifndef configMAX - /* The application writer has not provided their own MAX macro, so define - the following generic implementation. */ - #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) + +/* The application writer has not provided their own MAX macro, so define + * the following generic implementation. */ + #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) ) #endif #ifndef configMIN - /* The application writer has not provided their own MAX macro, so define - the following generic implementation. */ - #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) ) + +/* The application writer has not provided their own MAX macro, so define + * the following generic implementation. */ + #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) ) #endif #if configENABLE_BACKWARD_COMPATIBILITY == 1 - #define eTaskStateGet eTaskGetState - #define portTickType TickType_t - #define xTaskHandle TaskHandle_t - #define xQueueHandle QueueHandle_t - #define xSemaphoreHandle SemaphoreHandle_t - #define xQueueSetHandle QueueSetHandle_t - #define xQueueSetMemberHandle QueueSetMemberHandle_t - #define xTimeOutType TimeOut_t - #define xMemoryRegion MemoryRegion_t - #define xTaskParameters TaskParameters_t - #define xTaskStatusType TaskStatus_t - #define xTimerHandle TimerHandle_t - #define xCoRoutineHandle CoRoutineHandle_t - #define pdTASK_HOOK_CODE TaskHookFunction_t - #define portTICK_RATE_MS portTICK_PERIOD_MS - #define pcTaskGetTaskName pcTaskGetName - #define pcTimerGetTimerName pcTimerGetName - #define pcQueueGetQueueName pcQueueGetName - #define vTaskGetTaskInfo vTaskGetInfo + #define eTaskStateGet eTaskGetState + #define portTickType TickType_t + #define xTaskHandle TaskHandle_t + #define xQueueHandle QueueHandle_t + #define xSemaphoreHandle SemaphoreHandle_t + #define xQueueSetHandle QueueSetHandle_t + #define xQueueSetMemberHandle QueueSetMemberHandle_t + #define xTimeOutType TimeOut_t + #define xMemoryRegion MemoryRegion_t + #define xTaskParameters TaskParameters_t + #define xTaskStatusType TaskStatus_t + #define xTimerHandle TimerHandle_t + #define xCoRoutineHandle CoRoutineHandle_t + #define pdTASK_HOOK_CODE TaskHookFunction_t + #define portTICK_RATE_MS portTICK_PERIOD_MS + #define pcTaskGetTaskName pcTaskGetName + #define pcTimerGetTimerName pcTimerGetName + #define pcQueueGetQueueName pcQueueGetName + #define vTaskGetTaskInfo vTaskGetInfo - /* Backward compatibility within the scheduler code only - these definitions - are not really required but are included for completeness. */ - #define tmrTIMER_CALLBACK TimerCallbackFunction_t - #define pdTASK_CODE TaskFunction_t - #define xListItem ListItem_t - #define xList List_t +/* Backward compatibility within the scheduler code only - these definitions + * are not really required but are included for completeness. */ + #define tmrTIMER_CALLBACK TimerCallbackFunction_t + #define pdTASK_CODE TaskFunction_t + #define xListItem ListItem_t + #define xList List_t - /* For libraries that break the list data hiding, and access list structure - members directly (which is not supposed to be done). */ - #define pxContainer pvContainer +/* For libraries that break the list data hiding, and access list structure + * members directly (which is not supposed to be done). */ + #define pxContainer pvContainer #endif /* configENABLE_BACKWARD_COMPATIBILITY */ #ifndef configESP32_PER_TASK_DATA - #define configESP32_PER_TASK_DATA 1 + #define configESP32_PER_TASK_DATA 1 #endif -#if( configUSE_ALTERNATIVE_API != 0 ) - #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0 +#if ( configUSE_ALTERNATIVE_API != 0 ) + #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0 #endif /* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even -if floating point hardware is otherwise supported by the FreeRTOS port in use. -This constant is not supported by all FreeRTOS ports that include floating -point support. */ + * if floating point hardware is otherwise supported by the FreeRTOS port in use. + * This constant is not supported by all FreeRTOS ports that include floating + * point support. */ #ifndef configUSE_TASK_FPU_SUPPORT - #define configUSE_TASK_FPU_SUPPORT 1 + #define configUSE_TASK_FPU_SUPPORT 1 #endif /* Set configENABLE_MPU to 1 to enable MPU support and 0 to disable it. This is -currently used in ARMv8M ports. */ + * currently used in ARMv8M ports. */ #ifndef configENABLE_MPU - #define configENABLE_MPU 0 + #define configENABLE_MPU 0 #endif /* Set configENABLE_FPU to 1 to enable FPU support and 0 to disable it. This is -currently used in ARMv8M ports. */ + * currently used in ARMv8M ports. */ #ifndef configENABLE_FPU - #define configENABLE_FPU 1 + #define configENABLE_FPU 1 #endif /* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it. -This is currently used in ARMv8M ports. */ + * This is currently used in ARMv8M ports. */ #ifndef configENABLE_TRUSTZONE - #define configENABLE_TRUSTZONE 1 + #define configENABLE_TRUSTZONE 1 #endif /* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on -the Secure Side only. */ + * the Secure Side only. */ #ifndef configRUN_FREERTOS_SECURE_ONLY - #define configRUN_FREERTOS_SECURE_ONLY 0 + #define configRUN_FREERTOS_SECURE_ONLY 0 #endif /* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using @@ -1070,8 +1087,9 @@ the Secure Side only. */ * | | | | xTaskCreateRestrictedStatic | | | | * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+ */ -#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \ - ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) ) +#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE \ + ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \ + ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) ) /* * In line with software engineering best practice, FreeRTOS implements a strict @@ -1085,40 +1103,40 @@ the Secure Side only. */ */ struct xSTATIC_LIST_ITEM { - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - TickType_t xDummy2; - void *pvDummy3[ 4 ]; - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy4; - #endif + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 4 ]; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy4; + #endif }; typedef struct xSTATIC_LIST_ITEM StaticListItem_t; /* See the comments above the struct xSTATIC_LIST_ITEM definition. */ struct xSTATIC_MINI_LIST_ITEM { - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - TickType_t xDummy2; - void *pvDummy3[ 2 ]; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + TickType_t xDummy2; + void * pvDummy3[ 2 ]; }; typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t; /* See the comments above the struct xSTATIC_LIST_ITEM definition. */ typedef struct xSTATIC_LIST { - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy1; - #endif - UBaseType_t uxDummy2; - void *pvDummy3; - StaticMiniListItem_t xDummy4; - #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) - TickType_t xDummy5; - #endif + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy1; + #endif + UBaseType_t uxDummy2; + void * pvDummy3; + StaticMiniListItem_t xDummy4; + #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 ) + TickType_t xDummy5; + #endif } StaticList_t; /* @@ -1136,56 +1154,56 @@ typedef struct xSTATIC_LIST */ typedef struct xSTATIC_TCB { - void *pxDummy1; - #if ( portUSING_MPU_WRAPPERS == 1 ) - xMPU_SETTINGS xDummy2; - #endif - StaticListItem_t xDummy3[ 2 ]; - UBaseType_t uxDummy5; - void *pxDummy6; - uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ]; - BaseType_t xDummyCore; - #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) - void *pxDummy8; - #endif - #if ( portCRITICAL_NESTING_IN_TCB == 1 ) - UBaseType_t uxDummy9; - #endif - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy10[ 2 ]; - #endif - #if ( configUSE_MUTEXES == 1 ) - UBaseType_t uxDummy12[ 2 ]; - #endif - #if ( configUSE_APPLICATION_TASK_TAG == 1 ) - void *pxDummy14; - #endif - #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) - void *pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS ) - void *pvDummyLocalStorageCallBack[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; - #endif - #endif - #if ( configGENERATE_RUN_TIME_STATS == 1 ) - uint32_t ulDummy16; - #endif - #if ( configUSE_NEWLIB_REENTRANT == 1 ) - struct _reent xDummy17; - #endif - #if ( configUSE_TASK_NOTIFICATIONS == 1 ) - uint32_t ulDummy18; - uint8_t ucDummy19; - #endif - #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) - uint8_t uxDummy20; - #endif + void * pxDummy1; + #if ( portUSING_MPU_WRAPPERS == 1 ) + xMPU_SETTINGS xDummy2; + #endif + StaticListItem_t xDummy3[ 2 ]; + UBaseType_t uxDummy5; + void * pxDummy6; + uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ]; + BaseType_t xDummyCore; + #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) ) + void * pxDummy8; + #endif + #if ( portCRITICAL_NESTING_IN_TCB == 1 ) + UBaseType_t uxDummy9; + #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy10[ 2 ]; + #endif + #if ( configUSE_MUTEXES == 1 ) + UBaseType_t uxDummy12[ 2 ]; + #endif + #if ( configUSE_APPLICATION_TASK_TAG == 1 ) + void * pxDummy14; + #endif + #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) + void * pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS ) + void *pvDummyLocalStorageCallBack[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ]; + #endif + #endif + #if ( configGENERATE_RUN_TIME_STATS == 1 ) + uint32_t ulDummy16; + #endif + #if ( configUSE_NEWLIB_REENTRANT == 1 ) + struct _reent xDummy17; + #endif + #if ( configUSE_TASK_NOTIFICATIONS == 1 ) + uint32_t ulDummy18; + uint8_t ucDummy19; + #endif + #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) + uint8_t uxDummy20; + #endif - #if( INCLUDE_xTaskAbortDelay == 1 ) - uint8_t ucDummy21; - #endif - #if ( configUSE_POSIX_ERRNO == 1 ) - int iDummy22; - #endif + #if ( INCLUDE_xTaskAbortDelay == 1 ) + uint8_t ucDummy21; + #endif + #if ( configUSE_POSIX_ERRNO == 1 ) + int iDummy22; + #endif } StaticTask_t; /* @@ -1204,32 +1222,32 @@ typedef struct xSTATIC_TCB */ typedef struct xSTATIC_QUEUE { - void *pvDummy1[ 3 ]; + void * pvDummy1[ 3 ]; - union - { - void *pvDummy2; - UBaseType_t uxDummy2; - } u; + union + { + void * pvDummy2; + UBaseType_t uxDummy2; + } u; - StaticList_t xDummy3[ 2 ]; - UBaseType_t uxDummy4[ 3 ]; - uint8_t ucDummy5[ 2 ]; + StaticList_t xDummy3[ 2 ]; + UBaseType_t uxDummy4[ 3 ]; + uint8_t ucDummy5[ 2 ]; - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucDummy6; - #endif + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy6; + #endif - #if ( configUSE_QUEUE_SETS == 1 ) - void *pvDummy7; - #endif + #if ( configUSE_QUEUE_SETS == 1 ) + void * pvDummy7; + #endif - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy8; - uint8_t ucDummy9; - #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy8; + uint8_t ucDummy9; + #endif - portMUX_TYPE xDummy10; + portMUX_TYPE xDummy10; } StaticQueue_t; typedef StaticQueue_t StaticSemaphore_t; @@ -1250,18 +1268,18 @@ typedef StaticQueue_t StaticSemaphore_t; */ typedef struct xSTATIC_EVENT_GROUP { - TickType_t xDummy1; - StaticList_t xDummy2; + TickType_t xDummy1; + StaticList_t xDummy2; - #if( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy3; - #endif + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy3; + #endif - #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) - uint8_t ucDummy4; - #endif + #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) + uint8_t ucDummy4; + #endif - portMUX_TYPE xDummy5; + portMUX_TYPE xDummy5; } StaticEventGroup_t; @@ -1281,49 +1299,51 @@ typedef struct xSTATIC_EVENT_GROUP */ typedef struct xSTATIC_TIMER { - void *pvDummy1; - StaticListItem_t xDummy2; - TickType_t xDummy3; - void *pvDummy5; - TaskFunction_t pvDummy6; - #if( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy7; - #endif - uint8_t ucDummy8; + void * pvDummy1; + StaticListItem_t xDummy2; + TickType_t xDummy3; + void * pvDummy5; + TaskFunction_t pvDummy6; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy7; + #endif + uint8_t ucDummy8; } StaticTimer_t; /* -* In line with software engineering best practice, especially when supplying a -* library that is likely to change in future versions, FreeRTOS implements a -* strict data hiding policy. This means the stream buffer structure used -* internally by FreeRTOS is not accessible to application code. However, if -* the application writer wants to statically allocate the memory required to -* create a stream buffer then the size of the stream buffer object needs to be -* know. The StaticStreamBuffer_t structure below is provided for this purpose. -* Its size and alignment requirements are guaranteed to match those of the -* genuine structure, no matter which architecture is being used, and no matter -* how the values in FreeRTOSConfig.h are set. Its contents are somewhat -* obfuscated in the hope users will recognise that it would be unwise to make -* direct use of the structure members. -*/ + * In line with software engineering best practice, especially when supplying a + * library that is likely to change in future versions, FreeRTOS implements a + * strict data hiding policy. This means the stream buffer structure used + * internally by FreeRTOS is not accessible to application code. However, if + * the application writer wants to statically allocate the memory required to + * create a stream buffer then the size of the stream buffer object needs to be + * know. The StaticStreamBuffer_t structure below is provided for this purpose. + * Its size and alignment requirements are guaranteed to match those of the + * genuine structure, no matter which architecture is being used, and no matter + * how the values in FreeRTOSConfig.h are set. Its contents are somewhat + * obfuscated in the hope users will recognise that it would be unwise to make + * direct use of the structure members. + */ typedef struct xSTATIC_STREAM_BUFFER { - size_t uxDummy1[ 4 ]; - void * pvDummy2[ 3 ]; - uint8_t ucDummy3; - #if ( configUSE_TRACE_FACILITY == 1 ) - UBaseType_t uxDummy4; - #endif + size_t uxDummy1[ 4 ]; + void * pvDummy2[ 3 ]; + uint8_t ucDummy3; + #if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxDummy4; + #endif - portMUX_TYPE xDummy5; + portMUX_TYPE xDummy5; } StaticStreamBuffer_t; /* Message buffers are built on stream buffers. */ typedef StaticStreamBuffer_t StaticMessageBuffer_t; +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* INC_FREERTOS_H */ diff --git a/components/freertos/include/freertos/atomic.h b/components/freertos/include/freertos/atomic.h index df52a0f01f..d392e4193c 100644 --- a/components/freertos/include/freertos/atomic.h +++ b/components/freertos/include/freertos/atomic.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,19 +19,18 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /** * @file atomic.h * @brief FreeRTOS atomic operation support. * - * This file implements atomic by disabling interrupts globally. - * Implementation with architecture specific atomic instructions - * are to be provided under each compiler directory. + * This file implements atomic functions by disabling interrupts globally. + * Implementations with architecture specific atomic instructions can be + * provided under each compiler directory. */ #ifndef ATOMIC_H @@ -44,45 +43,50 @@ /* Standard includes. */ #include +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ -/* Port specific definitions -- entering/exiting critical section. +/* + * Port specific definitions -- entering/exiting critical section. * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h * * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with * ATOMIC_ENTER_CRITICAL(). - * */ + * + */ #if defined( portSET_INTERRUPT_MASK_FROM_ISR ) - /* Nested interrupt scheme is supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() \ - UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() +/* Nested interrupt scheme is supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() \ + UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR() - #define ATOMIC_EXIT_CRITICAL() \ - portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) + #define ATOMIC_EXIT_CRITICAL() \ + portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType ) #else - /* Nested interrupt scheme is NOT supported in this port. */ - #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() - #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() +/* Nested interrupt scheme is NOT supported in this port. */ + #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL() + #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL() #endif /* portSET_INTERRUPT_MASK_FROM_ISR() */ -/* Port specific definition -- "always inline". - * Inline is compiler specific, and may not always get inlined depending on your optimization level. - * Also, inline is considerred as performance optimization for atomic. - * Thus, if portFORCE_INLINE is not provided by portmacro.h, instead of resulting error, - * simply define it. +/* + * Port specific definition -- "always inline". + * Inline is compiler specific, and may not always get inlined depending on your + * optimization level. Also, inline is considered as performance optimization + * for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h, + * instead of resulting error, simply define it away. */ #ifndef portFORCE_INLINE #define portFORCE_INLINE #endif -#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ -#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ +#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */ +#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */ /*----------------------------- Swap && CAS ------------------------------*/ @@ -91,66 +95,67 @@ extern "C" { * * @brief Performs an atomic compare-and-swap operation on the specified values. * - * @param[in, out] pDestination Pointer to memory location from where value is + * @param[in, out] pulDestination Pointer to memory location from where value is * to be loaded and checked. * @param[in] ulExchange If condition meets, write this value to memory. * @param[in] ulComparand Swap condition. * * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped. * - * @note This function only swaps *pDestination with ulExchange, if previous - * *pDestination value equals ulComparand. + * @note This function only swaps *pulDestination with ulExchange, if previous + * *pulDestination value equals ulComparand. */ -static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( - uint32_t volatile * pDestination, - uint32_t ulExchange, - uint32_t ulComparand ) +static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination, + uint32_t ulExchange, + uint32_t ulComparand ) { - - uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + uint32_t ulReturnValue; ATOMIC_ENTER_CRITICAL(); - - if ( *pDestination == ulComparand ) { - *pDestination = ulExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + if( *pulDestination == ulComparand ) + { + *pulDestination = ulExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } + else + { + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; + } } - ATOMIC_EXIT_CRITICAL(); return ulReturnValue; - } +/*-----------------------------------------------------------*/ /** * Atomic swap (pointers) * - * @brief Atomically sets the address pointed to by *ppDestination to the value - * of *pExchange. + * @brief Atomically sets the address pointed to by *ppvDestination to the value + * of *pvExchange. * - * @param[in, out] ppDestination Pointer to memory location from where a pointer - * value is to be loaded and written back to. - * @param[in] pExchange Pointer value to be written to *ppDestination. + * @param[in, out] ppvDestination Pointer to memory location from where a pointer + * value is to be loaded and written back to. + * @param[in] pvExchange Pointer value to be written to *ppvDestination. * - * @return The initial value of *ppDestination. + * @return The initial value of *ppvDestination. */ -static portFORCE_INLINE void * Atomic_SwapPointers_p32( - void * volatile * ppDestination, - void * pExchange ) +static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange ) { void * pReturnValue; ATOMIC_ENTER_CRITICAL(); - - pReturnValue = *ppDestination; - - *ppDestination = pExchange; - + { + pReturnValue = *ppvDestination; + *ppvDestination = pvExchange; + } ATOMIC_EXIT_CRITICAL(); return pReturnValue; } +/*-----------------------------------------------------------*/ /** * Atomic compare-and-swap (pointers) @@ -158,30 +163,30 @@ static portFORCE_INLINE void * Atomic_SwapPointers_p32( * @brief Performs an atomic compare-and-swap operation on the specified pointer * values. * - * @param[in, out] ppDestination Pointer to memory location from where a pointer - * value is to be loaded and checked. - * @param[in] pExchange If condition meets, write this value to memory. - * @param[in] pComparand Swap condition. + * @param[in, out] ppvDestination Pointer to memory location from where a pointer + * value is to be loaded and checked. + * @param[in] pvExchange If condition meets, write this value to memory. + * @param[in] pvComparand Swap condition. * * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped. * - * @note This function only swaps *ppDestination with pExchange, if previous - * *ppDestination value equals pComparand. + * @note This function only swaps *ppvDestination with pvExchange, if previous + * *ppvDestination value equals pvComparand. */ -static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( - void * volatile * ppDestination, - void * pExchange, void * pComparand ) +static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination, + void * pvExchange, + void * pvComparand ) { uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE; ATOMIC_ENTER_CRITICAL(); - - if ( *ppDestination == pComparand ) { - *ppDestination = pExchange; - ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + if( *ppvDestination == pvComparand ) + { + *ppvDestination = pvExchange; + ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS; + } } - ATOMIC_EXIT_CRITICAL(); return ulReturnValue; @@ -195,28 +200,27 @@ static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( * * @brief Atomically adds count to the value of the specified pointer points to. * - * @param[in,out] pAddend Pointer to memory location from where value is to be + * @param[in,out] pulAddend Pointer to memory location from where value is to be * loaded and written back to. - * @param[in] ulCount Value to be added to *pAddend. + * @param[in] ulCount Value to be added to *pulAddend. * - * @return previous *pAddend value. + * @return previous *pulAddend value. */ -static portFORCE_INLINE uint32_t Atomic_Add_u32( - uint32_t volatile * pAddend, - uint32_t ulCount ) +static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pAddend; - - *pAddend += ulCount; - + { + ulCurrent = *pulAddend; + *pulAddend += ulCount; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic subtract @@ -224,74 +228,72 @@ static portFORCE_INLINE uint32_t Atomic_Add_u32( * @brief Atomically subtracts count from the value of the specified pointer * pointers to. * - * @param[in,out] pAddend Pointer to memory location from where value is to be + * @param[in,out] pulAddend Pointer to memory location from where value is to be * loaded and written back to. - * @param[in] ulCount Value to be subtract from *pAddend. + * @param[in] ulCount Value to be subtract from *pulAddend. * - * @return previous *pAddend value. + * @return previous *pulAddend value. */ -static portFORCE_INLINE uint32_t Atomic_Subtract_u32( - uint32_t volatile * pAddend, - uint32_t ulCount ) +static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend, + uint32_t ulCount ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pAddend; - - *pAddend -= ulCount; - + { + ulCurrent = *pulAddend; + *pulAddend -= ulCount; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic increment * * @brief Atomically increments the value of the specified pointer points to. * - * @param[in,out] pAddend Pointer to memory location from where value is to be + * @param[in,out] pulAddend Pointer to memory location from where value is to be * loaded and written back to. * - * @return *pAddend value before increment. + * @return *pulAddend value before increment. */ -static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pAddend ) +static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pAddend; - - *pAddend += 1; - + { + ulCurrent = *pulAddend; + *pulAddend += 1; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic decrement * * @brief Atomically decrements the value of the specified pointer points to * - * @param[in,out] pAddend Pointer to memory location from where value is to be + * @param[in,out] pulAddend Pointer to memory location from where value is to be * loaded and written back to. * - * @return *pAddend value before decrement. + * @return *pulAddend value before decrement. */ -static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pAddend ) +static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pAddend; - - *pAddend -= 1; - + { + ulCurrent = *pulAddend; + *pulAddend -= 1; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; @@ -304,115 +306,112 @@ static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pAdde * * @brief Performs an atomic OR operation on the specified values. * - * @param [in, out] pDestination Pointer to memory location from where value is + * @param [in, out] pulDestination Pointer to memory location from where value is * to be loaded and written back to. - * @param [in] ulValue Value to be ORed with *pDestination. + * @param [in] ulValue Value to be ORed with *pulDestination. * - * @return The original value of *pDestination. + * @return The original value of *pulDestination. */ -static portFORCE_INLINE uint32_t Atomic_OR_u32( - uint32_t volatile * pDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pDestination; - - *pDestination |= ulValue; - + { + ulCurrent = *pulDestination; + *pulDestination |= ulValue; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic AND * * @brief Performs an atomic AND operation on the specified values. * - * @param [in, out] pDestination Pointer to memory location from where value is + * @param [in, out] pulDestination Pointer to memory location from where value is * to be loaded and written back to. - * @param [in] ulValue Value to be ANDed with *pDestination. + * @param [in] ulValue Value to be ANDed with *pulDestination. * - * @return The original value of *pDestination. + * @return The original value of *pulDestination. */ -static portFORCE_INLINE uint32_t Atomic_AND_u32( - uint32_t volatile * pDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pDestination; - - *pDestination &= ulValue; - + { + ulCurrent = *pulDestination; + *pulDestination &= ulValue; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic NAND * * @brief Performs an atomic NAND operation on the specified values. * - * @param [in, out] pDestination Pointer to memory location from where value is + * @param [in, out] pulDestination Pointer to memory location from where value is * to be loaded and written back to. - * @param [in] ulValue Value to be NANDed with *pDestination. + * @param [in] ulValue Value to be NANDed with *pulDestination. * - * @return The original value of *pDestination. + * @return The original value of *pulDestination. */ -static portFORCE_INLINE uint32_t Atomic_NAND_u32( - uint32_t volatile * pDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pDestination; - - *pDestination = ~(ulCurrent & ulValue); - + { + ulCurrent = *pulDestination; + *pulDestination = ~( ulCurrent & ulValue ); + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/*-----------------------------------------------------------*/ /** * Atomic XOR * * @brief Performs an atomic XOR operation on the specified values. * - * @param [in, out] pDestination Pointer to memory location from where value is + * @param [in, out] pulDestination Pointer to memory location from where value is * to be loaded and written back to. - * @param [in] ulValue Value to be XORed with *pDestination. + * @param [in] ulValue Value to be XORed with *pulDestination. * - * @return The original value of *pDestination. + * @return The original value of *pulDestination. */ -static portFORCE_INLINE uint32_t Atomic_XOR_u32( - uint32_t volatile * pDestination, - uint32_t ulValue ) +static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination, + uint32_t ulValue ) { uint32_t ulCurrent; ATOMIC_ENTER_CRITICAL(); - - ulCurrent = *pDestination; - - *pDestination ^= ulValue; - + { + ulCurrent = *pulDestination; + *pulDestination ^= ulValue; + } ATOMIC_EXIT_CRITICAL(); return ulCurrent; } +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* ATOMIC_H */ diff --git a/components/freertos/include/freertos/croutine.h b/components/freertos/include/freertos/croutine.h index 8b3b41b905..2b13df26c2 100644 --- a/components/freertos/include/freertos/croutine.h +++ b/components/freertos/include/freertos/croutine.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,51 +19,56 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef CO_ROUTINE_H #define CO_ROUTINE_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include croutine.h" + #error "include FreeRTOS.h must appear in source files before include croutine.h" #endif #include "list.h" +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /* Used to hide the implementation of the co-routine control block. The -control block structure however has to be included in the header due to -the macro implementation of the co-routine functionality. */ + * control block structure however has to be included in the header due to + * the macro implementation of the co-routine functionality. */ typedef void * CoRoutineHandle_t; /* Defines the prototype to which co-routine functions must conform. */ -typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t ); +typedef void (* crCOROUTINE_CODE)( CoRoutineHandle_t, + UBaseType_t ); typedef struct corCoRoutineControlBlock { - crCOROUTINE_CODE pxCoRoutineFunction; - ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ - ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */ - UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ - UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ - uint16_t uxState; /*< Used internally by the co-routine implementation. */ -} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ + crCOROUTINE_CODE pxCoRoutineFunction; + ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ + ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */ + UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ + UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + uint16_t uxState; /*< Used internally by the co-routine implementation. */ +} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */ /** + * @cond * croutine. h - *
- BaseType_t xCoRoutineCreate(
-                                 crCOROUTINE_CODE pxCoRoutineCode,
-                                 UBaseType_t uxPriority,
-                                 UBaseType_t uxIndex
-                               );
+ * 
+ * BaseType_t xCoRoutineCreate(
+ *                               crCOROUTINE_CODE pxCoRoutineCode,
+ *                               UBaseType_t uxPriority,
+ *                               UBaseType_t uxIndex
+ *                             );
+ *
+ * @endcond * * Create a new co-routine and add it to the list of co-routines that are * ready to run. @@ -83,59 +88,65 @@ typedef struct corCoRoutineControlBlock * list, otherwise an error code defined with ProjDefs.h. * * Example usage: - 
- // Co-routine to be created.
- void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // This co-routine just delays for a fixed period, then toggles
-         // an LED.  Two co-routines are created using this function, so
-         // the uxIndex parameter is used to tell the co-routine which
-         // LED to flash and how int32_t to delay.  This assumes xQueue has
-         // already been created.
-         vParTestToggleLED( cLedToFlash[ uxIndex ] );
-         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
-
- // Function that creates two co-routines.
- void vOtherFunction( void )
- {
- uint8_t ucParameterToPass;
- TaskHandle_t xHandle;
-
-     // Create two co-routines at priority 0.  The first is given index 0
-     // so (from the code above) toggles LED 5 every 200 ticks.  The second
-     // is given index 1 so toggles LED 6 every 400 ticks.
-     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
-     {
-         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
-     }
- }
-
+ * @code{c} + * // Co-routine to be created. + * void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * // This may not be necessary for const variables. + * static const char cLedToFlash[ 2 ] = { 5, 6 }; + * static const TickType_t uxFlashRates[ 2 ] = { 200, 400 }; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // This co-routine just delays for a fixed period, then toggles + * // an LED. Two co-routines are created using this function, so + * // the uxIndex parameter is used to tell the co-routine which + * // LED to flash and how int32_t to delay. This assumes xQueue has + * // already been created. + * vParTestToggleLED( cLedToFlash[ uxIndex ] ); + * crDELAY( xHandle, uxFlashRates[ uxIndex ] ); + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * + * // Function that creates two co-routines. + * void vOtherFunction( void ) + * { + * uint8_t ucParameterToPass; + * TaskHandle_t xHandle; + * + * // Create two co-routines at priority 0. The first is given index 0 + * // so (from the code above) toggles LED 5 every 200 ticks. The second + * // is given index 1 so toggles LED 6 every 400 ticks. + * for( uxIndex = 0; uxIndex < 2; uxIndex++ ) + * { + * xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex ); + * } + * } + * @endcode + * @cond * \defgroup xCoRoutineCreate xCoRoutineCreate + * @endcond * \ingroup Tasks */ -BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex ); +BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, + UBaseType_t uxPriority, + UBaseType_t uxIndex ); /** + * @cond * croutine. h - *
- void vCoRoutineSchedule( void );
- * + * 
+ * void vCoRoutineSchedule( void );
+ *
+ * @endcond * Run a co-routine. * * vCoRoutineSchedule() executes the highest priority co-routine that is able @@ -148,103 +159,127 @@ BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPri * hook). * * Example usage: - 
- // This idle task hook will schedule a co-routine each time it is called.
- // The rest of the idle task will execute between co-routine calls.
- void vApplicationIdleHook( void )
- {
-	vCoRoutineSchedule();
- }
-
- // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineScheduler() within an
- // infinite loop.
- void vApplicationIdleHook( void )
- {
-    for( ;; )
-    {
-        vCoRoutineSchedule();
-    }
- }
-
+ * @code{c} + * // This idle task hook will schedule a co-routine each time it is called. + * // The rest of the idle task will execute between co-routine calls. + * void vApplicationIdleHook( void ) + * { + * vCoRoutineSchedule(); + * } + * + * // Alternatively, if you do not require any other part of the idle task to + * // execute, the idle task hook can call vCoRoutineScheduler() within an + * // infinite loop. + * void vApplicationIdleHook( void ) + * { + * for( ;; ) + * { + * vCoRoutineSchedule(); + * } + * } + * + * @endcode + * @cond * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * @endcond * \ingroup Tasks */ void vCoRoutineSchedule( void ); /** + * @cond * croutine. h * 
- crSTART( CoRoutineHandle_t xHandle );
+ * crSTART( CoRoutineHandle_t xHandle ); + * + * @endcond * * This macro MUST always be called at the start of a co-routine function. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static int32_t ulAVariable; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Co-routine functionality goes here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode + * @cond * \defgroup crSTART crSTART + * @endcond * \ingroup Tasks */ -#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0: +#define crSTART( pxCRCB ) \ + switch( ( ( CRCB_t * ) ( pxCRCB ) )->uxState ) { \ + case 0: /** + * @cond * croutine. h * 
- crEND();
+ * crEND(); + * + * @endcond * * This macro MUST always be called at the end of a co-routine function. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-          // Co-routine functionality goes here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static int32_t ulAVariable; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Co-routine functionality goes here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode + * @cond * \defgroup crSTART crSTART + * @endcond * \ingroup Tasks */ -#define crEND() } +#define crEND() } /* * These macros are intended for internal use by the co-routine implementation * only. The macros should not be used directly by application writers. */ -#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): -#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): +#define crSET_STATE0( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( __LINE__ * 2 ); return; \ + case ( __LINE__ * 2 ): +#define crSET_STATE1( xHandle ) \ + ( ( CRCB_t * ) ( xHandle ) )->uxState = ( ( __LINE__ * 2 ) + 1 ); return; \ + case ( ( __LINE__ * 2 ) + 1 ): /** + * @cond * croutine. h - *
- crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
+ * 
+ * crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );
+ *
+ * @endcond * * Delay a co-routine for a fixed period of time. * @@ -261,48 +296,54 @@ void vCoRoutineSchedule( void ); * can be used to convert ticks to milliseconds. * * Example usage: - 
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- // We are to delay for 200ms.
- static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
-
-     // Must start every co-routine with a call to crSTART();
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-        // Delay for 200ms.
-        crDELAY( xHandle, xDelayTime );
-
-        // Do something here.
-     }
-
-     // Must end every co-routine with a call to crEND();
-     crEND();
- }
+ * @code{c} + * // Co-routine to be created. + * void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * // This may not be necessary for const variables. + * // We are to delay for 200ms. + * static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS; + * + * // Must start every co-routine with a call to crSTART(); + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Delay for 200ms. + * crDELAY( xHandle, xDelayTime ); + * + * // Do something here. + * } + * + * // Must end every co-routine with a call to crEND(); + * crEND(); + * } + * @endcode + * @cond * \defgroup crDELAY crDELAY + * @endcond * \ingroup Tasks */ -#define crDELAY( xHandle, xTicksToDelay ) \ - if( ( xTicksToDelay ) > 0 ) \ - { \ - vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ - } \ - crSET_STATE0( ( xHandle ) ); +#define crDELAY( xHandle, xTicksToDelay ) \ + if( ( xTicksToDelay ) > 0 ) \ + { \ + vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \ + } \ + crSET_STATE0( ( xHandle ) ); /** + * @cond * 
- crQUEUE_SEND(
-                  CoRoutineHandle_t xHandle,
-                  QueueHandle_t pxQueue,
-                  void *pvItemToQueue,
-                  TickType_t xTicksToWait,
-                  BaseType_t *pxResult
-             )
+ * crQUEUE_SEND( + * CoRoutineHandle_t xHandle, + * QueueHandle_t pxQueue, + * void *pvItemToQueue, + * TickType_t xTicksToWait, + * BaseType_t *pxResult + * ) + * + * @endcond * * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. @@ -342,66 +383,72 @@ void vCoRoutineSchedule( void ); * error defined within ProjDefs.h. * * Example usage: - 
- // Co-routine function that blocks for a fixed period then posts a number onto
- // a queue.
- static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xNumberToPost = 0;
- static BaseType_t xResult;
-
-    // Co-routines must begin with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // This assumes the queue has already been created.
-        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
-
-        if( xResult != pdPASS )
-        {
-            // The message was not posted!
-        }
-
-        // Increment the number to be posted onto the queue.
-        xNumberToPost++;
-
-        // Delay for 100 ticks.
-        crDELAY( xHandle, 100 );
-    }
-
-    // Co-routines must end with a call to crEND().
-    crEND();
- }
+ * @code{c} + * // Co-routine function that blocks for a fixed period then posts a number onto + * // a queue. + * static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static BaseType_t xNumberToPost = 0; + * static BaseType_t xResult; + * + * // Co-routines must begin with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // This assumes the queue has already been created. + * crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult ); + * + * if( xResult != pdPASS ) + * { + * // The message was not posted! + * } + * + * // Increment the number to be posted onto the queue. + * xNumberToPost++; + * + * // Delay for 100 ticks. + * crDELAY( xHandle, 100 ); + * } + * + * // Co-routines must end with a call to crEND(). + * crEND(); + * } + * @endcode + * @cond * \defgroup crQUEUE_SEND crQUEUE_SEND + * @endcond * \ingroup Tasks */ -#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ -{ \ - *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \ - if( *( pxResult ) == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( ( xHandle ) ); \ - *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ - } \ - if( *pxResult == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( ( xHandle ) ); \ - *pxResult = pdPASS; \ - } \ -} +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ + { \ + *( pxResult ) = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *pxResult = pdPASS; \ + } \ + } /** + * @cond * croutine. h * 
-  crQUEUE_RECEIVE(
-                     CoRoutineHandle_t xHandle,
-                     QueueHandle_t pxQueue,
-                     void *pvBuffer,
-                     TickType_t xTicksToWait,
-                     BaseType_t *pxResult
-                 )
+ * crQUEUE_RECEIVE( + * CoRoutineHandle_t xHandle, + * QueueHandle_t pxQueue, + * void *pvBuffer, + * TickType_t xTicksToWait, + * BaseType_t *pxResult + * ) + * + * @endcond * * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. @@ -440,58 +487,65 @@ void vCoRoutineSchedule( void ); * an error code as defined within ProjDefs.h. * * Example usage: - 
- // A co-routine receives the number of an LED to flash from a queue.  It
- // blocks on the queue until the number is received.
- static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xResult;
- static UBaseType_t uxLEDToFlash;
-
-    // All co-routines must start with a call to crSTART().
-    crSTART( xHandle );
-
-    for( ;; )
-    {
-        // Wait for data to become available on the queue.
-        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-        if( xResult == pdPASS )
-        {
-            // We received the LED to flash - flash it!
-            vParTestToggleLED( uxLEDToFlash );
-        }
-    }
-
-    crEND();
- }
+ * @code{c} + * // A co-routine receives the number of an LED to flash from a queue. It + * // blocks on the queue until the number is received. + * static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // Variables in co-routines must be declared static if they must maintain value across a blocking call. + * static BaseType_t xResult; + * static UBaseType_t uxLEDToFlash; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Wait for data to become available on the queue. + * crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + * + * if( xResult == pdPASS ) + * { + * // We received the LED to flash - flash it! + * vParTestToggleLED( uxLEDToFlash ); + * } + * } + * + * crEND(); + * } + * + * @endcode + * @cond * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE + * @endcond * \ingroup Tasks */ -#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ -{ \ - *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \ - if( *( pxResult ) == errQUEUE_BLOCKED ) \ - { \ - crSET_STATE0( ( xHandle ) ); \ - *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \ - } \ - if( *( pxResult ) == errQUEUE_YIELD ) \ - { \ - crSET_STATE1( ( xHandle ) ); \ - *( pxResult ) = pdPASS; \ - } \ -} +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ + { \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), ( xTicksToWait ) ); \ + if( *( pxResult ) == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( ( xHandle ) ); \ + *( pxResult ) = xQueueCRReceive( ( pxQueue ), ( pvBuffer ), 0 ); \ + } \ + if( *( pxResult ) == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( ( xHandle ) ); \ + *( pxResult ) = pdPASS; \ + } \ + } /** + * @cond * croutine. h * 
-  crQUEUE_SEND_FROM_ISR(
-                            QueueHandle_t pxQueue,
-                            void *pvItemToQueue,
-                            BaseType_t xCoRoutinePreviouslyWoken
-                       )
+ * crQUEUE_SEND_FROM_ISR( + * QueueHandle_t pxQueue, + * void *pvItemToQueue, + * BaseType_t xCoRoutinePreviouslyWoken + * ) + * + * @endcond * * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() @@ -526,69 +580,76 @@ void vCoRoutineSchedule( void ); * the ISR. * * Example usage: - 
- // A co-routine that blocks on a queue waiting for characters to be received.
- static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- char cRxedChar;
- BaseType_t xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Wait for data to become available on the queue.  This assumes the
-         // queue xCommsRxQueue has already been created!
-         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
-         // Was a character received?
-         if( xResult == pdPASS )
-         {
-             // Process the character here.
-         }
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to send characters received on a serial port to
- // a co-routine.
- void vUART_ISR( void )
- {
- char cRxedChar;
- BaseType_t xCRWokenByPost = pdFALSE;
-
-     // We loop around reading characters until there are none left in the UART.
-     while( UART_RX_REG_NOT_EMPTY() )
-     {
-         // Obtain the character from the UART.
-         cRxedChar = UART_RX_REG;
-
-         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
-         // the first time around the loop.  If the post causes a co-routine
-         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
-         // In this manner we can ensure that if more than one co-routine is
-         // blocked on the queue only one is woken by this ISR no matter how
-         // many characters are posted to the queue.
-         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
-     }
- }
+ * @code{c} + * // A co-routine that blocks on a queue waiting for characters to be received. + * static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * char cRxedChar; + * BaseType_t xResult; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Wait for data to become available on the queue. This assumes the + * // queue xCommsRxQueue has already been created! + * crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult ); + * + * // Was a character received? + * if( xResult == pdPASS ) + * { + * // Process the character here. + * } + * } + * + * // All co-routines must end with a call to crEND(). + * crEND(); + * } + * + * // An ISR that uses a queue to send characters received on a serial port to + * // a co-routine. + * void vUART_ISR( void ) + * { + * char cRxedChar; + * BaseType_t xCRWokenByPost = pdFALSE; + * + * // We loop around reading characters until there are none left in the UART. + * while( UART_RX_REG_NOT_EMPTY() ) + * { + * // Obtain the character from the UART. + * cRxedChar = UART_RX_REG; + * + * // Post the character onto a queue. xCRWokenByPost will be pdFALSE + * // the first time around the loop. If the post causes a co-routine + * // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE. + * // In this manner we can ensure that if more than one co-routine is + * // blocked on the queue only one is woken by this ISR no matter how + * // many characters are posted to the queue. + * xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost ); + * } + * } + * @endcode + * @cond * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR + * @endcond * \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 ) ) /** + * @cond * croutine. h * 
-  crQUEUE_SEND_FROM_ISR(
-                            QueueHandle_t pxQueue,
-                            void *pvBuffer,
-                            BaseType_t * pxCoRoutineWoken
-                       )
+ * crQUEUE_SEND_FROM_ISR( + * QueueHandle_t pxQueue, + * void *pvBuffer, + * BaseType_t * pxCoRoutineWoken + * ) + * + * @endcond * * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() @@ -623,75 +684,79 @@ void vCoRoutineSchedule( void ); * pdFALSE. * * Example usage: - 
- // A co-routine that posts a character to a queue then blocks for a fixed
- // period.  The character is incremented each time.
- static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // cChar holds its value while this co-routine is blocked and must therefore
- // be declared static.
- static char cCharToTx = 'a';
- BaseType_t xResult;
-
-     // All co-routines must start with a call to crSTART().
-     crSTART( xHandle );
-
-     for( ;; )
-     {
-         // Send the next character to the queue.
-         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
-
-         if( xResult == pdPASS )
-         {
-             // The character was successfully posted to the queue.
-         }
-		 else
-		 {
-			// Could not post the character to the queue.
-		 }
-
-         // Enable the UART Tx interrupt to cause an interrupt in this
-		 // hypothetical UART.  The interrupt will obtain the character
-		 // from the queue and send it.
-		 ENABLE_RX_INTERRUPT();
-
-		 // Increment to the next character then block for a fixed period.
-		 // cCharToTx will maintain its value across the delay as it is
-		 // declared static.
-		 cCharToTx++;
-		 if( cCharToTx > 'x' )
-		 {
-			cCharToTx = 'a';
-		 }
-		 crDELAY( 100 );
-     }
-
-     // All co-routines must end with a call to crEND().
-     crEND();
- }
-
- // An ISR that uses a queue to receive characters to send on a UART.
- void vUART_ISR( void )
- {
- char cCharToTx;
- BaseType_t xCRWokenByPost = pdFALSE;
-
-     while( UART_TX_REG_EMPTY() )
-     {
-         // Are there any characters in the queue waiting to be sent?
-		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
-		 // is woken by the post - ensuring that only a single co-routine is
-		 // woken no matter how many times we go around this loop.
-         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
-		 {
-			 SEND_CHARACTER( cCharToTx );
-		 }
-     }
- }
+ * @code{c} + * // A co-routine that posts a character to a queue then blocks for a fixed + * // period. The character is incremented each time. + * static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex ) + * { + * // cChar holds its value while this co-routine is blocked and must therefore + * // be declared static. + * static char cCharToTx = 'a'; + * BaseType_t xResult; + * + * // All co-routines must start with a call to crSTART(). + * crSTART( xHandle ); + * + * for( ;; ) + * { + * // Send the next character to the queue. + * crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult ); + * + * if( xResult == pdPASS ) + * { + * // The character was successfully posted to the queue. + * } + * else + * { + * // Could not post the character to the queue. + * } + * + * // Enable the UART Tx interrupt to cause an interrupt in this + * // hypothetical UART. The interrupt will obtain the character + * // from the queue and send it. + * ENABLE_RX_INTERRUPT(); + * + * // Increment to the next character then block for a fixed period. + * // cCharToTx will maintain its value across the delay as it is + * // declared static. + * cCharToTx++; + * if( cCharToTx > 'x' ) + * { + * cCharToTx = 'a'; + * } + * crDELAY( 100 ); + * } + * + * // All co-routines must end with a call to crEND(). + * crEND(); + * } + * + * // An ISR that uses a queue to receive characters to send on a UART. + * void vUART_ISR( void ) + * { + * char cCharToTx; + * BaseType_t xCRWokenByPost = pdFALSE; + * + * while( UART_TX_REG_EMPTY() ) + * { + * // Are there any characters in the queue waiting to be sent? + * // xCRWokenByPost will automatically be set to pdTRUE if a co-routine + * // is woken by the post - ensuring that only a single co-routine is + * // woken no matter how many times we go around this loop. + * if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) ) + * { + * SEND_CHARACTER( cCharToTx ); + * } + * } + * } + * @endcode + * @cond * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR + * @endcond * \ingroup Tasks */ -#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) \ + xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) ) /* * This function is intended for internal use by the co-routine macros only. @@ -702,7 +767,8 @@ void vCoRoutineSchedule( void ); * Removes the current co-routine from its ready list and places it in the * appropriate delayed list. */ -void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ); +void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, + List_t * pxEventList ); /* * This function is intended for internal use by the queue implementation only. @@ -711,10 +777,12 @@ void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList ) * Removes the highest priority co-routine from the event list and places it in * the pending ready list. */ -BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList ); +BaseType_t xCoRoutineRemoveFromEventList( const List_t * pxEventList ); +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* CO_ROUTINE_H */ diff --git a/components/freertos/include/freertos/deprecated_definitions.h b/components/freertos/include/freertos/deprecated_definitions.h index 70fc403bd2..40c4b4ee17 100644 --- a/components/freertos/include/freertos/deprecated_definitions.h +++ b/components/freertos/include/freertos/deprecated_definitions.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef DEPRECATED_DEFINITIONS_H @@ -30,158 +29,158 @@ /* Each FreeRTOS port has a unique portmacro.h header file. Originally a -pre-processor definition was used to ensure the pre-processor found the correct -portmacro.h file for the port being used. That scheme was deprecated in favour -of setting the compiler's include path such that it found the correct -portmacro.h file - removing the need for the constant and allowing the -portmacro.h file to be located anywhere in relation to the port being used. The -definitions below remain in the code for backward compatibility only. New -projects should not use them. */ + * pre-processor definition was used to ensure the pre-processor found the correct + * portmacro.h file for the port being used. That scheme was deprecated in favour + * of setting the compiler's include path such that it found the correct + * portmacro.h file - removing the need for the constant and allowing the + * portmacro.h file to be located anywhere in relation to the port being used. The + * definitions below remain in the code for backward compatibility only. New + * projects should not use them. */ #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT - #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); + #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef OPEN_WATCOM_FLASH_LITE_186_PORT - #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" - typedef void ( __interrupt __far *pxISR )(); + #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef GCC_MEGA_AVR - #include "../portable/GCC/ATMega323/portmacro.h" + #include "../portable/GCC/ATMega323/portmacro.h" #endif #ifdef IAR_MEGA_AVR - #include "../portable/IAR/ATMega323/portmacro.h" + #include "../portable/IAR/ATMega323/portmacro.h" #endif #ifdef MPLAB_PIC24_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #endif #ifdef MPLAB_DSPIC_PORT - #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" #endif #ifdef MPLAB_PIC18F_PORT - #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" + #include "../../Source/portable/MPLAB/PIC18F/portmacro.h" #endif #ifdef MPLAB_PIC32MX_PORT - #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" + #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" #endif #ifdef _FEDPICC - #include "libFreeRTOS/Include/portmacro.h" + #include "libFreeRTOS/Include/portmacro.h" #endif #ifdef SDCC_CYGNAL - #include "../../Source/portable/SDCC/Cygnal/portmacro.h" + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" #endif #ifdef GCC_ARM7 - #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" #endif #ifdef GCC_ARM7_ECLIPSE - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef ROWLEY_LPC23xx - #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" #endif #ifdef IAR_MSP430 - #include "..\..\Source\portable\IAR\MSP430\portmacro.h" + #include "..\..\Source\portable\IAR\MSP430\portmacro.h" #endif #ifdef GCC_MSP430 - #include "../../Source/portable/GCC/MSP430F449/portmacro.h" + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" #endif #ifdef ROWLEY_MSP430 - #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" #endif #ifdef ARM7_LPC21xx_KEIL_RVDS - #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" + #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h" #endif #ifdef SAM7_GCC - #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" #endif #ifdef SAM7_IAR - #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" #endif #ifdef SAM9XE_IAR - #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" + #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h" #endif #ifdef LPC2000_IAR - #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" #endif #ifdef STR71X_IAR - #include "..\..\Source\portable\IAR\STR71x\portmacro.h" + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" #endif #ifdef STR75X_IAR - #include "..\..\Source\portable\IAR\STR75x\portmacro.h" + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" #endif #ifdef STR75X_GCC - #include "..\..\Source\portable\GCC\STR75x\portmacro.h" + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" #endif #ifdef STR91X_IAR - #include "..\..\Source\portable\IAR\STR91x\portmacro.h" + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" #endif #ifdef GCC_H8S - #include "../../Source/portable/GCC/H8S2329/portmacro.h" + #include "../../Source/portable/GCC/H8S2329/portmacro.h" #endif #ifdef GCC_AT91FR40008 - #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" #endif #ifdef RVDS_ARMCM3_LM3S102 - #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" #endif #ifdef GCC_ARMCM3_LM3S102 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #endif #ifdef GCC_ARMCM3 - #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" #endif #ifdef IAR_ARM_CM3 - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #endif #ifdef IAR_ARMCM3_LM - #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" #endif #ifdef HCS12_CODE_WARRIOR - #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" #endif #ifdef MICROBLAZE_GCC - #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" #endif #ifdef TERN_EE - #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" #endif #ifdef GCC_HCS12 - #include "../../Source/portable/GCC/HCS12/portmacro.h" + #include "../../Source/portable/GCC/HCS12/portmacro.h" #endif #ifdef GCC_MCF5235 @@ -189,90 +188,92 @@ projects should not use them. */ #endif #ifdef COLDFIRE_V2_GCC - #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" + #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h" #endif #ifdef COLDFIRE_V2_CODEWARRIOR - #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" + #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h" #endif #ifdef GCC_PPC405 - #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" + #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h" #endif #ifdef GCC_PPC440 - #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" + #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h" #endif #ifdef _16FX_SOFTUNE - #include "..\..\Source\portable\Softune\MB96340\portmacro.h" + #include "..\..\Source\portable\Softune\MB96340\portmacro.h" #endif #ifdef BCC_INDUSTRIAL_PC_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef BCC_FLASH_LITE_186_PORT - /* A short file name has to be used in place of the normal - FreeRTOSConfig.h when using the Borland compiler. */ - #include "frconfig.h" - #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" - typedef void ( __interrupt __far *pxISR )(); + +/* A short file name has to be used in place of the normal + * FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far * pxISR )(); #endif #ifdef __GNUC__ - #ifdef __AVR32_AVR32A__ - #include "portmacro.h" - #endif + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif #endif #ifdef __ICCAVR32__ - #ifdef __CORE__ - #if __CORE__ == __AVR32A__ - #include "portmacro.h" - #endif - #endif + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif #endif #ifdef __91467D - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef __96340 - #include "portmacro.h" + #include "portmacro.h" #endif #ifdef __IAR_V850ES_Fx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx3__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx3_L__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Jx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_V850ES_Hx2__ - #include "../../Source/portable/IAR/V850ES/portmacro.h" + #include "../../Source/portable/IAR/V850ES/portmacro.h" #endif #ifdef __IAR_78K0R_Kx3__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" + #include "../../Source/portable/IAR/78K0R/portmacro.h" #endif #ifdef __IAR_78K0R_Kx3L__ - #include "../../Source/portable/IAR/78K0R/portmacro.h" + #include "../../Source/portable/IAR/78K0R/portmacro.h" #endif #endif /* DEPRECATED_DEFINITIONS_H */ diff --git a/components/freertos/include/freertos/event_groups.h b/components/freertos/include/freertos/event_groups.h index 3e05d0dc94..e1049a6c03 100644 --- a/components/freertos/include/freertos/event_groups.h +++ b/components/freertos/include/freertos/event_groups.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,25 +19,26 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef EVENT_GROUPS_H #define EVENT_GROUPS_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h" must appear in source files before "include event_groups.h" + #error "include FreeRTOS.h" must appear in source files before "include event_groups.h" #endif /* FreeRTOS includes. */ #include "timers.h" +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /** * An event group is a collection of bits to which an application can assign a @@ -63,6 +64,9 @@ extern "C" { * used to create a synchronisation point between multiple tasks (a * 'rendezvous'). * + * @cond + * \defgroup EventGroup EventGroup + * @endcond */ @@ -74,7 +78,9 @@ extern "C" { * xEventGroupCreate() returns an EventGroupHandle_t variable that can then * be used as a parameter to other event group functions. * + * @cond * \defgroup EventGroupHandle_t EventGroupHandle_t + * @endcond * \ingroup EventGroup */ struct EventGroupDef_t; @@ -86,13 +92,20 @@ typedef void * EventGroupHandle_t; * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1, * 32 bits if set to 0. * + * @cond * \defgroup EventBits_t EventBits_t + * @endcond * \ingroup EventGroup */ -typedef TickType_t EventBits_t; +typedef TickType_t EventBits_t; /** - * + * @cond + * event_groups.h + * 
+ * EventGroupHandle_t xEventGroupCreate( void );
+ *
+ * @endcond * * Create a new event group. * @@ -100,7 +113,7 @@ typedef TickType_t EventBits_t; * block of memory, in which the event group's structure is stored. If an event * groups is created using xEventGroupCreate() then the required memory is * automatically dynamically allocated inside the xEventGroupCreate() function. - * (see http://www.freertos.org/a00111.html). If an event group is created + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created * using xEventGroupCreateStatic() then the application writer must instead * provide the memory that will get used by the event group. * xEventGroupCreateStatic() therefore allows an event group to be created @@ -116,41 +129,51 @@ typedef TickType_t EventBits_t; * * @return If the event group was created then a handle to the event group is * returned. If there was insufficient FreeRTOS heap available to create the - * event group then NULL is returned. See http://www.freertos.org/a00111.html + * event group then NULL is returned. See https://www.FreeRTOS.org/a00111.html * * Example usage: * @code{c} - * // Declare a variable to hold the created event group. - * EventGroupHandle_t xCreatedEventGroup; + * // Declare a variable to hold the created event group. + * EventGroupHandle_t xCreatedEventGroup; * - * // Attempt to create the event group. - * xCreatedEventGroup = xEventGroupCreate(); + * // Attempt to create the event group. + * xCreatedEventGroup = xEventGroupCreate(); * - * // Was the event group created successfully? - * if( xCreatedEventGroup == NULL ) - * { - * // The event group was not created because there was insufficient - * // FreeRTOS heap available. - * } - * else - * { - * // The event group was created. - * } + * // Was the event group created successfully? + * if( xCreatedEventGroup == NULL ) + * { + * // The event group was not created because there was insufficient + * // FreeRTOS heap available. + * } + * else + * { + * // The event group was created. + * } * @endcode + * @cond + * \defgroup xEventGroupCreate xEventGroupCreate + * @endcond * \ingroup EventGroup */ -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION; #endif /** + * @cond + * event_groups.h + * 
+ * EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
+ *
+ * @endcond + * * Create a new event group. * * Internally, within the FreeRTOS implementation, event groups use a [small] * block of memory, in which the event group's structure is stored. If an event * groups is created using xEventGroupCreate() then the required memory is * automatically dynamically allocated inside the xEventGroupCreate() function. - * (see http://www.freertos.org/a00111.html). If an event group is created + * (see https://www.FreeRTOS.org/a00111.html). If an event group is created * using xEventGroupCreateStatic() then the application writer must instead * provide the memory that will get used by the event group. * xEventGroupCreateStatic() therefore allows an event group to be created @@ -173,25 +196,36 @@ typedef TickType_t EventBits_t; * * Example usage: * @code{c} - * // StaticEventGroup_t is a publicly accessible structure that has the same - * // size and alignment requirements as the real event group structure. It is - * // provided as a mechanism for applications to know the size of the event - * // group (which is dependent on the architecture and configuration file - * // settings) without breaking the strict data hiding policy by exposing the - * // real event group internals. This StaticEventGroup_t variable is passed - * // into the xSemaphoreCreateEventGroupStatic() function and is used to store - * // the event group's data structures - * StaticEventGroup_t xEventGroupBuffer; + * // StaticEventGroup_t is a publicly accessible structure that has the same + * // size and alignment requirements as the real event group structure. It is + * // provided as a mechanism for applications to know the size of the event + * // group (which is dependent on the architecture and configuration file + * // settings) without breaking the strict data hiding policy by exposing the + * // real event group internals. This StaticEventGroup_t variable is passed + * // into the xSemaphoreCreateEventGroupStatic() function and is used to store + * // the event group's data structures + * StaticEventGroup_t xEventGroupBuffer; * - * // Create the event group without dynamically allocating any memory. - * xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer ); + * // Create the event group without dynamically allocating any memory. + * xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer ); * @endcode */ -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION; +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer ) PRIVILEGED_FUNCTION; #endif /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupWaitBits(    EventGroupHandle_t xEventGroup,
+ *                                      const EventBits_t uxBitsToWaitFor,
+ *                                      const BaseType_t xClearOnExit,
+ *                                      const BaseType_t xWaitForAllBits,
+ *                                      const TickType_t xTicksToWait );
+ *
+ * @endcond + * * [Potentially] block to wait for one or more bits to be set within a * previously created event group. * @@ -235,47 +269,60 @@ typedef TickType_t EventBits_t; * * Example usage: * @code{c} - * #define BIT_0 ( 1 << 0 ) - * #define BIT_4 ( 1 << 4 ) + * \#define BIT_0 ( 1 << 0 ) + * \#define BIT_4 ( 1 << 4 ) * - * void aFunction( EventGroupHandle_t xEventGroup ) - * { - * EventBits_t uxBits; - * const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; + * const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; * - * // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within - * // the event group. Clear the bits before exiting. - * uxBits = xEventGroupWaitBits( - * xEventGroup, // The event group being tested. - * BIT_0 | BIT_4, // The bits within the event group to wait for. - * pdTRUE, // BIT_0 and BIT_4 should be cleared before returning. - * pdFALSE, // Don't wait for both bits, either bit will do. - * xTicksToWait ); // Wait a maximum of 100ms for either bit to be set. + * // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within + * // the event group. Clear the bits before exiting. + * uxBits = xEventGroupWaitBits( + * xEventGroup, // The event group being tested. + * BIT_0 | BIT_4, // The bits within the event group to wait for. + * pdTRUE, // BIT_0 and BIT_4 should be cleared before returning. + * pdFALSE, // Don't wait for both bits, either bit will do. + * xTicksToWait ); // Wait a maximum of 100ms for either bit to be set. * - * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) - * { - * // xEventGroupWaitBits() returned because both bits were set. - * } - * else if( ( uxBits & BIT_0 ) != 0 ) - * { - * // xEventGroupWaitBits() returned because just BIT_0 was set. - * } - * else if( ( uxBits & BIT_4 ) != 0 ) - * { - * // xEventGroupWaitBits() returned because just BIT_4 was set. - * } - * else - * { - * // xEventGroupWaitBits() returned because xTicksToWait ticks passed - * // without either BIT_0 or BIT_4 becoming set. - * } - * } - * @endcode{c} + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // xEventGroupWaitBits() returned because both bits were set. + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // xEventGroupWaitBits() returned because just BIT_0 was set. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // xEventGroupWaitBits() returned because just BIT_4 was set. + * } + * else + * { + * // xEventGroupWaitBits() returned because xTicksToWait ticks passed + * // without either BIT_0 or BIT_4 becoming set. + * } + * } + * @endcode + * @cond + * \defgroup xEventGroupWaitBits xEventGroupWaitBits + * @endcond * \ingroup EventGroup */ -EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToWaitFor, + const BaseType_t xClearOnExit, + const BaseType_t xWaitForAllBits, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
+ *
+ * @endcond * * Clear bits within an event group. This function cannot be called from an * interrupt. @@ -290,44 +337,54 @@ EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits * * Example usage: * @code{c} - * #define BIT_0 ( 1 << 0 ) - * #define BIT_4 ( 1 << 4 ) + * \#define BIT_0 ( 1 << 0 ) + * \#define BIT_4 ( 1 << 4 ) * - * void aFunction( EventGroupHandle_t xEventGroup ) - * { - * EventBits_t uxBits; + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; * - * // Clear bit 0 and bit 4 in xEventGroup. - * uxBits = xEventGroupClearBits( - * xEventGroup, // The event group being updated. - * BIT_0 | BIT_4 );// The bits being cleared. + * // Clear bit 0 and bit 4 in xEventGroup. + * uxBits = xEventGroupClearBits( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 );// The bits being cleared. * - * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) - * { - * // Both bit 0 and bit 4 were set before xEventGroupClearBits() was - * // called. Both will now be clear (not set). - * } - * else if( ( uxBits & BIT_0 ) != 0 ) - * { - * // Bit 0 was set before xEventGroupClearBits() was called. It will - * // now be clear. - * } - * else if( ( uxBits & BIT_4 ) != 0 ) - * { - * // Bit 4 was set before xEventGroupClearBits() was called. It will - * // now be clear. - * } - * else - * { - * // Neither bit 0 nor bit 4 were set in the first place. - * } - * } + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // Both bit 0 and bit 4 were set before xEventGroupClearBits() was + * // called. Both will now be clear (not set). + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // Bit 0 was set before xEventGroupClearBits() was called. It will + * // now be clear. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // Bit 4 was set before xEventGroupClearBits() was called. It will + * // now be clear. + * } + * else + * { + * // Neither bit 0 nor bit 4 were set in the first place. + * } + * } * @endcode + * @cond + * \defgroup xEventGroupClearBits xEventGroupClearBits + * @endcond * \ingroup EventGroup */ -EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; /** + * @cond + * event_groups.h + * 
+ *  BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ *
+ * @endcond * * A version of xEventGroupClearBits() that can be called from an interrupt. * @@ -353,35 +410,46 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit * * Example usage: * @code{c} - * #define BIT_0 ( 1 << 0 ) - * #define BIT_4 ( 1 << 4 ) + * \#define BIT_0 ( 1 << 0 ) + * \#define BIT_4 ( 1 << 4 ) * - * // An event group which it is assumed has already been created by a call to - * // xEventGroupCreate(). - * EventGroupHandle_t xEventGroup; + * // An event group which it is assumed has already been created by a call to + * // xEventGroupCreate(). + * EventGroupHandle_t xEventGroup; * - * void anInterruptHandler( void ) - * { - * // Clear bit 0 and bit 4 in xEventGroup. - * xResult = xEventGroupClearBitsFromISR( - * xEventGroup, // The event group being updated. - * BIT_0 | BIT_4 ); // The bits being set. + * void anInterruptHandler( void ) + * { + * // Clear bit 0 and bit 4 in xEventGroup. + * xResult = xEventGroupClearBitsFromISR( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 ); // The bits being set. * - * if( xResult == pdPASS ) - * { - * // The message was posted successfully. - * } - * } + * if( xResult == pdPASS ) + * { + * // The message was posted successfully. + * } + * } * @endcode + * @cond + * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR + * @endcond * \ingroup EventGroup */ -#if( configUSE_TRACE_FACILITY == 1 ) - BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION; #else - #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) + #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) \ + xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ) #endif /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
+ *
+ * @endcond * * Set bits within an event group. * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR() @@ -408,49 +476,59 @@ EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBit * * Example usage: * @code{c} - * #define BIT_0 ( 1 << 0 ) - * #define BIT_4 ( 1 << 4 ) + * \#define BIT_0 ( 1 << 0 ) + * \#define BIT_4 ( 1 << 4 ) * - * void aFunction( EventGroupHandle_t xEventGroup ) - * { - * EventBits_t uxBits; + * void aFunction( EventGroupHandle_t xEventGroup ) + * { + * EventBits_t uxBits; * - * // Set bit 0 and bit 4 in xEventGroup. - * uxBits = xEventGroupSetBits( - * xEventGroup, // The event group being updated. - * BIT_0 | BIT_4 );// The bits being set. + * // Set bit 0 and bit 4 in xEventGroup. + * uxBits = xEventGroupSetBits( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 );// The bits being set. * - * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) - * { - * // Both bit 0 and bit 4 remained set when the function returned. - * } - * else if( ( uxBits & BIT_0 ) != 0 ) - * { - * // Bit 0 remained set when the function returned, but bit 4 was - * // cleared. It might be that bit 4 was cleared automatically as a - * // task that was waiting for bit 4 was removed from the Blocked - * // state. - * } - * else if( ( uxBits & BIT_4 ) != 0 ) - * { - * // Bit 4 remained set when the function returned, but bit 0 was - * // cleared. It might be that bit 0 was cleared automatically as a - * // task that was waiting for bit 0 was removed from the Blocked - * // state. - * } - * else - * { - * // Neither bit 0 nor bit 4 remained set. It might be that a task - * // was waiting for both of the bits to be set, and the bits were - * // cleared as the task left the Blocked state. - * } - * } - * @endcode{c} + * if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) ) + * { + * // Both bit 0 and bit 4 remained set when the function returned. + * } + * else if( ( uxBits & BIT_0 ) != 0 ) + * { + * // Bit 0 remained set when the function returned, but bit 4 was + * // cleared. It might be that bit 4 was cleared automatically as a + * // task that was waiting for bit 4 was removed from the Blocked + * // state. + * } + * else if( ( uxBits & BIT_4 ) != 0 ) + * { + * // Bit 4 remained set when the function returned, but bit 0 was + * // cleared. It might be that bit 0 was cleared automatically as a + * // task that was waiting for bit 0 was removed from the Blocked + * // state. + * } + * else + * { + * // Neither bit 0 nor bit 4 remained set. It might be that a task + * // was waiting for both of the bits to be set, and the bits were + * // cleared as the task left the Blocked state. + * } + * } + * @endcode + * @cond + * \defgroup xEventGroupSetBits xEventGroupSetBits + * @endcond * \ingroup EventGroup */ -EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION; /** + * @cond + * event_groups.h + * 
+ *  BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * @endcond * * A version of xEventGroupSetBits() that can be called from an interrupt. * @@ -484,46 +562,61 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_ * * Example usage: * @code{c} - * #define BIT_0 ( 1 << 0 ) - * #define BIT_4 ( 1 << 4 ) + * \#define BIT_0 ( 1 << 0 ) + * \#define BIT_4 ( 1 << 4 ) * - * // An event group which it is assumed has already been created by a call to - * // xEventGroupCreate(). - * EventGroupHandle_t xEventGroup; + * // An event group which it is assumed has already been created by a call to + * // xEventGroupCreate(). + * EventGroupHandle_t xEventGroup; * - * void anInterruptHandler( void ) - * { - * BaseType_t xHigherPriorityTaskWoken, xResult; + * void anInterruptHandler( void ) + * { + * BaseType_t xHigherPriorityTaskWoken, xResult; * - * // xHigherPriorityTaskWoken must be initialised to pdFALSE. - * xHigherPriorityTaskWoken = pdFALSE; + * // xHigherPriorityTaskWoken must be initialised to pdFALSE. + * xHigherPriorityTaskWoken = pdFALSE; * - * // Set bit 0 and bit 4 in xEventGroup. - * xResult = xEventGroupSetBitsFromISR( - * xEventGroup, // The event group being updated. - * BIT_0 | BIT_4 // The bits being set. - * &xHigherPriorityTaskWoken ); + * // Set bit 0 and bit 4 in xEventGroup. + * xResult = xEventGroupSetBitsFromISR( + * xEventGroup, // The event group being updated. + * BIT_0 | BIT_4 // The bits being set. + * &xHigherPriorityTaskWoken ); * - * // Was the message posted successfully? - * if( xResult == pdPASS ) - * { - * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context - * // switch should be requested. The macro used is port specific and - * // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - - * // refer to the documentation page for the port being used. - * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); - * } - * } + * // Was the message posted successfully? + * if( xResult == pdPASS ) + * { + * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context + * // switch should be requested. The macro used is port specific and + * // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - + * // refer to the documentation page for the port being used. + * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); + * } + * } * @endcode + * @cond + * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR + * @endcond * \ingroup EventGroup */ -#if( configUSE_TRACE_FACILITY == 1 ) - BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION; #else - #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) + #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) \ + xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ) #endif /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupSync(    EventGroupHandle_t xEventGroup,
+ *                                  const EventBits_t uxBitsToSet,
+ *                                  const EventBits_t uxBitsToWaitFor,
+ *                                  TickType_t xTicksToWait );
+ *
+ * @endcond * * Atomically set bits within an event group, then wait for a combination of * bits to be set within the same event group. This functionality is typically @@ -563,86 +656,98 @@ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_ * * Example usage: * @code{c} - * // Bits used by the three tasks. - * #define TASK_0_BIT ( 1 << 0 ) - * #define TASK_1_BIT ( 1 << 1 ) - * #define TASK_2_BIT ( 1 << 2 ) + * // Bits used by the three tasks. + * \#define TASK_0_BIT ( 1 << 0 ) + * \#define TASK_1_BIT ( 1 << 1 ) + * \#define TASK_2_BIT ( 1 << 2 ) * - * #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT ) + * \#define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT ) * - * // Use an event group to synchronise three tasks. It is assumed this event - * // group has already been created elsewhere. - * EventGroupHandle_t xEventBits; + * // Use an event group to synchronise three tasks. It is assumed this event + * // group has already been created elsewhere. + * EventGroupHandle_t xEventBits; * - * void vTask0( void *pvParameters ) - * { - * EventBits_t uxReturn; - * TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; + * void vTask0( void *pvParameters ) + * { + * EventBits_t uxReturn; + * TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS; * - * for( ;; ) - * { - * // Perform task functionality here. + * for( ;; ) + * { + * // Perform task functionality here. * - * // Set bit 0 in the event flag to note this task has reached the - * // sync point. The other two tasks will set the other two bits defined - * // by ALL_SYNC_BITS. All three tasks have reached the synchronisation - * // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms - * // for this to happen. - * uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait ); + * // Set bit 0 in the event flag to note this task has reached the + * // sync point. The other two tasks will set the other two bits defined + * // by ALL_SYNC_BITS. All three tasks have reached the synchronisation + * // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms + * // for this to happen. + * uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait ); * - * if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS ) - * { - * // All three tasks reached the synchronisation point before the call - * // to xEventGroupSync() timed out. - * } - * } + * if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS ) + * { + * // All three tasks reached the synchronisation point before the call + * // to xEventGroupSync() timed out. + * } * } + * } * - * void vTask1( void *pvParameters ) - * { - * for( ;; ) - * { - * // Perform task functionality here. + * void vTask1( void *pvParameters ) + * { + * for( ;; ) + * { + * // Perform task functionality here. * - * // Set bit 1 in the event flag to note this task has reached the - * // synchronisation point. The other two tasks will set the other two - * // bits defined by ALL_SYNC_BITS. All three tasks have reached the - * // synchronisation point when all the ALL_SYNC_BITS are set. Wait - * // indefinitely for this to happen. - * xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY ); + * // Set bit 1 in the event flag to note this task has reached the + * // synchronisation point. The other two tasks will set the other two + * // bits defined by ALL_SYNC_BITS. All three tasks have reached the + * // synchronisation point when all the ALL_SYNC_BITS are set. Wait + * // indefinitely for this to happen. + * xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY ); * - * // xEventGroupSync() was called with an indefinite block time, so - * // this task will only reach here if the syncrhonisation was made by all - * // three tasks, so there is no need to test the return value. - * } - * } - * - * void vTask2( void *pvParameters ) - * { - * for( ;; ) - * { - * // Perform task functionality here. - * - * // Set bit 2 in the event flag to note this task has reached the - * // synchronisation point. The other two tasks will set the other two - * // bits defined by ALL_SYNC_BITS. All three tasks have reached the - * // synchronisation point when all the ALL_SYNC_BITS are set. Wait - * // indefinitely for this to happen. - * xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY ); - * - * // xEventGroupSync() was called with an indefinite block time, so - * // this task will only reach here if the syncrhonisation was made by all - * // three tasks, so there is no need to test the return value. - * } + * // xEventGroupSync() was called with an indefinite block time, so + * // this task will only reach here if the synchronisation was made by all + * // three tasks, so there is no need to test the return value. + * } + * } + * + * void vTask2( void *pvParameters ) + * { + * for( ;; ) + * { + * // Perform task functionality here. + * + * // Set bit 2 in the event flag to note this task has reached the + * // synchronisation point. The other two tasks will set the other two + * // bits defined by ALL_SYNC_BITS. All three tasks have reached the + * // synchronisation point when all the ALL_SYNC_BITS are set. Wait + * // indefinitely for this to happen. + * xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY ); + * + * // xEventGroupSync() was called with an indefinite block time, so + * // this task will only reach here if the synchronisation was made by all + * // three tasks, so there is no need to test the return value. * } + * } * * @endcode + * @cond + * \defgroup xEventGroupSync xEventGroupSync + * @endcond * \ingroup EventGroup */ -EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, + const EventBits_t uxBitsToSet, + const EventBits_t uxBitsToWaitFor, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
+ *
+ * @endcond * * Returns the current value of the bits in an event group. This function * cannot be used from an interrupt. @@ -651,11 +756,20 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u * * @return The event group bits at the time xEventGroupGetBits() was called. * + * @cond + * \defgroup xEventGroupGetBits xEventGroupGetBits + * @endcond * \ingroup EventGroup */ -#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) +#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 ) /** + * @cond + * event_groups.h + * 
+ *  EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
+ *
+ * @endcond * * A version of xEventGroupGetBits() that can be called from an ISR. * @@ -663,11 +777,21 @@ EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t u * * @return The event group bits at the time xEventGroupGetBitsFromISR() was called. * + * @cond + * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR + * @endcond * \ingroup EventGroup */ EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; /** + * @cond + * event_groups.h + * 
+ *  void xEventGroupDelete( EventGroupHandle_t xEventGroup );
+ *
+ * @endcond + * * Delete an event group that was previously created by a call to * xEventGroupCreate(). Tasks that are blocked on the event group will be * unblocked and obtain 0 as the event group's value. @@ -679,19 +803,24 @@ void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION; /** @cond */ /* For internal use only. */ -void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; -void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; +void vEventGroupSetBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION; +void vEventGroupClearBitsCallback( void * pvEventGroup, + const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION; -#if (configUSE_TRACE_FACILITY == 1) - UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION; - void vEventGroupSetNumber( void* xEventGroup, UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; +#if ( configUSE_TRACE_FACILITY == 1 ) + UBaseType_t uxEventGroupGetNumber( void * xEventGroup ) PRIVILEGED_FUNCTION; + void vEventGroupSetNumber( void * xEventGroup, + UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION; #endif /** @endcond */ +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* EVENT_GROUPS_H */ diff --git a/components/freertos/include/freertos/list.h b/components/freertos/include/freertos/list.h index d06481e29b..c91ecb9b06 100644 --- a/components/freertos/include/freertos/list.h +++ b/components/freertos/include/freertos/list.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /* @@ -54,7 +53,7 @@ */ #ifndef INC_FREERTOS_H - #error FreeRTOS.h must be included before list.h + #error "FreeRTOS.h must be included before list.h" #endif #ifndef LIST_H @@ -89,47 +88,49 @@ * "#define configLIST_VOLATILE volatile" */ #ifndef configLIST_VOLATILE - #define configLIST_VOLATILE + #define configLIST_VOLATILE #endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /* Macros that can be used to place known values within the list structures, -then check that the known values do not get corrupted during the execution of -the application. These may catch the list data structures being overwritten in -memory. They will not catch data errors caused by incorrect configuration or -use of FreeRTOS.*/ -#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) - /* Define the macros to do nothing. */ - #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE - #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE - #define listFIRST_LIST_INTEGRITY_CHECK_VALUE - #define listSECOND_LIST_INTEGRITY_CHECK_VALUE - #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) - #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) - #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) - #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) - #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) - #define listTEST_LIST_INTEGRITY( pxList ) -#else - /* Define macros that add new members into the list structures. */ - #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; - #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; - #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; - #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; + * then check that the known values do not get corrupted during the execution of + * the application. These may catch the list data structures being overwritten in + * memory. They will not catch data errors caused by incorrect configuration or + * use of FreeRTOS.*/ +#if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) + /* Define the macros to do nothing. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) + #define listTEST_LIST_INTEGRITY( pxList ) +#else /* if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 ) */ + /* Define macros that add new members into the list structures. */ + #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1; + #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2; + #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1; + #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2; - /* Define macros that set the new structure members to known values. */ - #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE - #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE - #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE - #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE +/* Define macros that set the new structure members to known values. */ + #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE + #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE - /* Define macros that will assert if one of the structure members does not - contain its expected value. */ - #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) - #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) +/* Define macros that will assert if one of the structure members does not + * contain its expected value. */ + #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) + #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) ) #endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */ @@ -139,22 +140,22 @@ use of FreeRTOS.*/ struct xLIST; struct xLIST_ITEM { - listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ - struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ - struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ - void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ - struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */ - listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */ + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */ + void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */ + listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ }; -typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ +typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */ struct xMINI_LIST_ITEM { - listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - configLIST_VOLATILE TickType_t xItemValue; - struct xLIST_ITEM * configLIST_VOLATILE pxNext; - struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; + listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + configLIST_VOLATILE TickType_t xItemValue; + struct xLIST_ITEM * configLIST_VOLATILE pxNext; + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; }; typedef struct xMINI_LIST_ITEM MiniListItem_t; @@ -163,11 +164,11 @@ typedef struct xMINI_LIST_ITEM MiniListItem_t; */ typedef struct xLIST { - listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ - volatile UBaseType_t uxNumberOfItems; - ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ - MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ - listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ + volatile UBaseType_t uxNumberOfItems; + ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */ + MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */ } List_t; /* @@ -177,7 +178,7 @@ typedef struct xLIST * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \ingroup LinkedList */ -#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) /* * Access macro to get the owner of a list item. The owner of a list item @@ -186,7 +187,7 @@ typedef struct xLIST * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \ingroup LinkedList */ -#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) +#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner ) /* * Access macro to set the value of the list item. In most cases the value is @@ -195,7 +196,7 @@ 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 to retrieve the value of the list item. The value can @@ -205,7 +206,7 @@ typedef struct xLIST * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) /* * Access macro to retrieve the value of the list item at the head of a given @@ -214,7 +215,7 @@ typedef struct xLIST * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) +#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue ) /* * Return the list item at the head of the list. @@ -222,7 +223,7 @@ typedef struct xLIST * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY * \ingroup LinkedList */ -#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) +#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext ) /* * Return the next list item. @@ -230,7 +231,7 @@ typedef struct xLIST * \page listGET_NEXT listGET_NEXT * \ingroup LinkedList */ -#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) +#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext ) /* * Return the list item that marks the end of the list @@ -238,7 +239,7 @@ typedef struct xLIST * \page listGET_END_MARKER listGET_END_MARKER * \ingroup LinkedList */ -#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) +#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) ) /* * Access macro to determine if a list contains any items. The macro will @@ -247,12 +248,12 @@ typedef struct xLIST * \page listLIST_IS_EMPTY listLIST_IS_EMPTY * \ingroup LinkedList */ -#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) +#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE ) /* * Access macro to return the number of items in the list. */ -#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) /* * Access function to obtain the owner of the next entry in a list. @@ -274,18 +275,18 @@ typedef struct xLIST * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY * \ingroup LinkedList */ -#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ -{ \ -List_t * const pxConstList = ( pxList ); \ - /* Increment the index to the next item and return the item, ensuring */ \ - /* we don't return the marker used at the end of the list. */ \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ - { \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - } \ - ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ -} +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ + { \ + List_t * const pxConstList = ( pxList ); \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + } \ + ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ + } /* @@ -304,7 +305,7 @@ List_t * const pxConstList = ( pxList ); \ * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY * \ingroup LinkedList */ -#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner ) +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( &( ( pxList )->xListEnd ) )->pxNext->pvOwner ) /* * Check to see if a list item is within a list. The list item maintains a @@ -315,7 +316,7 @@ List_t * const pxConstList = ( pxList ); \ * @param pxListItem The list item we want to know if is in the list. * @return pdTRUE if the list item is in the list, otherwise pdFALSE. */ -#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) ) /* * Return the list a list item is contained within (referenced from). @@ -323,14 +324,14 @@ List_t * const pxConstList = ( pxList ); \ * @param pxListItem The list item being queried. * @return A pointer to the List_t object that references the pxListItem */ -#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) +#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer ) /* * This provides a crude means of knowing if a list has been initialised, as * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise() * function. */ -#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) +#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY ) /* * Must be called before a list is used! This initialises all the members @@ -366,7 +367,8 @@ void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION; * \page vListInsert vListInsert * \ingroup LinkedList */ -void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; +void vListInsert( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Insert a list item into a list. The item will be inserted in a position @@ -387,7 +389,8 @@ void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIV * \page vListInsertEnd vListInsertEnd * \ingroup LinkedList */ -void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; +void vListInsertEnd( List_t * const pxList, + ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION; /* * Remove an item from a list. The list item has a pointer to the list that @@ -404,8 +407,10 @@ void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) P */ UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION; +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ -#endif +#endif /* ifndef LIST_H */ diff --git a/components/freertos/include/freertos/message_buffer.h b/components/freertos/include/freertos/message_buffer.h index a49324da43..9a3a7978fc 100644 --- a/components/freertos/include/freertos/message_buffer.h +++ b/components/freertos/include/freertos/message_buffer.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ @@ -63,15 +62,17 @@ #define FREERTOS_MESSAGE_BUFFER_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h must appear in source files before include message_buffer.h" + #error "include FreeRTOS.h must appear in source files before include message_buffer.h" #endif /* Message buffers are built onto of stream buffers. */ #include "stream_buffer.h" +/* *INDENT-OFF* */ #if defined( __cplusplus ) -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ /** * Type by which message buffers are referenced. For example, a call to @@ -84,6 +85,14 @@ typedef void * MessageBufferHandle_t; /*-----------------------------------------------------------*/ /** + * @cond + * message_buffer.h + * + * 
+ * MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
+ *
+ * @endcond + * * Creates a new message buffer using dynamically allocated memory. See * xMessageBufferCreateStatic() for a version that uses statically allocated * memory (memory that is allocated at compile time). @@ -113,28 +122,41 @@ typedef void * MessageBufferHandle_t; * MessageBufferHandle_t xMessageBuffer; * const size_t xMessageBufferSizeBytes = 100; * - * // Create a message buffer that can hold 100 bytes. The memory used to hold - * // both the message buffer structure and the messages themselves is allocated - * // dynamically. Each message added to the buffer consumes an additional 4 - * // bytes which are used to hold the lengh of the message. - * xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes ); + * // Create a message buffer that can hold 100 bytes. The memory used to hold + * // both the message buffer structure and the messages themselves is allocated + * // dynamically. Each message added to the buffer consumes an additional 4 + * // bytes which are used to hold the lengh of the message. + * xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes ); * - * if( xMessageBuffer == NULL ) - * { - * // There was not enough heap memory space available to create the - * // message buffer. - * } - * else - * { - * // The message buffer was created successfully and can now be used. - * } + * if( xMessageBuffer == NULL ) + * { + * // There was not enough heap memory space available to create the + * // message buffer. + * } + * else + * { + * // The message buffer was created successfully and can now be used. + * } * * @endcode + * @cond + * \defgroup xMessageBufferCreate xMessageBufferCreate + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) +#define xMessageBufferCreate( xBufferSizeBytes ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE ) /** + * @cond + * message_buffer.h + * + * 
+ * MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                                uint8_t *pucMessageBufferStorageArea,
+ *                                                StaticMessageBuffer_t *pxStaticMessageBuffer );
+ *
+ * @endcond * Creates a new message buffer using statically allocated memory. See * xMessageBufferCreate() for a version that uses dynamically allocated memory. * @@ -163,7 +185,7 @@ typedef void * MessageBufferHandle_t; * * // Used to dimension the array used to hold the messages. The available space * // will actually be one less than this, so 999. - * #define STORAGE_SIZE_BYTES 1000 + * \#define STORAGE_SIZE_BYTES 1000 * * // Defines the memory that will actually hold the messages within the message * // buffer. @@ -176,23 +198,38 @@ typedef void * MessageBufferHandle_t; * { * MessageBufferHandle_t xMessageBuffer; * - * xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ), - * ucBufferStorage, - * &xMessageBufferStruct ); + * xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ), + * ucBufferStorage, + * &xMessageBufferStruct ); * - * // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer - * // parameters were NULL, xMessageBuffer will not be NULL, and can be used to - * // reference the created message buffer in other message buffer API calls. + * // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer + * // parameters were NULL, xMessageBuffer will not be NULL, and can be used to + * // reference the created message buffer in other message buffer API calls. * - * // Other code that uses the message buffer can go here. + * // Other code that uses the message buffer can go here. * } * * @endcode + * @cond + * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) +#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) \ + ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer ) /** + * @cond + * message_buffer.h + * + * 
+ * size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
+ *                         const void *pvTxData,
+ *                         size_t xDataLengthBytes,
+ *                         TickType_t xTicksToWait );
+ *
+ * @endcond + * * Sends a discrete message to the message buffer. The message can be any * length that fits within the buffer's free space, and is copied into the * buffer. @@ -256,32 +293,47 @@ typedef void * MessageBufferHandle_t; * char *pcStringToSend = "String to send"; * const TickType_t x100ms = pdMS_TO_TICKS( 100 ); * - * // Send an array to the message buffer, blocking for a maximum of 100ms to - * // wait for enough space to be available in the message buffer. - * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms ); + * // Send an array to the message buffer, blocking for a maximum of 100ms to + * // wait for enough space to be available in the message buffer. + * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms ); * - * if( xBytesSent != sizeof( ucArrayToSend ) ) - * { - * // The call to xMessageBufferSend() times out before there was enough - * // space in the buffer for the data to be written. - * } + * if( xBytesSent != sizeof( ucArrayToSend ) ) + * { + * // The call to xMessageBufferSend() times out before there was enough + * // space in the buffer for the data to be written. + * } * - * // Send the string to the message buffer. Return immediately if there is - * // not enough space in the buffer. - * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 ); + * // Send the string to the message buffer. Return immediately if there is + * // not enough space in the buffer. + * xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 ); * - * if( xBytesSent != strlen( pcStringToSend ) ) - * { - * // The string could not be added to the message buffer because there was - * // not enough free space in the buffer. - * } + * if( xBytesSent != strlen( pcStringToSend ) ) + * { + * // The string could not be added to the message buffer because there was + * // not enough free space in the buffer. + * } * } * @endcode + * @cond + * \defgroup xMessageBufferSend xMessageBufferSend + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) +#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) \ + xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) /** + * @cond + * message_buffer.h + * + * 
+ * size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                const void *pvTxData,
+ *                                size_t xDataLengthBytes,
+ *                                BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * @endcond + * * Interrupt safe version of the API function that sends a discrete message to * the message buffer. The message can be any length that fits within the * buffer's free space, and is copied into the buffer. @@ -348,34 +400,49 @@ typedef void * MessageBufferHandle_t; * char *pcStringToSend = "String to send"; * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * - * // Attempt to send the string to the message buffer. - * xBytesSent = xMessageBufferSendFromISR( xMessageBuffer, - * ( void * ) pcStringToSend, - * strlen( pcStringToSend ), - * &xHigherPriorityTaskWoken ); + * // Attempt to send the string to the message buffer. + * xBytesSent = xMessageBufferSendFromISR( xMessageBuffer, + * ( void * ) pcStringToSend, + * strlen( pcStringToSend ), + * &xHigherPriorityTaskWoken ); * - * if( xBytesSent != strlen( pcStringToSend ) ) - * { - * // The string could not be added to the message buffer because there was - * // not enough free space in the buffer. - * } + * if( xBytesSent != strlen( pcStringToSend ) ) + * { + * // The string could not be added to the message buffer because there was + * // not enough free space in the buffer. + * } * - * // If xHigherPriorityTaskWoken was set to pdTRUE inside - * // xMessageBufferSendFromISR() then a task that has a priority above the - * // priority of the currently executing task was unblocked and a context - * // switch should be performed to ensure the ISR returns to the unblocked - * // task. In most FreeRTOS ports this is done by simply passing - * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the - * // variables value, and perform the context switch if necessary. Check the - * // documentation for the port in use for port specific instructions. - * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); + * // If xHigherPriorityTaskWoken was set to pdTRUE inside + * // xMessageBufferSendFromISR() then a task that has a priority above the + * // priority of the currently executing task was unblocked and a context + * // switch should be performed to ensure the ISR returns to the unblocked + * // task. In most FreeRTOS ports this is done by simply passing + * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the + * // variables value, and perform the context switch if necessary. Check the + * // documentation for the port in use for port specific instructions. + * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * } * @endcode + * @cond + * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) +#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) \ + xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) /** + * @cond + * message_buffer.h + * + * 
+ * size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
+ *                            void *pvRxData,
+ *                            size_t xBufferLengthBytes,
+ *                            TickType_t xTicksToWait );
+ *
+ * @endcond + * * Receives a discrete message from a message buffer. Messages can be of * variable length and are copied out of the buffer. * @@ -434,27 +501,42 @@ typedef void * MessageBufferHandle_t; * size_t xReceivedBytes; * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 ); * - * // Receive the next message from the message buffer. Wait in the Blocked - * // state (so not using any CPU processing time) for a maximum of 100ms for - * // a message to become available. - * xReceivedBytes = xMessageBufferReceive( xMessageBuffer, - * ( void * ) ucRxData, - * sizeof( ucRxData ), - * xBlockTime ); + * // Receive the next message from the message buffer. Wait in the Blocked + * // state (so not using any CPU processing time) for a maximum of 100ms for + * // a message to become available. + * xReceivedBytes = xMessageBufferReceive( xMessageBuffer, + * ( void * ) ucRxData, + * sizeof( ucRxData ), + * xBlockTime ); * - * if( xReceivedBytes > 0 ) - * { - * // A ucRxData contains a message that is xReceivedBytes long. Process - * // the message here.... - * } + * if( xReceivedBytes > 0 ) + * { + * // A ucRxData contains a message that is xReceivedBytes long. Process + * // the message here.... + * } * } * @endcode + * @cond + * \defgroup xMessageBufferReceive xMessageBufferReceive + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) +#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) \ + xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) /** + * @cond + * message_buffer.h + * + * 
+ * size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
+ *                                   void *pvRxData,
+ *                                   size_t xBufferLengthBytes,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * @endcond + * * An interrupt safe version of the API function that receives a discrete * message from a message buffer. Messages can be of variable length and are * copied out of the buffer. @@ -517,34 +599,46 @@ typedef void * MessageBufferHandle_t; * size_t xReceivedBytes; * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE. * - * // Receive the next message from the message buffer. - * xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer, - * ( void * ) ucRxData, - * sizeof( ucRxData ), - * &xHigherPriorityTaskWoken ); + * // Receive the next message from the message buffer. + * xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer, + * ( void * ) ucRxData, + * sizeof( ucRxData ), + * &xHigherPriorityTaskWoken ); * - * if( xReceivedBytes > 0 ) - * { - * // A ucRxData contains a message that is xReceivedBytes long. Process - * // the message here.... - * } + * if( xReceivedBytes > 0 ) + * { + * // A ucRxData contains a message that is xReceivedBytes long. Process + * // the message here.... + * } * - * // If xHigherPriorityTaskWoken was set to pdTRUE inside - * // xMessageBufferReceiveFromISR() then a task that has a priority above the - * // priority of the currently executing task was unblocked and a context - * // switch should be performed to ensure the ISR returns to the unblocked - * // task. In most FreeRTOS ports this is done by simply passing - * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the - * // variables value, and perform the context switch if necessary. Check the - * // documentation for the port in use for port specific instructions. - * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); + * // If xHigherPriorityTaskWoken was set to pdTRUE inside + * // xMessageBufferReceiveFromISR() then a task that has a priority above the + * // priority of the currently executing task was unblocked and a context + * // switch should be performed to ensure the ISR returns to the unblocked + * // task. In most FreeRTOS ports this is done by simply passing + * // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the + * // variables value, and perform the context switch if necessary. Check the + * // documentation for the port in use for port specific instructions. + * portYIELD_FROM_ISR( xHigherPriorityTaskWoken ); * } * @endcode + * @cond + * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) +#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) \ + xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) /** + * @cond + * message_buffer.h + * + * 
+ * void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
+ *
+ * @endcond + * * Deletes a message buffer that was previously created using a call to * xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message * buffer was created using dynamic memory (that is, by xMessageBufferCreate()), @@ -556,9 +650,17 @@ typedef void * MessageBufferHandle_t; * @param xMessageBuffer The handle of the message buffer to be deleted. * */ -#define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) +#define vMessageBufferDelete( xMessageBuffer ) \ + vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer ) /** + * @cond + * message_buffer.h + * 
+ * BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
+ *
+ * @endcond + * * Tests to see if a message buffer is full. A message buffer is full if it * cannot accept any more messages, of any size, until space is made available * by a message being removed from the message buffer. @@ -568,9 +670,17 @@ typedef void * MessageBufferHandle_t; * @return If the message buffer referenced by xMessageBuffer is full then * pdTRUE is returned. Otherwise pdFALSE is returned. */ -#define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferIsFull( xMessageBuffer ) \ + xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer ) /** + * @cond + * message_buffer.h + * 
+ * BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
+ *
+ * @endcond + * * Tests to see if a message buffer is empty (does not contain any messages). * * @param xMessageBuffer The handle of the message buffer being queried. @@ -579,9 +689,17 @@ typedef void * MessageBufferHandle_t; * pdTRUE is returned. Otherwise pdFALSE is returned. * */ -#define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferIsEmpty( xMessageBuffer ) \ + xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer ) /** + * @cond + * message_buffer.h + * 
+ * BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
+ *
+ * @endcond + * * Resets a message buffer to its initial empty state, discarding any message it * contained. * @@ -594,12 +712,23 @@ typedef void * MessageBufferHandle_t; * the message queue to wait for space to become available, or to wait for a * a message to be available, then pdFAIL is returned. * + * @cond + * \defgroup xMessageBufferReset xMessageBufferReset + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferReset( xMessageBuffer ) \ + xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer ) /** + * @cond + * message_buffer.h + * 
+ * size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
+ *
+ * @endcond + * * Returns the number of bytes of free space in the message buffer. * * @param xMessageBuffer The handle of the message buffer being queried. @@ -611,12 +740,24 @@ typedef void * MessageBufferHandle_t; * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size * of the largest message that can be written to the message buffer is 6 bytes. * + * @cond + * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) -#define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */ +#define xMessageBufferSpaceAvailable( xMessageBuffer ) \ + xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) +#define xMessageBufferSpacesAvailable( xMessageBuffer ) \ + xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */ /** + * @cond + * message_buffer.h + * 
+ * size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
+ *
+ * @endcond + * * Returns the length (in bytes) of the next message in a message buffer. * Useful if xMessageBufferReceive() returned 0 because the size of the buffer * passed into xMessageBufferReceive() was too small to hold the next message. @@ -626,11 +767,23 @@ typedef void * MessageBufferHandle_t; * @return The length (in bytes) of the next message in the message buffer, or 0 * if the message buffer is empty. * + * @cond + * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes + * @endcond * \ingroup MessageBufferManagement */ -#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; +#define xMessageBufferNextLengthBytes( xMessageBuffer ) \ + xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION; /** + * @cond + * message_buffer.h + * + * 
+ * BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * @endcond + * * For advanced users only. * * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when @@ -658,11 +811,23 @@ typedef void * MessageBufferHandle_t; * @return If a task was removed from the Blocked state then pdTRUE is returned. * Otherwise pdFALSE is returned. * + * @cond + * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR + * @endcond * \ingroup StreamBufferManagement */ -#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) +#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) /** + * @cond + * message_buffer.h + * + * 
+ * BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ * @endcond + * * For advanced users only. * * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when @@ -691,12 +856,18 @@ typedef void * MessageBufferHandle_t; * @return If a task was removed from the Blocked state then pdTRUE is returned. * Otherwise pdFALSE is returned. * + * @cond + * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR + * @endcond * \ingroup StreamBufferManagement */ -#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) +#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) \ + xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken ) +/* *INDENT-OFF* */ #if defined( __cplusplus ) -} /* extern "C" */ + } /* extern "C" */ #endif +/* *INDENT-ON* */ -#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */ +#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */ diff --git a/components/freertos/include/freertos/mpu_wrappers.h b/components/freertos/include/freertos/mpu_wrappers.h index 7cbad5da08..b881448a5d 100644 --- a/components/freertos/include/freertos/mpu_wrappers.h +++ b/components/freertos/include/freertos/mpu_wrappers.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,166 +19,165 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef MPU_WRAPPERS_H #define MPU_WRAPPERS_H /* This file redefines API functions to be called through a wrapper macro, but -only for ports that are using the MPU. */ + * only for ports that are using the MPU. */ #if portUSING_MPU_WRAPPERS - /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is - included from queue.c or task.c to prevent it from having an effect within - those files. */ - #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE +/* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is + * included from queue.c or task.c to prevent it from having an effect within + * those files. */ + #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE - /* - * Map standard (non MPU) API functions to equivalents that start - * "MPU_". This will cause the application code to call the MPU_ - * version, which wraps the non-MPU version with privilege promoting - * then demoting code, so the kernel code always runs will full - * privileges. - */ +/* + * Map standard (non MPU) API functions to equivalents that start + * "MPU_". This will cause the application code to call the MPU_ + * version, which wraps the non-MPU version with privilege promoting + * then demoting code, so the kernel code always runs will full + * privileges. + */ - /* Map standard tasks.h API functions to the MPU equivalents. */ - #define xTaskCreate MPU_xTaskCreate - #define xTaskCreateStatic MPU_xTaskCreateStatic - #define xTaskCreateRestricted MPU_xTaskCreateRestricted - #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions - #define vTaskDelete MPU_vTaskDelete - #define vTaskDelay MPU_vTaskDelay - #define vTaskDelayUntil MPU_vTaskDelayUntil - #define xTaskAbortDelay MPU_xTaskAbortDelay - #define uxTaskPriorityGet MPU_uxTaskPriorityGet - #define eTaskGetState MPU_eTaskGetState - #define vTaskGetInfo MPU_vTaskGetInfo - #define vTaskPrioritySet MPU_vTaskPrioritySet - #define vTaskSuspend MPU_vTaskSuspend - #define vTaskResume MPU_vTaskResume - #define vTaskSuspendAll MPU_vTaskSuspendAll - #define xTaskResumeAll MPU_xTaskResumeAll - #define xTaskGetTickCount MPU_xTaskGetTickCount - #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks - #define pcTaskGetName MPU_pcTaskGetName - #define xTaskGetHandle MPU_xTaskGetHandle - #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark - #define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2 - #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag - #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag - // #define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer - // #define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer - #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook - #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle - #define uxTaskGetSystemState MPU_uxTaskGetSystemState - #define vTaskList MPU_vTaskList - #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats - #define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter - #define xTaskGenericNotify MPU_xTaskGenericNotify - #define xTaskNotifyWait MPU_xTaskNotifyWait - #define ulTaskNotifyTake MPU_ulTaskNotifyTake - #define xTaskNotifyStateClear MPU_xTaskNotifyStateClear - #define xTaskCatchUpTicks MPU_xTaskCatchUpTicks +/* Map standard tasks.h API functions to the MPU equivalents. */ + #define xTaskCreate MPU_xTaskCreate + #define xTaskCreateStatic MPU_xTaskCreateStatic + #define xTaskCreateRestricted MPU_xTaskCreateRestricted + #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions + #define vTaskDelete MPU_vTaskDelete + #define vTaskDelay MPU_vTaskDelay + #define vTaskDelayUntil MPU_vTaskDelayUntil + #define xTaskAbortDelay MPU_xTaskAbortDelay + #define uxTaskPriorityGet MPU_uxTaskPriorityGet + #define eTaskGetState MPU_eTaskGetState + #define vTaskGetInfo MPU_vTaskGetInfo + #define vTaskPrioritySet MPU_vTaskPrioritySet + #define vTaskSuspend MPU_vTaskSuspend + #define vTaskResume MPU_vTaskResume + #define vTaskSuspendAll MPU_vTaskSuspendAll + #define xTaskResumeAll MPU_xTaskResumeAll + #define xTaskGetTickCount MPU_xTaskGetTickCount + #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks + #define pcTaskGetName MPU_pcTaskGetName + #define xTaskGetHandle MPU_xTaskGetHandle + #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark + #define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2 + #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag + #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag + // #define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer + // #define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer + #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook + #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle + #define uxTaskGetSystemState MPU_uxTaskGetSystemState + #define vTaskList MPU_vTaskList + #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats + #define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter + #define xTaskGenericNotify MPU_xTaskGenericNotify + #define xTaskNotifyWait MPU_xTaskNotifyWait + #define ulTaskNotifyTake MPU_ulTaskNotifyTake + #define xTaskNotifyStateClear MPU_xTaskNotifyStateClear + #define xTaskCatchUpTicks MPU_xTaskCatchUpTicks - #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle - #define vTaskSetTimeOutState MPU_vTaskSetTimeOutState - #define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut - #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState + #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle + #define vTaskSetTimeOutState MPU_vTaskSetTimeOutState + #define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut + #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState - /* Map standard queue.h API functions to the MPU equivalents. */ - #define xQueueGenericSend MPU_xQueueGenericSend - #define xQueueReceive MPU_xQueueReceive - #define xQueuePeek MPU_xQueuePeek - #define xQueueSemaphoreTake MPU_xQueueSemaphoreTake - #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting - #define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable - #define vQueueDelete MPU_vQueueDelete - #define xQueueCreateMutex MPU_xQueueCreateMutex - #define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic - #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore - #define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic - #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder - #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive - #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive - #define xQueueGenericCreate MPU_xQueueGenericCreate - #define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic - #define xQueueCreateSet MPU_xQueueCreateSet - #define xQueueAddToSet MPU_xQueueAddToSet - #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet - #define xQueueSelectFromSet MPU_xQueueSelectFromSet - #define xQueueGenericReset MPU_xQueueGenericReset + /* Map standard queue.h API functions to the MPU equivalents. */ + #define xQueueGenericSend MPU_xQueueGenericSend + #define xQueueReceive MPU_xQueueReceive + #define xQueuePeek MPU_xQueuePeek + #define xQueueSemaphoreTake MPU_xQueueSemaphoreTake + #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting + #define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable + #define vQueueDelete MPU_vQueueDelete + #define xQueueCreateMutex MPU_xQueueCreateMutex + #define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic + #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore + #define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic + #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder + #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive + #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive + #define xQueueGenericCreate MPU_xQueueGenericCreate + #define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic + #define xQueueCreateSet MPU_xQueueCreateSet + #define xQueueAddToSet MPU_xQueueAddToSet + #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet + #define xQueueSelectFromSet MPU_xQueueSelectFromSet + #define xQueueGenericReset MPU_xQueueGenericReset - #if( configQUEUE_REGISTRY_SIZE > 0 ) - #define vQueueAddToRegistry MPU_vQueueAddToRegistry - #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue - #define pcQueueGetName MPU_pcQueueGetName - #endif + #if ( configQUEUE_REGISTRY_SIZE > 0 ) + #define vQueueAddToRegistry MPU_vQueueAddToRegistry + #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue + #define pcQueueGetName MPU_pcQueueGetName + #endif - /* Map standard timer.h API functions to the MPU equivalents. */ - #define xTimerCreate MPU_xTimerCreate - #define xTimerCreateStatic MPU_xTimerCreateStatic - #define pvTimerGetTimerID MPU_pvTimerGetTimerID - #define vTimerSetTimerID MPU_vTimerSetTimerID - #define xTimerIsTimerActive MPU_xTimerIsTimerActive - #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle - #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall - #define pcTimerGetName MPU_pcTimerGetName - #define vTimerSetReloadMode MPU_vTimerSetReloadMode - #define xTimerGetPeriod MPU_xTimerGetPeriod - #define xTimerGetExpiryTime MPU_xTimerGetExpiryTime - #define xTimerGenericCommand MPU_xTimerGenericCommand +/* Map standard timer.h API functions to the MPU equivalents. */ + #define xTimerCreate MPU_xTimerCreate + #define xTimerCreateStatic MPU_xTimerCreateStatic + #define pvTimerGetTimerID MPU_pvTimerGetTimerID + #define vTimerSetTimerID MPU_vTimerSetTimerID + #define xTimerIsTimerActive MPU_xTimerIsTimerActive + #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle + #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall + #define pcTimerGetName MPU_pcTimerGetName + #define vTimerSetReloadMode MPU_vTimerSetReloadMode + #define xTimerGetPeriod MPU_xTimerGetPeriod + #define xTimerGetExpiryTime MPU_xTimerGetExpiryTime + #define xTimerGenericCommand MPU_xTimerGenericCommand - /* Map standard event_group.h API functions to the MPU equivalents. */ - #define xEventGroupCreate MPU_xEventGroupCreate - #define xEventGroupCreateStatic MPU_xEventGroupCreateStatic - #define xEventGroupWaitBits MPU_xEventGroupWaitBits - #define xEventGroupClearBits MPU_xEventGroupClearBits - #define xEventGroupSetBits MPU_xEventGroupSetBits - #define xEventGroupSync MPU_xEventGroupSync - #define vEventGroupDelete MPU_vEventGroupDelete +/* Map standard event_group.h API functions to the MPU equivalents. */ + #define xEventGroupCreate MPU_xEventGroupCreate + #define xEventGroupCreateStatic MPU_xEventGroupCreateStatic + #define xEventGroupWaitBits MPU_xEventGroupWaitBits + #define xEventGroupClearBits MPU_xEventGroupClearBits + #define xEventGroupSetBits MPU_xEventGroupSetBits + #define xEventGroupSync MPU_xEventGroupSync + #define vEventGroupDelete MPU_vEventGroupDelete - /* Map standard message/stream_buffer.h API functions to the MPU - equivalents. */ - #define xStreamBufferSend MPU_xStreamBufferSend - #define xStreamBufferReceive MPU_xStreamBufferReceive - #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes - #define vStreamBufferDelete MPU_vStreamBufferDelete - #define xStreamBufferIsFull MPU_xStreamBufferIsFull - #define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty - #define xStreamBufferReset MPU_xStreamBufferReset - #define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable - #define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable - #define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel - #define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate - #define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic +/* Map standard message/stream_buffer.h API functions to the MPU + * equivalents. */ + #define xStreamBufferSend MPU_xStreamBufferSend + #define xStreamBufferReceive MPU_xStreamBufferReceive + #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes + #define vStreamBufferDelete MPU_vStreamBufferDelete + #define xStreamBufferIsFull MPU_xStreamBufferIsFull + #define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty + #define xStreamBufferReset MPU_xStreamBufferReset + #define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable + #define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable + #define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel + #define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate + #define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic - /* Remove the privileged function macro, but keep the PRIVILEGED_DATA - macro so applications can place data in privileged access sections - (useful when using statically allocated objects). */ - #define PRIVILEGED_FUNCTION - #define PRIVILEGED_DATA __attribute__((section("privileged_data"))) - #define FREERTOS_SYSTEM_CALL +/* Remove the privileged function macro, but keep the PRIVILEGED_DATA + * macro so applications can place data in privileged access sections + * (useful when using statically allocated objects). */ + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) ) + #define FREERTOS_SYSTEM_CALL - #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ - /* Ensure API functions go in the privileged execution section. */ - #define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions"))) - #define PRIVILEGED_DATA __attribute__((section("privileged_data"))) - #define FREERTOS_SYSTEM_CALL __attribute__((section( "freertos_system_calls"))) +/* Ensure API functions go in the privileged execution section. */ + #define PRIVILEGED_FUNCTION __attribute__( ( section( "privileged_functions" ) ) ) + #define PRIVILEGED_DATA __attribute__( ( section( "privileged_data" ) ) ) + #define FREERTOS_SYSTEM_CALL __attribute__( ( section( "freertos_system_calls" ) ) ) - #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ + #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ #else /* portUSING_MPU_WRAPPERS */ - #define PRIVILEGED_FUNCTION - #define PRIVILEGED_DATA - #define FREERTOS_SYSTEM_CALL - #define portUSING_MPU_WRAPPERS 0 + #define PRIVILEGED_FUNCTION + #define PRIVILEGED_DATA + #define FREERTOS_SYSTEM_CALL + #define portUSING_MPU_WRAPPERS 0 #endif /* portUSING_MPU_WRAPPERS */ diff --git a/components/freertos/include/freertos/portable.h b/components/freertos/include/freertos/portable.h index 0c39bb9f6d..ce832f6c26 100644 --- a/components/freertos/include/freertos/portable.h +++ b/components/freertos/include/freertos/portable.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ /*----------------------------------------------------------- @@ -33,68 +32,70 @@ #define PORTABLE_H /* Each FreeRTOS port has a unique portmacro.h header file. Originally a -pre-processor definition was used to ensure the pre-processor found the correct -portmacro.h file for the port being used. That scheme was deprecated in favour -of setting the compiler's include path such that it found the correct -portmacro.h file - removing the need for the constant and allowing the -portmacro.h file to be located anywhere in relation to the port being used. -Purely for reasons of backward compatibility the old method is still valid, but -to make it clear that new projects should not use it, support for the port -specific constants has been moved into the deprecated_definitions.h header -file. */ + * pre-processor definition was used to ensure the pre-processor found the correct + * portmacro.h file for the port being used. That scheme was deprecated in favour + * of setting the compiler's include path such that it found the correct + * portmacro.h file - removing the need for the constant and allowing the + * portmacro.h file to be located anywhere in relation to the port being used. + * Purely for reasons of backward compatibility the old method is still valid, but + * to make it clear that new projects should not use it, support for the port + * specific constants has been moved into the deprecated_definitions.h header + * file. */ #include "deprecated_definitions.h" /* If portENTER_CRITICAL is not defined then including deprecated_definitions.h -did not result in a portmacro.h header file being included - and it should be -included here. In this case the path to the correct portmacro.h header file -must be set in the compiler's include path. */ + * did not result in a portmacro.h header file being included - and it should be + * included here. In this case the path to the correct portmacro.h header file + * must be set in the compiler's include path. */ #ifndef portENTER_CRITICAL - #include "freertos/portmacro.h" + #include "freertos/portmacro.h" #endif #if portBYTE_ALIGNMENT == 32 - #define portBYTE_ALIGNMENT_MASK ( 0x001f ) + #define portBYTE_ALIGNMENT_MASK ( 0x001f ) #endif #if portBYTE_ALIGNMENT == 16 - #define portBYTE_ALIGNMENT_MASK ( 0x000f ) + #define portBYTE_ALIGNMENT_MASK ( 0x000f ) #endif #if portBYTE_ALIGNMENT == 8 - #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) + #define portBYTE_ALIGNMENT_MASK ( 0x0007 ) #endif #if portBYTE_ALIGNMENT == 4 - #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) + #define portBYTE_ALIGNMENT_MASK ( 0x0003 ) #endif #if portBYTE_ALIGNMENT == 2 - #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) + #define portBYTE_ALIGNMENT_MASK ( 0x0001 ) #endif #if portBYTE_ALIGNMENT == 1 - #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) + #define portBYTE_ALIGNMENT_MASK ( 0x0000 ) #endif #ifndef portBYTE_ALIGNMENT_MASK - #error "Invalid portBYTE_ALIGNMENT definition" + #error "Invalid portBYTE_ALIGNMENT definition" #endif #ifndef portNUM_CONFIGURABLE_REGIONS - #define portNUM_CONFIGURABLE_REGIONS 1 + #define portNUM_CONFIGURABLE_REGIONS 1 #endif #ifndef portHAS_STACK_OVERFLOW_CHECKING - #define portHAS_STACK_OVERFLOW_CHECKING 0 + #define portHAS_STACK_OVERFLOW_CHECKING 0 #endif #ifndef portARCH_NAME - #define portARCH_NAME NULL + #define portARCH_NAME NULL #endif +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ #include "mpu_wrappers.h" @@ -104,40 +105,52 @@ extern "C" { * the order that the port expects to find them. * */ -#if( portUSING_MPU_WRAPPERS == 1 ) - #if( portHAS_STACK_OVERFLOW_CHECKING == 1 ) - StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; - #else - StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; - #endif -#else - #if( portHAS_STACK_OVERFLOW_CHECKING == 1 ) - StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; - #else - StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; - #endif +#if ( portUSING_MPU_WRAPPERS == 1 ) + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; + #else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters, + BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION; + #endif +#else /* if ( portUSING_MPU_WRAPPERS == 1 ) */ + #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 ) + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + StackType_t * pxEndOfStack, + TaskFunction_t pxCode, + void * pvParameters ) PRIVILEGED_FUNCTION; + #else + StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack, + TaskFunction_t pxCode, + void * pvParameters ) PRIVILEGED_FUNCTION; + #endif #endif #ifdef configUSE_FREERTOS_PROVIDED_HEAP /* Used by heap_5.c to define the start address and size of each memory region -that together comprise the total FreeRTOS heap space. */ + * that together comprise the total FreeRTOS heap space. */ typedef struct HeapRegion { - uint8_t *pucStartAddress; - size_t xSizeInBytes; + uint8_t * pucStartAddress; + size_t xSizeInBytes; } HeapRegion_t; /* Used to pass information about the heap out of vPortGetHeapStats(). */ typedef struct xHeapStats { - size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */ - size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ - size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ - size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */ - size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */ - size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */ - size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */ + size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */ + size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */ + size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */ + size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */ + size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */ } HeapStats_t; /* @@ -157,12 +170,13 @@ void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEG * Returns a HeapStats_t structure filled with information about the current * heap state. */ -void vPortGetHeapStats( HeapStats_t *pxHeapStats ); +void vPortGetHeapStats( HeapStats_t * pxHeapStats ); + /* * Map to the memory management routines required for the port. */ -void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION; -void vPortFree( void *pv ) PRIVILEGED_FUNCTION; +void * pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION; +void vPortFree( void * pv ) PRIVILEGED_FUNCTION; void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION; size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION; size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION; @@ -196,8 +210,10 @@ BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION; */ void vPortEndScheduler( void ) PRIVILEGED_FUNCTION; +/* *INDENT-OFF* */ #ifdef __cplusplus -} + } #endif +/* *INDENT-ON* */ #endif /* PORTABLE_H */ diff --git a/components/freertos/include/freertos/projdefs.h b/components/freertos/include/freertos/projdefs.h index ce647fb6fb..04f7b12343 100644 --- a/components/freertos/include/freertos/projdefs.h +++ b/components/freertos/include/freertos/projdefs.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ #ifndef PROJDEFS_H @@ -32,95 +31,95 @@ * Defines the prototype to which task functions must conform. Defined in this * file to ensure the type is known before portable.h is included. */ -typedef void (*TaskFunction_t)( void * ); +typedef void (* TaskFunction_t)( void * ); /* Converts a time in milliseconds to a time in ticks. This macro can be -overridden by a macro of the same name defined in FreeRTOSConfig.h in case the -definition here is not suitable for your application. */ + * overridden by a macro of the same name defined in FreeRTOSConfig.h in case the + * definition here is not suitable for your application. */ #ifndef pdMS_TO_TICKS - #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) ) + #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) ) #endif #ifndef pdTICKS_TO_MS - #define pdTICKS_TO_MS( xTicks ) ( ( uint32_t ) ( xTicks ) * 1000 / configTICK_RATE_HZ ) + #define pdTICKS_TO_MS( xTicks ) ( ( uint32_t ) ( xTicks ) * 1000 / configTICK_RATE_HZ ) #endif -#define pdFALSE ( ( BaseType_t ) 0 ) -#define pdTRUE ( ( BaseType_t ) 1 ) +#define pdFALSE ( ( BaseType_t ) 0 ) +#define pdTRUE ( ( BaseType_t ) 1 ) -#define pdPASS ( pdTRUE ) -#define pdFAIL ( pdFALSE ) -#define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) -#define errQUEUE_FULL ( ( BaseType_t ) 0 ) +#define pdPASS ( pdTRUE ) +#define pdFAIL ( pdFALSE ) +#define errQUEUE_EMPTY ( ( BaseType_t ) 0 ) +#define errQUEUE_FULL ( ( BaseType_t ) 0 ) /* FreeRTOS error definitions. */ -#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) -#define errQUEUE_BLOCKED ( -4 ) -#define errQUEUE_YIELD ( -5 ) +#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) +#define errQUEUE_BLOCKED ( -4 ) +#define errQUEUE_YIELD ( -5 ) /* Macros used for basic data corruption checks. */ #ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES - #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 + #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0 #endif -#if( configUSE_16_BIT_TICKS == 1 ) - #define pdINTEGRITY_CHECK_VALUE 0x5a5a +#if ( configUSE_16_BIT_TICKS == 1 ) + #define pdINTEGRITY_CHECK_VALUE 0x5a5a #else - #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL + #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL #endif /* The following errno values are used by FreeRTOS+ components, not FreeRTOS -itself. */ -#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ -#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ -#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */ -#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */ -#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ -#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ -#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ -#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ -#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */ -#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ -#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ -#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ -#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ -#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */ -#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ -#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ -#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ -#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ -#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ -#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */ -#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ -#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ -#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ -#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ -#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ -#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ -#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ -#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ -#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ -#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ -#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ -#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ -#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ -#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ -#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ -#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ -#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ -#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ -#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ -#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ + * itself. */ +#define pdFREERTOS_ERRNO_NONE 0 /* No errors */ +#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */ +#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */ +#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */ +#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */ +#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */ +#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */ +#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */ +#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */ +#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */ +#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */ +#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */ +#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */ +#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */ +#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */ +#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */ +#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */ +#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */ +#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */ +#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */ +#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */ +#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */ +#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */ +#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */ +#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */ +#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */ +#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */ +#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */ +#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */ +#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */ +#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */ +#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */ +#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */ +#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */ +#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */ +#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */ +#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */ +#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */ +#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */ +#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */ /* The following endian values are used by FreeRTOS+ components, not FreeRTOS -itself. */ -#define pdFREERTOS_LITTLE_ENDIAN 0 -#define pdFREERTOS_BIG_ENDIAN 1 + * itself. */ +#define pdFREERTOS_LITTLE_ENDIAN 0 +#define pdFREERTOS_BIG_ENDIAN 1 /* Re-defining endian values for generic naming. */ -#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN -#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN +#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN +#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN #endif /* PROJDEFS_H */ diff --git a/components/freertos/include/freertos/queue.h b/components/freertos/include/freertos/queue.h index 8c35465316..5938527539 100644 --- a/components/freertos/include/freertos/queue.h +++ b/components/freertos/include/freertos/queue.h @@ -1,6 +1,6 @@ /* * FreeRTOS Kernel V10.2.1 - * Copyright (C) 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. * * Permission is hereby granted, free of charge, to any person obtaining a copy of * this software and associated documentation files (the "Software"), to deal in @@ -19,10 +19,9 @@ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. * - * http://www.FreeRTOS.org - * http://aws.amazon.com/freertos + * https://www.FreeRTOS.org + * https://github.com/FreeRTOS * - * 1 tab == 4 spaces! */ @@ -30,12 +29,14 @@ #define QUEUE_H #ifndef INC_FREERTOS_H - #error "include FreeRTOS.h" must appear in source files before "include queue.h" + #error "include FreeRTOS.h" must appear in source files before "include queue.h" #endif +/* *INDENT-OFF* */ #ifdef __cplusplus -extern "C" { + extern "C" { #endif +/* *INDENT-ON* */ #include "task.h" @@ -45,36 +46,36 @@ extern "C" { * xQueueSend(), xQueueReceive(), etc. */ struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */ -typedef struct QueueDefinition * QueueHandle_t; +typedef struct QueueDefinition * QueueHandle_t; /** * Type by which queue sets are referenced. For example, a call to * xQueueCreateSet() returns an xQueueSet variable that can then be used as a * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc. */ -typedef struct QueueDefinition * QueueSetHandle_t; +typedef struct QueueDefinition * QueueSetHandle_t; /** * Queue sets can contain both queues and semaphores, so the * QueueSetMemberHandle_t is defined as a type to be used where a parameter or * return value can be either an QueueHandle_t or an SemaphoreHandle_t. */ -typedef struct QueueDefinition * QueueSetMemberHandle_t; +typedef struct QueueDefinition * QueueSetMemberHandle_t; /** @cond */ /* For internal use only. */ -#define queueSEND_TO_BACK ( ( BaseType_t ) 0 ) -#define queueSEND_TO_FRONT ( ( BaseType_t ) 1 ) -#define queueOVERWRITE ( ( BaseType_t ) 2 ) +#define queueSEND_TO_BACK ( ( BaseType_t ) 0 ) +#define queueSEND_TO_FRONT ( ( BaseType_t ) 1 ) +#define queueOVERWRITE ( ( BaseType_t ) 2 ) /* For internal use only. These definitions *must* match those in queue.c. */ -#define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U ) -#define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U ) -#define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U ) -#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U ) -#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U ) -#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U ) +#define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U ) +#define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U ) /** @endcond */ @@ -95,15 +96,15 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * }; + * }; * - * void vATask( void *pvParameters ) - * { - * QueueHandle_t xQueue1, xQueue2; + * void vATask( void *pvParameters ) + * { + * QueueHandle_t xQueue1, xQueue2; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); @@ -121,15 +122,29 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueueCreate xQueueCreate + * @endcond * \ingroup QueueManagement */ -#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) - #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) ) +#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) + #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) ) #endif /** + * @cond + * queue. h + * 
+ * QueueHandle_t xQueueCreateStatic(
+ *                            UBaseType_t uxQueueLength,
+ *                            UBaseType_t uxItemSize,
+ *                            uint8_t *pucQueueStorageBuffer,
+ *                            StaticQueue_t *pxQueueBuffer
+ *                        );
+ *
+ * @endcond * Creates a new queue instance, and returns a handle by which the new queue * can be referenced. * @@ -138,12 +153,12 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * second block is used to hold items placed into the queue. If a queue is * created using xQueueCreate() then both blocks of memory are automatically * dynamically allocated inside the xQueueCreate() function. (see - * http://www.freertos.org/a00111.html). If a queue is created using + * https://www.FreeRTOS.org/a00111.html). If a queue is created using * xQueueCreateStatic() then the application writer must provide the memory that * will get used by the queue. xQueueCreateStatic() therefore allows a queue to * be created without using any dynamic memory allocation. * - * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html + * https://www.FreeRTOS.org/Embedded-RTOS-Queues.html * * @param uxQueueLength The maximum number of items that the queue can contain. * @@ -172,8 +187,8 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * char ucData[ 20 ]; * }; * - * #define QUEUE_LENGTH 10 - * #define ITEM_SIZE sizeof( uint32_t ) + * \#define QUEUE_LENGTH 10 + * \#define ITEM_SIZE sizeof( uint32_t ) * * // xQueueBuffer will hold the queue structure. * StaticQueue_t xQueueBuffer; @@ -184,7 +199,7 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * void vATask( void *pvParameters ) * { - * QueueHandle_t xQueue1; + * QueueHandle_t xQueue1; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold. @@ -198,13 +213,27 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * // ... Rest of task code. * } * @endcode + * @cond + * \defgroup xQueueCreateStatic xQueueCreateStatic + * @endcond * \ingroup QueueManagement */ -#if( configSUPPORT_STATIC_ALLOCATION == 1 ) - #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) ) +#if ( configSUPPORT_STATIC_ALLOCATION == 1 ) + #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) ) #endif /* configSUPPORT_STATIC_ALLOCATION */ /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueSendToToFront(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ *
+ * @endcond + * * Post an item to the front of a queue. The item is queued by copy, not by * reference. This function must not be called from an interrupt service * routine. See xQueueSendFromISR () for an alternative which may be used @@ -227,18 +256,18 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * } xMessage; + * } xMessage; * - * uint32_t ulVar = 10UL; + * uint32_t ulVar = 10UL; * - * void vATask( void *pvParameters ) - * { - * QueueHandle_t xQueue1, xQueue2; - * struct AMessage *pxMessage; + * void vATask( void *pvParameters ) + * { + * QueueHandle_t xQueue1, xQueue2; + * struct AMessage *pxMessage; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); @@ -268,13 +297,28 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueueSend xQueueSend + * @endcond * \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 ) /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueSendToBack(
+ *                                 QueueHandle_t    xQueue,
+ *                                 const void       *pvItemToQueue,
+ *                                 TickType_t       xTicksToWait
+ *                             );
+ *
+ * @endcond + * * This is a macro that calls xQueueGenericSend(). * * Post an item to the back of a queue. The item is queued by copy, not by @@ -299,18 +343,18 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * } xMessage; + * } xMessage; * - * uint32_t ulVar = 10UL; + * uint32_t ulVar = 10UL; * - * void vATask( void *pvParameters ) - * { - * QueueHandle_t xQueue1, xQueue2; - * struct AMessage *pxMessage; + * void vATask( void *pvParameters ) + * { + * QueueHandle_t xQueue1, xQueue2; + * struct AMessage *pxMessage; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); @@ -340,13 +384,28 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueueSend xQueueSend + * @endcond * \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 ) /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueSend(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            TickType_t xTicksToWait
+ *                       );
+ *
+ * @endcond + * * This is a macro that calls xQueueGenericSend(). It is included for * backward compatibility with versions of FreeRTOS.org that did not * include the xQueueSendToFront() and xQueueSendToBack() macros. It is @@ -373,18 +432,18 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * } xMessage; + * } xMessage; * - * uint32_t ulVar = 10UL; + * uint32_t ulVar = 10UL; * - * void vATask( void *pvParameters ) - * { - * QueueHandle_t xQueue1, xQueue2; - * struct AMessage *pxMessage; + * void vATask( void *pvParameters ) + * { + * QueueHandle_t xQueue1, xQueue2; + * struct AMessage *pxMessage; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); @@ -414,13 +473,27 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueueSend xQueueSend + * @endcond * \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 ) /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueOverwrite(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue
+ *                       );
+ *
+ * @endcond + * * Only for use with queues that have a length of one - so the queue is either * empty or full. * @@ -445,10 +518,10 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * Example usage: * @code{c} * - * void vFunction( void *pvParameters ) - * { - * QueueHandle_t xQueue; - * uint32_t ulVarToSend, ulValReceived; + * void vFunction( void *pvParameters ) + * { + * QueueHandle_t xQueue; + * uint32_t ulVarToSend, ulValReceived; * * // Create a queue to hold one uint32_t value. It is strongly * // recommended *not* to use xQueueOverwrite() on queues that can @@ -490,12 +563,28 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * // ... * } * @endcode + * @cond + * \defgroup xQueueOverwrite xQueueOverwrite + * @endcond * \ingroup QueueManagement */ -#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) +#define xQueueOverwrite( xQueue, pvItemToQueue ) \ + xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueGenericSend(
+ *                                  QueueHandle_t xQueue,
+ *                                  const void * pvItemToQueue,
+ *                                  TickType_t xTicksToWait
+ *                                  BaseType_t xCopyPosition
+ *                              );
+ *
+ * @endcond + * * It is preferred that the macros xQueueSend(), xQueueSendToFront() and * xQueueSendToBack() are used in place of calling this function directly. * @@ -524,18 +613,18 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * } xMessage; + * } xMessage; * - * uint32_t ulVar = 10UL; + * uint32_t ulVar = 10UL; * - * void vATask( void *pvParameters ) - * { - * QueueHandle_t xQueue1, xQueue2; - * struct AMessage *pxMessage; + * void vATask( void *pvParameters ) + * { + * QueueHandle_t xQueue1, xQueue2; + * struct AMessage *pxMessage; * * // Create a queue capable of containing 10 uint32_t values. * xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) ); @@ -565,13 +654,30 @@ typedef struct QueueDefinition * QueueSetMemberHandle_t; * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueueSend xQueueSend + * @endcond * \ingroup QueueManagement */ -BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; +BaseType_t xQueueGenericSend( QueueHandle_t xQueue, + const void * const pvItemToQueue, + TickType_t xTicksToWait, + const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION; /** + * @cond + * queue. h + * 
+ * BaseType_t xQueuePeek(
+ *                           QueueHandle_t xQueue,
+ *                           void * const pvBuffer,
+ *                           TickType_t xTicksToWait
+ *                       );
+ *
+ * @endcond + * * 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 @@ -592,7 +698,7 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ * * @param xTicksToWait The maximum amount of time the task should block * waiting for an item to receive should the queue be empty at the time - * of the call. The time is defined in tick periods so the constant + * of the call. The time is defined in tick periods so the constant * portTICK_PERIOD_MS should be used to convert to real time if this is required. * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue * is empty. @@ -602,18 +708,18 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ * * Example usage: * @code{c} - * struct AMessage - * { + * struct AMessage + * { * char ucMessageID; * char ucData[ 20 ]; - * } xMessage; + * } xMessage; * - * QueueHandle_t xQueue; + * QueueHandle_t xQueue; * - * // Task to create a queue and post a value. - * void vATask( void *pvParameters ) - * { - * struct AMessage *pxMessage; + * // Task to create a queue and post a value. + * void vATask( void *pvParameters ) + * { + * struct AMessage *pxMessage; * * // Create a queue capable of containing 10 pointers to AMessage structures. * // These should be passed by pointer as they contain a lot of data. @@ -631,12 +737,12 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ * xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 ); * * // ... Rest of task code. - * } + * } * - * // Task to peek the data from the queue. - * void vADifferentTask( void *pvParameters ) - * { - * struct AMessage *pxRxedMessage; + * // Task to peek the data from the queue. + * void vADifferentTask( void *pvParameters ) + * { + * struct AMessage *pxRxedMessage; * * if( xQueue != 0 ) * { @@ -650,13 +756,28 @@ BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQ * } * * // ... Rest of task code. - * } + * } * @endcode + * @cond + * \defgroup xQueuePeek xQueuePeek + * @endcond * \ingroup QueueManagement */ -BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; +BaseType_t xQueuePeek( QueueHandle_t xQueue, + void * const pvBuffer, + TickType_t xTicksToWait ) PRIVILEGED_FUNCTION; /** + * @cond + * queue. h + * 
+ * BaseType_t xQueuePeekFromISR(
+ *                                  QueueHandle_t xQueue,
+ *                                  void *pvBuffer,
+ *                              );
+ *
+ * @endcond + * * A version of xQueuePeek() that can be called from an interrupt service * routine (ISR). * @@ -677,11 +798,26 @@ BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t x * @return pdTRUE if an item was successfully received from the queue, * otherwise pdFALSE. * + * @cond + * \defgroup xQueuePeekFromISR xQueuePeekFromISR + * @endcond * \ingroup QueueManagement */ -BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION; +BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, + void * const pvBuffer ) PRIVILEGED_FUNCTION; /** + * @cond + * queue. h + * 
+ * BaseType_t xQueueReceive(
+ *                               QueueHandle_t xQueue,
+ *                               void *pvBuffer,
+ *                               TickType_t xTicksToWait
+ *                          );
+ * @endcode
+ * @endcond
+ *
  * Receive an item from a queue.  The item is received by copy so a buffer of
  * adequate size must be provided.  The number of bytes copied into the buffer
  * was defined when the queue was created.
@@ -699,7 +835,7 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIV
  *
  * @param xTicksToWait The maximum amount of time the task should block
  * waiting for an item to receive should the queue be empty at the time
- * of the call.	 xQueueReceive() will return immediately if xTicksToWait
+ * of the call. xQueueReceive() will return immediately if xTicksToWait
  * is zero and the queue is empty.  The time is defined in tick periods so the
  * constant portTICK_PERIOD_MS should be used to convert to real time if this is
  * required.
@@ -709,72 +845,94 @@ BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIV
  *
  * Example usage:
  * @code{c}
- *  struct AMessage
+ * struct AMessage
+ * {
+ *  char ucMessageID;
+ *  char ucData[ 20 ];
+ * } xMessage;
+ *
+ * QueueHandle_t xQueue;
+ *
+ * // Task to create a queue and post a value.
+ * void vATask( void *pvParameters )
+ * {
+ * struct AMessage *pxMessage;
+ *
+ *  // Create a queue capable of containing 10 pointers to AMessage structures.
+ *  // These should be passed by pointer as they contain a lot of data.
+ *  xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+ *  if( xQueue == 0 )
  *  {
- * 	char ucMessageID;
- * 	char ucData[ 20 ];
- *  } xMessage;
- *
- *  QueueHandle_t xQueue;
- *
- *  // Task to create a queue and post a value.
- *  void vATask( void *pvParameters )
- *  {
- *  struct AMessage *pxMessage;
- *
- * 	// Create a queue capable of containing 10 pointers to AMessage structures.
- * 	// These should be passed by pointer as they contain a lot of data.
- * 	xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
- * 	if( xQueue == 0 )
- * 	{
- * 		// Failed to create the queue.
- * 	}
- *
- * 	// ...
- *
- * 	// Send a pointer to a struct AMessage object.  Don't block if the
- * 	// queue is already full.
- * 	pxMessage = & xMessage;
- * 	xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
- *
- * 	// ... Rest of task code.
+ *      // Failed to create the queue.
  *  }
  *
- *  // Task to receive from the queue.
- *  void vADifferentTask( void *pvParameters )
+ *  // ...
+ *
+ *  // Send a pointer to a struct AMessage object.  Don't block if the
+ *  // queue is already full.
+ *  pxMessage = & xMessage;
+ *  xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
+ *
+ *  // ... Rest of task code.
+ * }
+ *
+ * // Task to receive from the queue.
+ * void vADifferentTask( void *pvParameters )
+ * {
+ * struct AMessage *pxRxedMessage;
+ *
+ *  if( xQueue != 0 )
  *  {
- *  struct AMessage *pxRxedMessage;
- *
- * 	if( xQueue != 0 )
- * 	{
- * 		// Receive a message on the created queue.  Block for 10 ticks if a
- * 		// message is not immediately available.
- * 		if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
- * 		{
- * 			// pcRxedMessage now points to the struct AMessage variable posted
- * 			// by vATask.
- * 		}
- * 	}
- *
- * 	// ... Rest of task code.
+ *      // Receive a message on the created queue.  Block for 10 ticks if a
+ *      // message is not immediately available.
+ *      if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
+ *      {
+ *          // pcRxedMessage now points to the struct AMessage variable posted
+ *          // by vATask.
+ *      }
  *  }
+ *
+ *  // ... Rest of task code.
+ * }
  * @endcode
+ * @cond
+ * \defgroup xQueueReceive xQueueReceive
+ * @endcond
  * \ingroup QueueManagement
  */
-BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueReceive( QueueHandle_t xQueue,
+                          void * const pvBuffer,
+                          TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );
+ * 

+ * @endcond
+ *
  * Return the number of messages stored in a queue.
  *
  * @param xQueue A handle to the queue being queried.
  *
  * @return The number of messages available in the queue.
  *
+ * @cond
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * @endcond
  * \ingroup QueueManagement
  */
 UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );
+ * 

+ * @endcond
+ *
  * 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.
@@ -783,21 +941,45 @@ UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNC
  *
  * @return The number of spaces available in the queue.
  *
+ * @cond
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * @endcond
  * \ingroup QueueManagement
  */
 UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * void vQueueDelete( QueueHandle_t xQueue );
+ * 

+ * @endcond
+ *
  * Delete a queue - freeing all the memory allocated for storing of items
  * placed on the queue.
  *
  * @param xQueue A handle to the queue to be deleted.
  *
+ * @cond
+ * \defgroup vQueueDelete vQueueDelete
+ * @endcond
  * \ingroup QueueManagement
  */
 void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueSendToFrontFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * 

+ * @endcond
+ *
  * This is a macro that calls xQueueGenericSendFromISR().
  *
  * Post an item to the front of a queue.  It is safe to use this macro from
@@ -826,38 +1008,54 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
  * @code{c}
- *  void vBufferISR( void )
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPrioritTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
  *  {
- *  char cIn;
- *  BaseType_t xHigherPrioritTaskWoken;
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
  *
- * 	// We have not woken a task at the start of the ISR.
- * 	xHigherPriorityTaskWoken = pdFALSE;
+ *      // Post the byte.
+ *      xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
  *
- * 	// Loop until the buffer is empty.
- * 	do
- * 	{
- * 		// Obtain a byte from the buffer.
- * 		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
  *
- * 		// Post the byte.
- * 		xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
- *
- * 	} while( portINPUT_BYTE( BUFFER_COUNT ) );
- *
- * 	// Now the buffer is empty we can switch context if necessary.
- * 	if( xHigherPriorityTaskWoken )
- * 	{
- * 		portYIELD_FROM_ISR ();
- * 	}
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      portYIELD_FROM_ISR ();
  *  }
+ * }
  * @endcode
+ *
+ * @cond
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * @endcond
  * \ingroup QueueManagement
  */
-#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
+#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
 
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueSendToBackFromISR(
+ *                                       QueueHandle_t xQueue,
+ *                                       const void *pvItemToQueue,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken
+ *                                    );
+ * 

+ * @endcond
+ *
  * This is a macro that calls xQueueGenericSendFromISR().
  *
  * Post an item to the back of a queue.  It is safe to use this macro from
@@ -886,37 +1084,53 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
  * @code{c}
- *  void vBufferISR( void )
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
  *  {
- *  char cIn;
- *  BaseType_t xHigherPriorityTaskWoken;
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
  *
- * 	// We have not woken a task at the start of the ISR.
- * 	xHigherPriorityTaskWoken = pdFALSE;
+ *      // Post the byte.
+ *      xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
  *
- * 	// Loop until the buffer is empty.
- * 	do
- * 	{
- * 		// Obtain a byte from the buffer.
- * 		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
  *
- * 		// Post the byte.
- * 		xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
- *
- * 	} while( portINPUT_BYTE( BUFFER_COUNT ) );
- *
- * 	// Now the buffer is empty we can switch context if necessary.
- * 	if( xHigherPriorityTaskWoken )
- * 	{
- * 		portYIELD_FROM_ISR ();
- * 	}
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      portYIELD_FROM_ISR ();
  *  }
+ * }
  * @endcode
+ *
+ * @cond
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * @endcond
  * \ingroup QueueManagement
  */
-#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueOverwriteFromISR(
+ *                            QueueHandle_t xQueue,
+ *                            const void * pvItemToQueue,
+ *                            BaseType_t *pxHigherPriorityTaskWoken
+ *                       );
+ * 

+ * @endcond
+ *
  * A version of xQueueOverwrite() that can be used in an interrupt service
  * routine (ISR).
  *
@@ -947,15 +1161,16 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  QueueHandle_t xQueue;
  *
- *  void vFunction( void *pvParameters )
- *  {
- *  	// Create a queue to hold one uint32_t value.  It is strongly
- * 	// recommended *not* to use xQueueOverwriteFromISR() on queues that can
- * 	// contain more than one value, and doing so will trigger an assertion
- * 	// if configASSERT() is defined.
- * 	xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
+ * QueueHandle_t xQueue;
+ *
+ * void vFunction( void *pvParameters )
+ * {
+ *  // Create a queue to hold one uint32_t value.  It is strongly
+ *  // recommended \*not\* to use xQueueOverwriteFromISR() on queues that can
+ *  // contain more than one value, and doing so will trigger an assertion
+ *  // if configASSERT() is defined.
+ *  xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
  * }
  *
  * void vAnInterruptHandler( void )
@@ -964,35 +1179,50 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
  * uint32_t ulVarToSend, ulValReceived;
  *
- * 	// Write the value 10 to the queue using xQueueOverwriteFromISR().
- * 	ulVarToSend = 10;
- * 	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+ *  // 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 );
+ *  // 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.
+ *  // 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.
- * 	}
+ *  if( xHigherPrioritytaskWoken == pdTRUE )
+ *  {
+ *      // Writing to the queue caused a task to unblock and the unblocked task
+ *      // has a priority higher than or equal to the priority of the currently
+ *      // executing task (the task this interrupt interrupted).  Perform a context
+ *      // switch so this interrupt returns directly to the unblocked task.
+ *      portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
+ *  }
  * }
  * @endcode
+ * @cond
+ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
+ * @endcond
  * \ingroup QueueManagement
  */
-#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
+#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueSendFromISR(
+ *                                   QueueHandle_t xQueue,
+ *                                   const void *pvItemToQueue,
+ *                                   BaseType_t *pxHigherPriorityTaskWoken
+ *                              );
+ * 

+ * @endcond
+ *
  * This is a macro that calls xQueueGenericSendFromISR().  It is included
  * for backward compatibility with versions of FreeRTOS.org that did not
  * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
@@ -1024,40 +1254,57 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
  * @code{c}
- *  void vBufferISR( void )
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
  *  {
- *  char cIn;
- *  BaseType_t xHigherPriorityTaskWoken;
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
  *
- * 	// We have not woken a task at the start of the ISR.
- * 	xHigherPriorityTaskWoken = pdFALSE;
+ *      // Post the byte.
+ *      xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
  *
- * 	// Loop until the buffer is empty.
- * 	do
- * 	{
- * 		// Obtain a byte from the buffer.
- * 		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
  *
- * 		// Post the byte.
- * 		xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
- *
- * 	} while( portINPUT_BYTE( BUFFER_COUNT ) );
- *
- * 	// Now the buffer is empty we can switch context if necessary.
- * 	if( xHigherPriorityTaskWoken )
- * 	{
- * 		// Actual macro used here is port specific.
- * 		portYIELD_FROM_ISR ();
- * 	}
+ *  // Now the buffer is empty we can switch context if necessary.
+ *  if( xHigherPriorityTaskWoken )
+ *  {
+ *      // Actual macro used here is port specific.
+ *      portYIELD_FROM_ISR ();
  *  }
+ * }
  * @endcode
  *
+ * @cond
+ * \defgroup xQueueSendFromISR xQueueSendFromISR
+ * @endcond
  * \ingroup QueueManagement
  */
-#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) \
+    xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
+/** @cond */
 /**@{*/
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueGenericSendFromISR(
+ *                                         QueueHandle_t    xQueue,
+ *                                         const    void    *pvItemToQueue,
+ *                                         BaseType_t  *pxHigherPriorityTaskWoken,
+ *                                         BaseType_t  xCopyPosition
+ *                                     );
+ * 

+ * @endcond
+ *
  * It is preferred that the macros xQueueSendFromISR(),
  * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
  * of calling this function directly.  xQueueGiveFromISR() is an
@@ -1093,40 +1340,57 @@ void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
  * Example usage for buffered IO (where the ISR can obtain more than one value
  * per call):
  * @code{c}
- *  void vBufferISR( void )
+ * void vBufferISR( void )
+ * {
+ * char cIn;
+ * BaseType_t xHigherPriorityTaskWokenByPost;
+ *
+ *  // We have not woken a task at the start of the ISR.
+ *  xHigherPriorityTaskWokenByPost = pdFALSE;
+ *
+ *  // Loop until the buffer is empty.
+ *  do
  *  {
- *  char cIn;
- *  BaseType_t xHigherPriorityTaskWokenByPost;
+ *      // Obtain a byte from the buffer.
+ *      cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
  *
- * 	// We have not woken a task at the start of the ISR.
- * 	xHigherPriorityTaskWokenByPost = pdFALSE;
+ *      // Post each byte.
+ *      xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
  *
- * 	// Loop until the buffer is empty.
- * 	do
- * 	{
- * 		// Obtain a byte from the buffer.
- * 		cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
+ *  } while( portINPUT_BYTE( BUFFER_COUNT ) );
  *
- * 		// Post each byte.
- * 		xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
- *
- * 	} while( portINPUT_BYTE( BUFFER_COUNT ) );
- *
- * 	// Now the buffer is empty we can switch context if necessary.  Note that the
- * 	// name of the yield function required is port specific.
- * 	if( xHigherPriorityTaskWokenByPost )
- * 	{
- * 		taskYIELD_YIELD_FROM_ISR();
- * 	}
+ *  // Now the buffer is empty we can switch context if necessary.  Note that the
+ *  // name of the yield function required is port specific.
+ *  if( xHigherPriorityTaskWokenByPost )
+ *  {
+ *      taskYIELD_YIELD_FROM_ISR();
  *  }
+ * }
  * @endcode
+ *
  * \ingroup QueueManagement
  */
-BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue,
+                                     const void * const pvItemToQueue,
+                                     BaseType_t * const pxHigherPriorityTaskWoken,
+                                     const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue,
+                              BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 /**@}*/
+/** @endcond */
 
 /**
+ * @cond
+ * queue. h
+ * 
+ * BaseType_t xQueueReceiveFromISR(
+ *                                     QueueHandle_t    xQueue,
+ *                                     void             *pvBuffer,
+ *                                     BaseType_t       *pxTaskWoken
+ *                                 );
+ * 

+ * @endcond
+ *
  * Receive an item from a queue.  It is safe to use this function from within an
  * interrupt service routine.
  *
@@ -1146,63 +1410,69 @@ BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherP
  *
  * Example usage:
  * @code{c}
- *  QueueHandle_t xQueue;
  *
- *  // Function to create a queue and post some values.
- *  void vAFunction( void *pvParameters )
+ * QueueHandle_t xQueue;
+ *
+ * // Function to create a queue and post some values.
+ * void vAFunction( void *pvParameters )
+ * {
+ * char cValueToPost;
+ * const TickType_t xTicksToWait = ( TickType_t )0xff;
+ *
+ *  // Create a queue capable of containing 10 characters.
+ *  xQueue = xQueueCreate( 10, sizeof( char ) );
+ *  if( xQueue == 0 )
  *  {
- *  char cValueToPost;
- *  const TickType_t xTicksToWait = ( TickType_t )0xff;
- *
- * 	// Create a queue capable of containing 10 characters.
- * 	xQueue = xQueueCreate( 10, sizeof( char ) );
- * 	if( xQueue == 0 )
- * 	{
- * 		// Failed to create the queue.
- * 	}
- *
- * 	// ...
- *
- * 	// Post some characters that will be used within an ISR.  If the queue
- * 	// is full then this task will block for xTicksToWait ticks.
- * 	cValueToPost = 'a';
- * 	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
- * 	cValueToPost = 'b';
- * 	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
- *
- * 	// ... keep posting characters ... this task may block when the queue
- * 	// becomes full.
- *
- * 	cValueToPost = 'c';
- * 	xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *      // Failed to create the queue.
  *  }
  *
- *  // ISR that outputs all the characters received on the queue.
- *  void vISR_Routine( void )
+ *  // ...
+ *
+ *  // Post some characters that will be used within an ISR.  If the queue
+ *  // is full then this task will block for xTicksToWait ticks.
+ *  cValueToPost = 'a';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *  cValueToPost = 'b';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ *
+ *  // ... keep posting characters ... this task may block when the queue
+ *  // becomes full.
+ *
+ *  cValueToPost = 'c';
+ *  xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
+ * }
+ *
+ * // ISR that outputs all the characters received on the queue.
+ * void vISR_Routine( void )
+ * {
+ * BaseType_t xTaskWokenByReceive = pdFALSE;
+ * char cRxedChar;
+ *
+ *  while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
  *  {
- *  BaseType_t xTaskWokenByReceive = pdFALSE;
- *  char cRxedChar;
+ *      // A character was received.  Output the character now.
+ *      vOutputCharacter( cRxedChar );
  *
- * 	while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
- * 	{
- * 		// A character was received.  Output the character now.
- * 		vOutputCharacter( cRxedChar );
- *
- * 		// If removing the character from the queue woke the task that was
- * 		// posting onto the queue cTaskWokenByReceive will have been set to
- * 		// pdTRUE.  No matter how many times this loop iterates only one
- * 		// task will be woken.
- * 	}
- *
- * 	if( cTaskWokenByPost != ( char ) pdFALSE;
- * 	{
- * 		taskYIELD ();
- * 	}
+ *      // If removing the character from the queue woke the task that was
+ *      // posting onto the queue cTaskWokenByReceive will have been set to
+ *      // pdTRUE.  No matter how many times this loop iterates only one
+ *      // task will be woken.
  *  }
+ *
+ *  if( cTaskWokenByPost != ( char ) pdFALSE;
+ *  {
+ *      taskYIELD ();
+ *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
+ * @endcond
  * \ingroup QueueManagement
  */
-BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue,
+                                 void * const pvBuffer,
+                                 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /*
  * Utilities to query queues that are safe to use from an ISR.  These utilities
@@ -1213,7 +1483,7 @@ BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUN
 UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /** @cond */
-/**
+/*
  * The functions defined above are for passing data to and from tasks.  The
  * functions below are the equivalents for passing data to and from
  * co-routines.
@@ -1222,10 +1492,18 @@ UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEG
  * should not be called directly from application code.  Instead use the macro
  * wrappers defined within croutine.h.
  */
-BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken );
-BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxTaskWoken );
-BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait );
-BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait );
+BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue,
+                                const void * pvItemToQueue,
+                                BaseType_t xCoRoutinePreviouslyWoken );
+BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue,
+                                   void * pvBuffer,
+                                   BaseType_t * pxTaskWoken );
+BaseType_t xQueueCRSend( QueueHandle_t xQueue,
+                         const void * pvItemToQueue,
+                         TickType_t xTicksToWait );
+BaseType_t xQueueCRReceive( QueueHandle_t xQueue,
+                            void * pvBuffer,
+                            TickType_t xTicksToWait );
 
 /**
  * For internal use only.  Use xSemaphoreCreateMutex(),
@@ -1233,10 +1511,15 @@ BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTi
  * these functions directly.
  */
 QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType,
+                                       StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount,
+                                             const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
+QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount,
+                                                   const UBaseType_t uxInitialCount,
+                                                   StaticQueue_t * pxStaticQueue ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue,
+                                TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
 TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
 
@@ -1244,7 +1527,8 @@ TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_
  * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
  * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
  */
-BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex,
+                                     TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
 
 /** @endcond */
@@ -1253,7 +1537,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * Reset a queue back to its original empty state.  The return value is now
  * obsolete and is always set to pdPASS.
  */
-#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
+#define xQueueReset( xQueue )    xQueueGenericReset( xQueue, pdFALSE )
 
 /**
  * The registry is provided as a means for kernel aware debuggers to
@@ -1277,8 +1561,8 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * stores a pointer to the string - so the string must be persistent (global or
  * preferably in ROM/Flash), not on the stack.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) PRIVILEGED_FUNCTION; /**lint !e971 Unqualified char types are allowed for strings and single characters only. */
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+	void vQueueAddToRegistry( QueueHandle_t xQueue, const char * pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 #endif
 
 /**
@@ -1291,8 +1575,8 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  *
  * @param xQueue The handle of the queue being removed from the registry.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+    void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
@@ -1306,26 +1590,32 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * queue is returned.  If the queue is not in the registry then NULL is
  * returned.
  */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
-	const char *pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /**lint !e971 Unqualified char types are allowed for strings and single characters only. */
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
+    const char * pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 #endif
 
 /**
- * Generic version of the function used to creaet a queue using dynamic memory
+ * Generic version of the function used to create a queue using dynamic memory
  * allocation.  This is called by other functions and macros that create other
  * RTOS objects that use the queue structure as their base.
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength,
+                                       const UBaseType_t uxItemSize,
+                                       const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
- * Generic version of the function used to creaet a queue using dynamic memory
+ * Generic version of the function used to create a queue using dynamic memory
  * allocation.  This is called by other functions and macros that create other
  * RTOS objects that use the queue structure as their base.
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength,
+                                             const UBaseType_t uxItemSize,
+                                             uint8_t * pucQueueStorage,
+                                             StaticQueue_t * pxStaticQueue,
+                                             const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
 #endif
 
 /**
@@ -1342,7 +1632,7 @@ BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
  * or semaphores contained in the set is in a state where a queue read or
  * semaphore take operation would be successful.
  *
- * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *
@@ -1400,7 +1690,8 @@ QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILE
  * queue set because it is already a member of a different queue set then pdFAIL
  * is returned.
  */
-BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                           QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
 /**
  * Removes a queue or semaphore from a queue set.  A queue or semaphore can only
@@ -1419,7 +1710,8 @@ BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHan
  * then pdPASS is returned.  If the queue was not in the queue set, or the
  * queue (or semaphore) was not empty, then pdFAIL is returned.
  */
-BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore,
+                                QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
 
 /**
  * xQueueSelectFromSet() selects from the members of a queue set a queue or
@@ -1431,7 +1723,7 @@ BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueS
  * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
  * function.
  *
- * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * Note 1:  See the documentation on https://www.FreeRTOS.org/RTOS-queue-sets.html
  * for reasons why queue sets are very rarely needed in practice as there are
  * simpler methods of blocking on multiple objects.
  *
@@ -1455,7 +1747,8 @@ BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueS
  * in the queue set that is available, or NULL if no such queue or semaphore
  * exists before before the specified block time expires.
  */
-QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet,
+                                            const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * A version of xQueueSelectFromSet() that can be used from an ISR.
@@ -1465,16 +1758,22 @@ QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
 /** @cond */
 
 /* Not public API functions. */
-void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
-void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
+void vQueueWaitForMessageRestricted( QueueHandle_t xQueue,
+                                     TickType_t xTicksToWait,
+                                     const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
+BaseType_t xQueueGenericReset( QueueHandle_t xQueue,
+                               BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
+void vQueueSetQueueNumber( QueueHandle_t xQueue,
+                           UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
 UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
 
 /** @endcond */
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 
 #endif /* QUEUE_H */
diff --git a/components/freertos/include/freertos/semphr.h b/components/freertos/include/freertos/semphr.h
index 971d74d496..6a1da0ff71 100644
--- a/components/freertos/include/freertos/semphr.h
+++ b/components/freertos/include/freertos/semphr.h
@@ -1,6 +1,6 @@
 /*
  * FreeRTOS Kernel V10.2.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -19,35 +19,36 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef SEMAPHORE_H
 #define SEMAPHORE_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h" must appear in source files before "include semphr.h"
+    #error "include FreeRTOS.h" must appear in source files before "include semphr.h"
 #endif
 
 #include "queue.h"
 
 typedef QueueHandle_t SemaphoreHandle_t;
 
-#define semBINARY_SEMAPHORE_QUEUE_LENGTH	( ( uint8_t ) 1U )
-#define semSEMAPHORE_QUEUE_ITEM_LENGTH		( ( uint8_t ) 0U )
-#define semGIVE_BLOCK_TIME					( ( TickType_t ) 0U )
+#define semBINARY_SEMAPHORE_QUEUE_LENGTH    ( ( uint8_t ) 1U )
+#define semSEMAPHORE_QUEUE_ITEM_LENGTH      ( ( uint8_t ) 0U )
+#define semGIVE_BLOCK_TIME                  ( ( TickType_t ) 0U )
 
 /** @cond */
 /**
  * semphr. h
- * 
vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore )

+ * 
+ * vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore );
+ * 

  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
  * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
@@ -71,49 +72,59 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @param xSemaphore Handle to the created semaphore.  Should be of type SemaphoreHandle_t.
  *
  * Example usage:
- * @code{c}
- *  SemaphoreHandle_t xSemaphore = NULL;
+ * 
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *  void vATask( void * pvParameters )
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+ *  // This is a macro so pass the variable in directly.
+ *  vSemaphoreCreateBinary( xSemaphore );
+ *
+ *  if( xSemaphore != NULL )
  *  {
- *     // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
- *     // This is a macro so pass the variable in directly.
- *     vSemaphoreCreateBinary( xSemaphore );
- *
- *     if( xSemaphore != NULL )
- *     {
- *         // The semaphore was created successfully.
- *         // The semaphore can now be used.
- *     }
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
  *  }
- * @endcode
+ * }
+ * 

+ * @cond
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define vSemaphoreCreateBinary( xSemaphore )																							\
-		{																																	\
-			( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE );	\
-			if( ( xSemaphore ) != NULL )																									\
-			{																																\
-				( void ) xSemaphoreGive( ( xSemaphore ) );																					\
-			}																																\
-		}
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define vSemaphoreCreateBinary( xSemaphore )                                                                                     \
+    {                                                                                                                                \
+        ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
+        if( ( xSemaphore ) != NULL )                                                                                                 \
+        {                                                                                                                            \
+            ( void ) xSemaphoreGive( ( xSemaphore ) );                                                                               \
+        }                                                                                                                            \
+    }
 #endif
 /** @endcond */
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateBinary( void );
+ * 

+ * @endcond
+ *
  * Creates a new binary semaphore instance, and returns a handle by which the
  * new semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, binary semaphores use a block
  * of memory, in which the semaphore structure is stored.  If a binary semaphore
  * is created using xSemaphoreCreateBinary() then the required memory is
  * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function.  (see http://www.freertos.org/a00111.html).  If a binary semaphore
+ * function.  (see https://www.FreeRTOS.org/a00111.html).  If a binary semaphore
  * is created using xSemaphoreCreateBinaryStatic() then the application writer
  * must provide the memory.  xSemaphoreCreateBinaryStatic() therefore allows a
  * binary semaphore to be created without using any dynamic memory allocation.
@@ -137,40 +148,50 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore = NULL;
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *  void vATask( void * pvParameters )
+ * 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 )
  *  {
- *     // 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.
- *     }
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateBinary()    xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
 #endif
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer );
+ * 

+ * @endcond
+ *
  * Creates a new binary semaphore instance, and returns a handle by which the
  * new semaphore can be referenced.
  *
  * NOTE: In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, binary semaphores use a block
  * of memory, in which the semaphore structure is stored.  If a binary semaphore
  * is created using xSemaphoreCreateBinary() then the required memory is
  * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function.  (see http://www.freertos.org/a00111.html).  If a binary semaphore
+ * function.  (see https://www.FreeRTOS.org/a00111.html).  If a binary semaphore
  * is created using xSemaphoreCreateBinaryStatic() then the application writer
  * must provide the memory.  xSemaphoreCreateBinaryStatic() therefore allows a
  * binary semaphore to be created without using any dynamic memory allocation.
@@ -191,38 +212,51 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore = NULL;
- *  StaticSemaphore_t xSemaphoreBuffer;
+ * SemaphoreHandle_t xSemaphore = NULL;
+ * StaticSemaphore_t xSemaphoreBuffer;
  *
- *  void vATask( void * pvParameters )
- *  {
- *     // Semaphore cannot be used before a call to xSemaphoreCreateBinary() or
- *     // xSemaphoreCreateBinaryStatic().
- *     // The semaphore's data structures will be placed in the xSemaphoreBuffer
- *     // variable, the address of which is passed into the function.  The
- *     // function's parameter is not NULL, so the function will not attempt any
- *     // dynamic memory allocation, and therefore the function will not return
- *     // return NULL.
- *     xSemaphore = xSemaphoreCreateBinaryStatic( &xSemaphoreBuffer );
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateBinary() or
+ *  // xSemaphoreCreateBinaryStatic().
+ *  // The semaphore's data structures will be placed in the xSemaphoreBuffer
+ *  // variable, the address of which is passed into the function.  The
+ *  // function's parameter is not NULL, so the function will not attempt any
+ *  // dynamic memory allocation, and therefore the function will not return
+ *  // return NULL.
+ *  xSemaphore = xSemaphoreCreateBinaryStatic( &xSemaphoreBuffer );
  *
- *     // Rest of task code goes here.
- *  }
+ *  // Rest of task code goes here.
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateBinaryStatic( pxStaticSemaphore ) xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateBinaryStatic( pxStaticSemaphore )    xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * xSemaphoreTake(
+ *                   SemaphoreHandle_t xSemaphore,
+ *                   TickType_t xBlockTime
+ *               );
+ * 

+ * @endcond
+ *
  * Macro to obtain a semaphore.  The semaphore must have previously been
  * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
  * xSemaphoreCreateCounting().
  *
- * @param xSemaphore A handle to the semaphore being taken - obtained when
+ * param xSemaphore A handle to the semaphore being taken - obtained when
  * the semaphore was created.
  *
- * @param xBlockTime The time in ticks to wait for the semaphore to become
+ * param xBlockTime The time in ticks to wait for the semaphore to become
  * available.  The macro portTICK_PERIOD_MS can be used to convert this to a
  * real time.  A block time of zero can be used to poll the semaphore.  A block
  * time of portMAX_DELAY can be used to block indefinitely (provided
@@ -233,46 +267,49 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore = NULL;
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *  // A task that creates a semaphore.
- *  void vATask( void * pvParameters )
+ * // A task that creates a semaphore.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  vSemaphoreCreateBinary( xSemaphore );
+ * }
+ *
+ * // A task that uses the semaphore.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xSemaphore != NULL )
  *  {
- *     // Create the semaphore to guard a shared resource.
- *     vSemaphoreCreateBinary( xSemaphore );
- *  }
- *
- *  // A task that uses the semaphore.
- *  void vAnotherTask( void * pvParameters )
- *  {
- *     // ... Do other things.
- *
- *     if( xSemaphore != NULL )
- *     {
- *         // See if we can obtain the semaphore.  If the semaphore is not available
- *         // wait 10 ticks to see if it becomes free.
- *         if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
- *         {
- *             // We were able to obtain the semaphore and can now access the
- *             // shared resource.
- *
- *             // ...
- *
- *             // We have finished accessing the shared resource.  Release the
- *             // semaphore.
- *             xSemaphoreGive( xSemaphore );
- *         }
- *         else
- *         {
- *             // We could not obtain the semaphore and can therefore not access
- *             // the shared resource safely.
- *         }
- *     }
+ *      // See if we can obtain the semaphore.  If the semaphore is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the semaphore and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *
+ *          // We have finished accessing the shared resource.  Release the
+ *          // semaphore.
+ *          xSemaphoreGive( xSemaphore );
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the semaphore and can therefore not access
+ *          // the shared resource safely.
+ *      }
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreTake xSemaphoreTake
+ * @endcond
  * \ingroup Semaphores
  */
-#define xSemaphoreTake( xSemaphore, xBlockTime )		xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
+#define xSemaphoreTake( xSemaphore, xBlockTime )    xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
 
 /**
  * Macro to recursively obtain, or 'take', a mutex type semaphore.
@@ -305,75 +342,78 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xMutex = NULL;
+ * SemaphoreHandle_t xMutex = NULL;
  *
- *  // A task that creates a mutex.
- *  void vATask( void * pvParameters )
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
  *  {
- *     // Create the mutex to guard a shared resource.
- *     xMutex = xSemaphoreCreateRecursiveMutex();
- *  }
- *
- *  // A task that uses the mutex.
- *  void vAnotherTask( void * pvParameters )
- *  {
- *     // ... Do other things.
- *
- *     if( xMutex != NULL )
- *     {
- *         // See if we can obtain the mutex.  If the mutex is not available
- *         // wait 10 ticks to see if it becomes free.
- *         if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
- *         {
- *             // We were able to obtain the mutex and can now access the
- *             // shared resource.
- *
- *             // ...
- *             // For some reason due to the nature of the code further calls to
- * 			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
- * 			// code these would not be just sequential calls as this would make
- * 			// no sense.  Instead the calls are likely to be buried inside
- * 			// a more complex call structure.
- *             xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- *             xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- *
- *             // The mutex has now been 'taken' three times, so will not be
- * 			// available to another task until it has also been given back
- * 			// three times.  Again it is unlikely that real code would have
- * 			// these calls sequentially, but instead buried in a more complex
- * 			// call structure.  This is just for illustrative purposes.
- *             xSemaphoreGiveRecursive( xMutex );
- * 			xSemaphoreGiveRecursive( xMutex );
- * 			xSemaphoreGiveRecursive( xMutex );
- *
- * 			// Now the mutex can be taken by other tasks.
- *         }
- *         else
- *         {
- *             // We could not obtain the mutex and can therefore not access
- *             // the shared resource safely.
- *         }
- *     }
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, but instead buried in a more complex
+ *          // call structure.  This is just for illustrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
+ * @endcond
  * \ingroup Semaphores
  */
-#define xSemaphoreTakeRecursive( xMutex, xBlockTime )	xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
+#define xSemaphoreTakeRecursive( xMutex, xBlockTime )   xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
 
 /** @cond */
 /*
  * 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
+ * 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
+ * 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( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
+#define xSemaphoreAltTake( xSemaphore, xBlockTime )     xQueueAltGenericReceive( ( QueueHandle_t ) ( xSemaphore ), NULL, ( xBlockTime ), pdFALSE )
 /** @endcond */
 
 /**
@@ -397,47 +437,54 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore = NULL;
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *  void vATask( void * pvParameters )
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the semaphore to guard a shared resource.
+ *  vSemaphoreCreateBinary( xSemaphore );
+ *
+ *  if( xSemaphore != NULL )
  *  {
- *     // Create the semaphore to guard a shared resource.
- *     vSemaphoreCreateBinary( xSemaphore );
+ *      if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *      {
+ *          // We would expect this call to fail because we cannot give
+ *          // a semaphore without first "taking" it!
+ *      }
  *
- *     if( xSemaphore != NULL )
- *     {
- *         if( xSemaphoreGive( xSemaphore ) != pdTRUE )
- *         {
- *             // We would expect this call to fail because we cannot give
- *             // a semaphore without first "taking" it!
- *         }
+ *      // Obtain the semaphore - don't block if the semaphore is not
+ *      // immediately available.
+ *      if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
+ *      {
+ *          // We now have the semaphore and can access the shared resource.
  *
- *         // Obtain the semaphore - don't block if the semaphore is not
- *         // immediately available.
- *         if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
- *         {
- *             // We now have the semaphore and can access the shared resource.
+ *          // ...
  *
- *             // ...
- *
- *             // We have finished accessing the shared resource so can free the
- *             // semaphore.
- *             if( xSemaphoreGive( xSemaphore ) != pdTRUE )
- *             {
- *                 // We would not expect this call to fail because we must have
- *                 // obtained the semaphore to get here.
- *             }
- *         }
- *     }
+ *          // We have finished accessing the shared resource so can free the
+ *          // semaphore.
+ *          if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+ *          {
+ *              // We would not expect this call to fail because we must have
+ *              // obtained the semaphore to get here.
+ *          }
+ *      }
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreGive xSemaphoreGive
+ * @endcond
  * \ingroup Semaphores
  */
-#define xSemaphoreGive( xSemaphore )		xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+#define xSemaphoreGive( xSemaphore )    xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /**
+ * @cond
  * semphr. h
- * 
xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex )

+ * 
+ * xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex );
+ * 

+ * @endcond
  *
  * Macro to recursively release, or 'give', a mutex type semaphore.
  * The mutex must have previously been created using a call to
@@ -462,76 +509,79 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xMutex = NULL;
+ * SemaphoreHandle_t xMutex = NULL;
  *
- *  // A task that creates a mutex.
- *  void vATask( void * pvParameters )
+ * // A task that creates a mutex.
+ * void vATask( void * pvParameters )
+ * {
+ *  // Create the mutex to guard a shared resource.
+ *  xMutex = xSemaphoreCreateRecursiveMutex();
+ * }
+ *
+ * // A task that uses the mutex.
+ * void vAnotherTask( void * pvParameters )
+ * {
+ *  // ... Do other things.
+ *
+ *  if( xMutex != NULL )
  *  {
- *     // Create the mutex to guard a shared resource.
- *     xMutex = xSemaphoreCreateRecursiveMutex();
- *  }
- *
- *  // A task that uses the mutex.
- *  void vAnotherTask( void * pvParameters )
- *  {
- *     // ... Do other things.
- *
- *     if( xMutex != NULL )
- *     {
- *         // See if we can obtain the mutex.  If the mutex is not available
- *         // wait 10 ticks to see if it becomes free.
- *         if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
- *         {
- *             // We were able to obtain the mutex and can now access the
- *             // shared resource.
- *
- *             // ...
- *             // For some reason due to the nature of the code further calls to
- * 			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
- * 			// code these would not be just sequential calls as this would make
- * 			// no sense.  Instead the calls are likely to be buried inside
- * 			// a more complex call structure.
- *             xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- *             xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- *
- *             // The mutex has now been 'taken' three times, so will not be
- * 			// available to another task until it has also been given back
- * 			// three times.  Again it is unlikely that real code would have
- * 			// these calls sequentially, it would be more likely that the calls
- * 			// to xSemaphoreGiveRecursive() would be called as a call stack
- * 			// unwound.  This is just for demonstrative purposes.
- *             xSemaphoreGiveRecursive( xMutex );
- * 			xSemaphoreGiveRecursive( xMutex );
- * 			xSemaphoreGiveRecursive( xMutex );
- *
- * 			// Now the mutex can be taken by other tasks.
- *         }
- *         else
- *         {
- *             // We could not obtain the mutex and can therefore not access
- *             // the shared resource safely.
- *         }
- *     }
+ *      // See if we can obtain the mutex.  If the mutex is not available
+ *      // wait 10 ticks to see if it becomes free.
+ *      if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
+ *      {
+ *          // We were able to obtain the mutex and can now access the
+ *          // shared resource.
+ *
+ *          // ...
+ *          // For some reason due to the nature of the code further calls to
+ *          // xSemaphoreTakeRecursive() are made on the same mutex.  In real
+ *          // code these would not be just sequential calls as this would make
+ *          // no sense.  Instead the calls are likely to be buried inside
+ *          // a more complex call structure.
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *          xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
+ *
+ *          // The mutex has now been 'taken' three times, so will not be
+ *          // available to another task until it has also been given back
+ *          // three times.  Again it is unlikely that real code would have
+ *          // these calls sequentially, it would be more likely that the calls
+ *          // to xSemaphoreGiveRecursive() would be called as a call stack
+ *          // unwound.  This is just for demonstrative purposes.
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *          xSemaphoreGiveRecursive( xMutex );
+ *
+ *          // Now the mutex can be taken by other tasks.
+ *      }
+ *      else
+ *      {
+ *          // We could not obtain the mutex and can therefore not access
+ *          // the shared resource safely.
+ *      }
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
+ * @endcond
  * \ingroup Semaphores
  */
-#define xSemaphoreGiveRecursive( xMutex )	xQueueGiveMutexRecursive( ( xMutex ) )
+#define xSemaphoreGiveRecursive( xMutex )   xQueueGiveMutexRecursive( ( xMutex ) )
 
 /** @cond */
 /*
  * 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
+ * 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
+ * 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( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
+#define xSemaphoreAltGive( xSemaphore )     xQueueAltGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
 
 /** @endcond */
 
@@ -558,67 +608,80 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * Example usage:
  * @code{c}
  *  \#define LONG_TIME 0xffff
- *  \#define TICKS_TO_WAIT	10
- *  SemaphoreHandle_t xSemaphore = NULL;
+ *  \#define TICKS_TO_WAIT  10
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *  // Repetitive task.
- *  void vATask( void * pvParameters )
+ * // Repetitive task.
+ * void vATask( void * pvParameters )
+ * {
+ *  for( ;; )
  *  {
- *     for( ;; )
- *     {
- *         // We want this task to run every 10 ticks of a timer.  The semaphore
- *         // was created before this task was started.
+ *      // We want this task to run every 10 ticks of a timer.  The semaphore
+ *      // was created before this task was started.
  *
- *         // Block waiting for the semaphore to become available.
- *         if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
- *         {
- *             // It is time to execute.
+ *      // Block waiting for the semaphore to become available.
+ *      if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+ *      {
+ *          // It is time to execute.
  *
- *             // ...
+ *          // ...
  *
- *             // We have finished our task.  Return to the top of the loop where
- *             // we will block on the semaphore until it is time to execute
- *             // again.  Note when using the semaphore for synchronisation with an
- * 			// ISR in this manner there is no need to 'give' the semaphore back.
- *         }
- *     }
+ *          // We have finished our task.  Return to the top of the loop where
+ *          // we will block on the semaphore until it is time to execute
+ *          // again.  Note when using the semaphore for synchronisation with an
+ *          // ISR in this manner there is no need to 'give' the semaphore back.
+ *      }
+ *  }
+ * }
+ *
+ * // Timer ISR
+ * void vTimerISR( void * pvParameters )
+ * {
+ * static uint8_t ucLocalTickCount = 0;
+ * static BaseType_t xHigherPriorityTaskWoken;
+ *
+ *  // A timer tick has occurred.
+ *
+ *  // ... Do other time functions.
+ *
+ *  // Is it time for vATask () to run?
+ *  xHigherPriorityTaskWoken = pdFALSE;
+ *  ucLocalTickCount++;
+ *  if( ucLocalTickCount >= TICKS_TO_WAIT )
+ *  {
+ *      // Unblock the task by releasing the semaphore.
+ *      xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
+ *
+ *      // Reset the count so we release the semaphore again in 10 ticks time.
+ *      ucLocalTickCount = 0;
  *  }
  *
- *  // Timer ISR
- *  void vTimerISR( void * pvParameters )
+ *  if( xHigherPriorityTaskWoken != pdFALSE )
  *  {
- *  static uint8_t ucLocalTickCount = 0;
- *  static BaseType_t xHigherPriorityTaskWoken;
- *
- *     // A timer tick has occurred.
- *
- *     // ... Do other time functions.
- *
- *     // Is it time for vATask () to run?
- * 	xHigherPriorityTaskWoken = pdFALSE;
- *     ucLocalTickCount++;
- *     if( ucLocalTickCount >= TICKS_TO_WAIT )
- *     {
- *         // Unblock the task by releasing the semaphore.
- *         xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
- *
- *         // Reset the count so we release the semaphore again in 10 ticks time.
- *         ucLocalTickCount = 0;
- *     }
- *
- *     if( xHigherPriorityTaskWoken != pdFALSE )
- *     {
- *         // We can force a context switch here.  Context switching from an
- *         // ISR uses port specific syntax.  Check the demo task for your port
- *         // to find the syntax required.
- *     }
+ *      // We can force a context switch here.  Context switching from an
+ *      // ISR uses port specific syntax.  Check the demo task for your port
+ *      // to find the syntax required.
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
+ * @endcond
  * \ingroup Semaphores
  */
-#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )	xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
+#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * xSemaphoreTakeFromISR(
+ *                        SemaphoreHandle_t xSemaphore,
+ *                        BaseType_t *pxHigherPriorityTaskWoken
+ *                    );
+ * 

+ * @endcond
+ *
  * Macro to  take a semaphore from an ISR.  The semaphore must have
  * previously been created with a call to xSemaphoreCreateBinary() or
  * xSemaphoreCreateCounting().
@@ -643,17 +706,24 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @return pdTRUE if the semaphore was successfully taken, otherwise
  * pdFALSE
  */
-#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )	xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
+#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken )    xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
 
 /**
- * Macro that implements a mutex semaphore by using the existing queue
- * mechanism.
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateMutex( void );
+ * 

+ * @endcond
+ *
+ * Creates a new mutex type semaphore instance, and returns a handle by which
+ * the new mutex can be referenced.
  *
  * Internally, within the FreeRTOS implementation, mutex semaphores use a block
  * of memory, in which the mutex structure is stored.  If a mutex is created
  * using xSemaphoreCreateMutex() then the required memory is automatically
  * dynamically allocated inside the xSemaphoreCreateMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a mutex is created using
  * xSemaphoreCreateMutexStatic() then the application writer must provided the
  * memory.  xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
  * without using any dynamic memory allocation.
@@ -679,28 +749,38 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore;
+ * SemaphoreHandle_t xSemaphore;
  *
- *  void vATask( void * pvParameters )
+ * void vATask( void * pvParameters )
+ * {
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+ *  // This is a macro so pass the variable in directly.
+ *  xSemaphore = xSemaphoreCreateMutex();
+ *
+ *  if( xSemaphore != NULL )
  *  {
- *     // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
- *     // This is a macro so pass the variable in directly.
- *     xSemaphore = xSemaphoreCreateMutex();
- *
- *     if( xSemaphore != NULL )
- *     {
- *         // The semaphore was created successfully.
- *         // The semaphore can now be used.
- *     }
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateMutex()    xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
 #endif
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer );
+ * 

+ * @endcond
+ *
  * Creates a new mutex type semaphore instance, and returns a handle by which
  * the new mutex can be referenced.
  *
@@ -708,7 +788,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * of memory, in which the mutex structure is stored.  If a mutex is created
  * using xSemaphoreCreateMutex() then the required memory is automatically
  * dynamically allocated inside the xSemaphoreCreateMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a mutex is created using
  * xSemaphoreCreateMutexStatic() then the application writer must provided the
  * memory.  xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
  * without using any dynamic memory allocation.
@@ -736,25 +816,28 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * mutex is returned.  If pxMutexBuffer was NULL then NULL is returned.
  *
  * Example usage:
- * @code
- *  SemaphoreHandle_t xSemaphore;
- *  StaticSemaphore_t xMutexBuffer;
+ * @code{c}
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xMutexBuffer;
  *
- *  void vATask( void * pvParameters )
- *  {
- *     // A mutex cannot be used before it has been created.  xMutexBuffer is
- *     // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
- *     // attempted.
- *     xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
+ * void vATask( void * pvParameters )
+ * {
+ *  // A mutex cannot be used before it has been created.  xMutexBuffer is
+ *  // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
+ *  // attempted.
+ *  xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
  *
- *     // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
- *     // so there is no need to check it.
- *  }
+ *  // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
+ *  // so there is no need to check it.
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic
+ * @endcond
  * \ingroup Semaphores
  */
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateMutexStatic( pxMutexBuffer )    xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 
@@ -796,7 +879,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * service routines.
  *
  * @return xSemaphore Handle to the created mutex semaphore.  Should be of type
- *		SemaphoreHandle_t.
+ *      SemaphoreHandle_t.
  *
  * Example usage:
  * @code{c}
@@ -818,7 +901,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * \ingroup Semaphores
  */
 #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
-	#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
+    #define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
 #endif
 
 /**
@@ -830,7 +913,7 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * created using xSemaphoreCreateRecursiveMutex() then the required memory is
  * automatically dynamically allocated inside the
  * xSemaphoreCreateRecursiveMutex() function.  (see
- * http://www.freertos.org/a00111.html).  If a recursive mutex is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a recursive mutex is created using
  * xSemaphoreCreateRecursiveMutexStatic() then the application writer must
  * provide the memory that will get used by the mutex.
  * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
@@ -886,24 +969,31 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * @endcode
  * \ingroup Semaphores
  */
-#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
-	#define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
+#if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
+    #define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore )    xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount );
+ * 

+ * @endcond
+ *
  * Creates a new counting semaphore instance, and returns a handle by which the
  * new counting semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, counting semaphores use a
  * block of memory, in which the counting semaphore structure is stored.  If a
  * counting semaphore is created using xSemaphoreCreateCounting() then the
  * required memory is automatically dynamically allocated inside the
  * xSemaphoreCreateCounting() function.  (see
- * http://www.freertos.org/a00111.html).  If a counting semaphore is created
+ * https://www.FreeRTOS.org/a00111.html).  If a counting semaphore is created
  * using xSemaphoreCreateCountingStatic() then the application writer can
  * instead optionally provide the memory that will get used by the counting
  * semaphore.  xSemaphoreCreateCountingStatic() therefore allows a counting
@@ -942,44 +1032,54 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore;
+ * SemaphoreHandle_t xSemaphore;
  *
- *  void vATask( void * pvParameters )
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
+ *
+ *  // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+ *  // The max value to which the semaphore can count should be 10, and the
+ *  // initial value assigned to the count should be 0.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+ *
+ *  if( xSemaphore != NULL )
  *  {
- *  SemaphoreHandle_t xSemaphore = NULL;
- *
- *     // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
- *     // The max value to which the semaphore can count should be 10, and the
- *     // initial value assigned to the count should be 0.
- *     xSemaphore = xSemaphoreCreateCounting( 10, 0 );
- *
- *     if( xSemaphore != NULL )
- *     {
- *         // The semaphore was created successfully.
- *         // The semaphore can now be used.
- *     }
+ *      // The semaphore was created successfully.
+ *      // The semaphore can now be used.
  *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount )    xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
 #endif
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer );
+ * 

+ * @endcond
+ *
  * Creates a new counting semaphore instance, and returns a handle by which the
  * new counting semaphore can be referenced.
  *
  * In many usage scenarios it is faster and more memory efficient to use a
  * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
+ * https://www.FreeRTOS.org/RTOS-task-notifications.html
  *
  * Internally, within the FreeRTOS implementation, counting semaphores use a
  * block of memory, in which the counting semaphore structure is stored.  If a
  * counting semaphore is created using xSemaphoreCreateCounting() then the
  * required memory is automatically dynamically allocated inside the
  * xSemaphoreCreateCounting() function.  (see
- * http://www.freertos.org/a00111.html).  If a counting semaphore is created
+ * https://www.FreeRTOS.org/a00111.html).  If a counting semaphore is created
  * using xSemaphoreCreateCountingStatic() then the application writer must
  * provide the memory.  xSemaphoreCreateCountingStatic() therefore allows a
  * counting semaphore to be created without using any dynamic memory allocation.
@@ -1022,42 +1122,62 @@ typedef QueueHandle_t SemaphoreHandle_t;
  *
  * Example usage:
  * @code{c}
- *  SemaphoreHandle_t xSemaphore;
- *  StaticSemaphore_t xSemaphoreBuffer;
+ * SemaphoreHandle_t xSemaphore;
+ * StaticSemaphore_t xSemaphoreBuffer;
  *
- *  void vATask( void * pvParameters )
- *  {
- *  SemaphoreHandle_t xSemaphore = NULL;
+ * void vATask( void * pvParameters )
+ * {
+ * SemaphoreHandle_t xSemaphore = NULL;
  *
- *     // Counting semaphore cannot be used before they have been created.  Create
- *     // a counting semaphore using xSemaphoreCreateCountingStatic().  The max
- *     // value to which the semaphore can count is 10, and the initial value
- *     // assigned to the count will be 0.  The address of xSemaphoreBuffer is
- *     // passed in and will be used to hold the semaphore structure, so no dynamic
- *     // memory allocation will be used.
- *     xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
+ *  // Counting semaphore cannot be used before they have been created.  Create
+ *  // a counting semaphore using xSemaphoreCreateCountingStatic().  The max
+ *  // value to which the semaphore can count is 10, and the initial value
+ *  // assigned to the count will be 0.  The address of xSemaphoreBuffer is
+ *  // passed in and will be used to hold the semaphore structure, so no dynamic
+ *  // memory allocation will be used.
+ *  xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
  *
- *     // No memory allocation was attempted so xSemaphore cannot be NULL, so there
- *     // is no need to check its value.
- *  }
+ *  // No memory allocation was attempted so xSemaphore cannot be NULL, so there
+ *  // is no need to check its value.
+ * }
  * @endcode
+ * @cond
+ * \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic
+ * @endcond
  * \ingroup Semaphores
  */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	#define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer ) xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    #define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer )    xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
+ * @cond
+ * semphr. h
+ * 
+ * void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );
+ * 

+ * @endcond
+ *
  * 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.
  *
+ * @cond
+ * \defgroup vSemaphoreDelete vSemaphoreDelete
+ * @endcond
  * \ingroup Semaphores
  */
-#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
+#define vSemaphoreDelete( xSemaphore )                   vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
 
 /**
+ * @cond
+ * semphr.h
+ * 
+ * TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );
+ * 

+ * @endcond
+ *
  * 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.
@@ -1067,20 +1187,30 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * the holder may change between the function exiting and the returned value
  * being tested.
  */
-#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
+#define xSemaphoreGetMutexHolder( xSemaphore )           xQueueGetMutexHolder( ( xSemaphore ) )
 
 /**
+ * @cond
+ * semphr.h
+ * 
+ * TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );
+ * 

+ * @endcond
  *
  * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
  * If xMutex is not a mutex type semaphore, or the mutex is available (not held
  * by a task), return NULL.
  *
  */
-#define xSemaphoreGetMutexHolderFromISR( xSemaphore ) xQueueGetMutexHolderFromISR( ( xSemaphore ) )
+#define xSemaphoreGetMutexHolderFromISR( xSemaphore )    xQueueGetMutexHolderFromISR( ( xSemaphore ) )
 
 /**
+ * @cond
  * semphr.h
- * 
UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );

+ * 
+ * UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );
+ * 

+ * @endcond
  *
  * If the semaphore is a counting semaphore then uxSemaphoreGetCount() returns
  * its current count value.  If the semaphore is a binary semaphore then
@@ -1088,6 +1218,6 @@ typedef QueueHandle_t SemaphoreHandle_t;
  * semaphore is not available.
  *
  */
-#define uxSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )
+#define uxSemaphoreGetCount( xSemaphore )                uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )
 
 #endif /* SEMAPHORE_H */
diff --git a/components/freertos/include/freertos/stack_macros.h b/components/freertos/include/freertos/stack_macros.h
index b8eca4246f..27a01ccf04 100644
--- a/components/freertos/include/freertos/stack_macros.h
+++ b/components/freertos/include/freertos/stack_macros.h
@@ -1,6 +1,6 @@
 /*
  * FreeRTOS Kernel V10.2.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -19,10 +19,9 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 #ifndef STACK_MACROS_H
@@ -46,94 +45,94 @@
 
 #if( configCHECK_FOR_STACK_OVERFLOW == 0 )
 
-	/* FreeRTOSConfig.h is not set to check for stack overflows. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
+    /* FreeRTOSConfig.h is not set to check for stack overflows. */
+    #define taskFIRST_CHECK_FOR_STACK_OVERFLOW()
+    #define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
 
 #endif /* configCHECK_FOR_STACK_OVERFLOW == 0 */
 /*-----------------------------------------------------------*/
 
 #if( configCHECK_FOR_STACK_OVERFLOW == 1 )
 
-	/* FreeRTOSConfig.h is only set to use the first method of
-	overflow checking. */
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
+    /* FreeRTOSConfig.h is only set to use the first method of
+    overflow checking. */
+    #define taskSECOND_CHECK_FOR_STACK_OVERFLOW()
 
 #endif
 /*-----------------------------------------------------------*/
 
 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH < 0 ) )
 
-	/* Only the current stack state is to be checked. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()														\
-	{																									\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB[ xPortGetCoreID() ]->pxTopOfStack <= pxCurrentTCB[ xPortGetCoreID() ]->pxStack )										\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );	\
-		}																								\
-	}
+/* Only the current stack state is to be checked. */
+    #define taskFIRST_CHECK_FOR_STACK_OVERFLOW()                                                        \
+    {                                                                                                   \
+        /* Is the currently saved stack pointer within the stack limit? */                              \
+        if( pxCurrentTCB[ xPortGetCoreID() ]->pxTopOfStack <= pxCurrentTCB[ xPortGetCoreID() ]->pxStack )                                       \
+        {                                                                                             \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );   \
+        }                                                                                             \
+    }
 
 #endif /* configCHECK_FOR_STACK_OVERFLOW > 0 */
 /*-----------------------------------------------------------*/
 
 #if( ( configCHECK_FOR_STACK_OVERFLOW > 0 ) && ( portSTACK_GROWTH > 0 ) )
 
-	/* Only the current stack state is to be checked. */
-	#define taskFIRST_CHECK_FOR_STACK_OVERFLOW()														\
-	{																									\
-																										\
-		/* Is the currently saved stack pointer within the stack limit? */								\
-		if( pxCurrentTCB[ xPortGetCoreID() ]->pxTopOfStack >= pxCurrentTCB[ xPortGetCoreID() ]->pxEndOfStack )									\
-		{																								\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );	\
-		}																								\
-	}
+/* Only the current stack state is to be checked. */
+    #define taskFIRST_CHECK_FOR_STACK_OVERFLOW()                                                        \
+    {                                                                                                   \
+                                                                                                        \
+        /* Is the currently saved stack pointer within the stack limit? */                            \
+        if( pxCurrentTCB[ xPortGetCoreID() ]->pxTopOfStack >= pxCurrentTCB[ xPortGetCoreID() ]->pxEndOfStack )                                  \
+        {                                                                                             \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );   \
+        }                                                                                             \
+    }
 
 #endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
 /*-----------------------------------------------------------*/
 
 #if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
 
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()																						\
-	{																																	\
-	static const uint8_t ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																		\
-																																		\
-		/* Has the extremity of the task stack ever been written over? */																\
-		if( memcmp( ( void * ) pxCurrentTCB[ xPortGetCoreID() ]->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )			\
-		{																																\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );									\
-		}																																\
-	}
+    #define taskSECOND_CHECK_FOR_STACK_OVERFLOW()                                                                                       \
+    {                                                                                                                                   \
+    static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,     \
+                                                    tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,     \
+                                                    tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,     \
+                                                    tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,     \
+                                                    tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };   \
+                                                                                                                                        \
+                                                                                                                                        \
+        /* Has the extremity of the task stack ever been written over? */                                                               \
+        if( memcmp( ( void * ) pxCurrentTCB[ xPortGetCoreID() ]->pxStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )          \
+        {                                                                                                                               \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );                                   \
+        }                                                                                                                               \
+    }
 
 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
 /*-----------------------------------------------------------*/
 
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
+#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
 
-	#define taskSECOND_CHECK_FOR_STACK_OVERFLOW()																						\
-	{																																	\
-	int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB[ xPortGetCoreID() ]->pxEndOfStack;																		\
-	static const uint8_t ucExpectedStackBytes[] = {	tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,		\
-													tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE };	\
-																																		\
-																																		\
-		pcEndOfStack -= sizeof( ucExpectedStackBytes );																					\
-																																		\
-		/* Has the extremity of the task stack ever been written over? */																\
-		if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )					\
-		{																																\
-			vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );									\
-		}																																\
-	}
+    #define taskSECOND_CHECK_FOR_STACK_OVERFLOW()                                                                                       \
+    {                                                                                                                                   \
+        int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB[ xPortGetCoreID() ]->pxEndOfStack;                                                                     \
+        static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE,   \
+                                                        tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
+                                                                                                                                          \
+                                                                                                                                          \
+        pcEndOfStack -= sizeof( ucExpectedStackBytes );                                                                                   \
+                                                                                                                                          \
+        /* Has the extremity of the task stack ever been written over? */                                                                 \
+        if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 )                     \
+        {                                                                                                                                 \
+            vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB[ xPortGetCoreID() ], pxCurrentTCB[ xPortGetCoreID() ]->pcTaskName );                                   \
+        }                                                                                                                                 \
+    }
 
 #endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
 
diff --git a/components/freertos/include/freertos/stream_buffer.h b/components/freertos/include/freertos/stream_buffer.h
index 1a3d8f5190..0696c7c9b9 100644
--- a/components/freertos/include/freertos/stream_buffer.h
+++ b/components/freertos/include/freertos/stream_buffer.h
@@ -1,6 +1,6 @@
 /*
  * FreeRTOS Kernel V10.2.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -19,10 +19,9 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 /*
@@ -43,7 +42,7 @@
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section section and set the
+ * (such as xStreamBufferReceive()) inside a critical section section and set the
  * receive block time to 0.
  *
  */
@@ -52,12 +51,14 @@
 #define STREAM_BUFFER_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
+    #error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
 #endif
 
+/* *INDENT-OFF* */
 #if defined( __cplusplus )
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /**
  * Type by which stream buffers are referenced.  For example, a call to
@@ -68,7 +69,16 @@ extern "C" {
 struct StreamBufferDef_t;
 typedef struct StreamBufferDef_t * StreamBufferHandle_t;
 
+
 /**
+ * @cond
+ * message_buffer.h
+ *
+ * 
+ * StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
+ * 

+ * @endcond
+ *
  * Creates a new stream buffer using dynamically allocated memory.  See
  * xStreamBufferCreateStatic() for a version that uses statically allocated
  * memory (memory that is allocated at compile time).
@@ -103,32 +113,46 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  * Example use:
  * @code{c}
  *
- *   void vAFunction( void )
- *       {
- *       StreamBufferHandle_t xStreamBuffer;
- *       const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
+ * void vAFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
  *
- *           // Create a stream buffer that can hold 100 bytes.  The memory used to hold
- *           // both the stream buffer structure and the data in the stream buffer is
- *           // allocated dynamically.
- *           xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
+ *  // Create a stream buffer that can hold 100 bytes.  The memory used to hold
+ *  // both the stream buffer structure and the data in the stream buffer is
+ *  // allocated dynamically.
+ *  xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
  *
- *           if( xStreamBuffer == NULL )
- *           {
- *              // There was not enough heap memory space available to create the
- *              // stream buffer.
- *           }
- *           else
- *           {
- *               // The stream buffer was created successfully and can now be used.
- *           }
- *       }
+ *  if( xStreamBuffer == NULL )
+ *  {
+ *      // There was not enough heap memory space available to create the
+ *      // stream buffer.
+ *  }
+ *  else
+ *  {
+ *      // The stream buffer was created successfully and can now be used.
+ *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferCreate xStreamBufferCreate
+ * @endcond
  * \ingroup StreamBufferManagement
  */
-#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
+#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes )    xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
+ *                                              size_t xTriggerLevelBytes,
+ *                                              uint8_t *pucStreamBufferStorageArea,
+ *                                              StaticStreamBuffer_t *pxStaticStreamBuffer );
+ * 

+ * @endcond
+ *
  * Creates a new stream buffer using statically allocated memory.  See
  * xStreamBufferCreate() for a version that uses dynamically allocated memory.
  *
@@ -167,40 +191,55 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  * Example use:
  * @code{c}
  *
- *       // Used to dimension the array used to hold the streams.  The available space
- *       // will actually be one less than this, so 999.
- *       #define STORAGE_SIZE_BYTES 1000
+ * // Used to dimension the array used to hold the streams.  The available space
+ * // will actually be one less than this, so 999.
+ * \#define STORAGE_SIZE_BYTES 1000
  *
- *       // Defines the memory that will actually hold the streams within the stream
- *       // buffer.
- *       static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
+ * // Defines the memory that will actually hold the streams within the stream
+ * // buffer.
+ * static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
  *
- *       // The variable used to hold the stream buffer structure.
- *       StaticStreamBuffer_t xStreamBufferStruct;
+ * // The variable used to hold the stream buffer structure.
+ * StaticStreamBuffer_t xStreamBufferStruct;
  *
- *       void MyFunction( void )
- *       {
- *       StreamBufferHandle_t xStreamBuffer;
- *       const size_t xTriggerLevel = 1;
+ * void MyFunction( void )
+ * {
+ * StreamBufferHandle_t xStreamBuffer;
+ * const size_t xTriggerLevel = 1;
  *
- *           xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
- *                                                      xTriggerLevel,
- *                                                      ucBufferStorage,
- *                                                      &xStreamBufferStruct );
+ *  xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
+ *                                             xTriggerLevel,
+ *                                             ucBufferStorage,
+ *                                             &xStreamBufferStruct );
  *
- *           // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
- *           // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
- *           // reference the created stream buffer in other stream buffer API calls.
+ *  // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
+ *  // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
+ *  // reference the created stream buffer in other stream buffer API calls.
  *
- *           // Other code that uses the stream buffer can go here.
- *       }
+ *  // Other code that uses the stream buffer can go here.
+ * }
  *
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
+ * @endcond
  * \ingroup StreamBufferManagement
  */
-#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
+#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) \
+    xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
+ *                        const void *pvTxData,
+ *                        size_t xDataLengthBytes,
+ *                        TickType_t xTicksToWait );
+ * 

+ * @endcond
+ *
  * Sends bytes to a stream buffer.  The bytes are copied into the stream buffer.
  *
  * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
@@ -215,7 +254,7 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
@@ -250,44 +289,58 @@ typedef struct StreamBufferDef_t * StreamBufferHandle_t;
  *
  * Example use:
  * @code{c}
- *       void vAFunction( StreamBufferHandle_t xStreamBuffer )
- *       {
- *       size_t xBytesSent;
- *       uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
- *       char *pcStringToSend = "String to send";
- *       const TickType_t x100ms = pdMS_TO_TICKS( 100 );
+ * void vAFunction( StreamBufferHandle_t xStreamBuffer )
+ * {
+ * size_t xBytesSent;
+ * uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
+ * char *pcStringToSend = "String to send";
+ * const TickType_t x100ms = pdMS_TO_TICKS( 100 );
  *
- *           // Send an array to the stream buffer, blocking for a maximum of 100ms to
- *           // wait for enough space to be available in the stream buffer.
- *           xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
+ *  // Send an array to the stream buffer, blocking for a maximum of 100ms to
+ *  // wait for enough space to be available in the stream buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
  *
- *           if( xBytesSent != sizeof( ucArrayToSend ) )
- *           {
- *              // The call to xStreamBufferSend() times out before there was enough
- *              // space in the buffer for the data to be written, but it did
- *              // successfully write xBytesSent bytes.
- *           }
+ *  if( xBytesSent != sizeof( ucArrayToSend ) )
+ *  {
+ *      // The call to xStreamBufferSend() times out before there was enough
+ *      // space in the buffer for the data to be written, but it did
+ *      // successfully write xBytesSent bytes.
+ *  }
  *
- *           // Send the string to the stream buffer.  Return immediately if there is not
- *           // enough space in the buffer.
- *           xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
+ *  // Send the string to the stream buffer.  Return immediately if there is not
+ *  // enough space in the buffer.
+ *  xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
  *
- *           if( xBytesSent != strlen( pcStringToSend ) )
- *           {
- *              // The entire string could not be added to the stream buffer because
- *              // there was not enough free space in the buffer, but xBytesSent bytes
- *              // were sent.  Could try again to send the remaining bytes.
- *           }
- *       }
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // The entire string could not be added to the stream buffer because
+ *      // there was not enough free space in the buffer, but xBytesSent bytes
+ *      // were sent.  Could try again to send the remaining bytes.
+ *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferSend xStreamBufferSend
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
-						  const void *pvTxData,
-						  size_t xDataLengthBytes,
-						  TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+                          const void * pvTxData,
+                          size_t xDataLengthBytes,
+                          TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                               const void *pvTxData,
+ *                               size_t xDataLengthBytes,
+ *                               BaseType_t *pxHigherPriorityTaskWoken );
+ * 

+ * @endcond
+ *
  * Interrupt safe version of the API function that sends a stream of bytes to
  * the stream buffer.
  *
@@ -303,7 +356,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
@@ -339,46 +392,60 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  *
  * Example use:
  * @code{c}
- *   //A stream buffer that has already been created.
- *   StreamBufferHandle_t xStreamBuffer;
+ * // A stream buffer that has already been created.
+ * StreamBufferHandle_t xStreamBuffer;
  *
- *   void vAnInterruptServiceRoutine( void )
- *   {
- *   size_t xBytesSent;
- *   char *pcStringToSend = "String to send";
- *   BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * size_t xBytesSent;
+ * char *pcStringToSend = "String to send";
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
  *
- *       // Attempt to send the string to the stream buffer.
- *       xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
- *                                           ( void * ) pcStringToSend,
- *                                           strlen( pcStringToSend ),
- *                                           &xHigherPriorityTaskWoken );
+ *  // Attempt to send the string to the stream buffer.
+ *  xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
+ *                                         ( void * ) pcStringToSend,
+ *                                         strlen( pcStringToSend ),
+ *                                         &xHigherPriorityTaskWoken );
  *
- *       if( xBytesSent != strlen( pcStringToSend ) )
- *       {
- *           // There was not enough free space in the stream buffer for the entire
- *           // string to be written, ut xBytesSent bytes were written.
- *       }
+ *  if( xBytesSent != strlen( pcStringToSend ) )
+ *  {
+ *      // There was not enough free space in the stream buffer for the entire
+ *      // string to be written, ut xBytesSent bytes were written.
+ *  }
  *
- *       // If xHigherPriorityTaskWoken was set to pdTRUE inside
- *       // xStreamBufferSendFromISR() then a task that has a priority above the
- *       // priority of the currently executing task was unblocked and a context
- *       // switch should be performed to ensure the ISR returns to the unblocked
- *       // task.  In most FreeRTOS ports this is done by simply passing
- *       // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
- *       // variables value, and perform the context switch if necessary.  Check the
- *       // documentation for the port in use for port specific instructions.
- *       taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
- *   }
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferSendFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
-								 const void *pvTxData,
-								 size_t xDataLengthBytes,
-								 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+                                 const void * pvTxData,
+                                 size_t xDataLengthBytes,
+                                 BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
+ *                           void *pvRxData,
+ *                           size_t xBufferLengthBytes,
+ *                           TickType_t xTicksToWait );
+ * 

+ * @endcond
+ *
  * Receives bytes from a stream buffer.
  *
  * ***NOTE***:  Uniquely among FreeRTOS objects, the stream buffer
@@ -393,7 +460,7 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferReceive() to read from a stream buffer from a task.  Use
@@ -428,37 +495,50 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  *
  * Example use:
  * @code{c}
- *   void vAFunction( StreamBuffer_t xStreamBuffer )
- *   {
- *   uint8_t ucRxData[ 20 ];
- *   size_t xReceivedBytes;
- *   const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
+ * void vAFunction( StreamBuffer_t xStreamBuffer )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
  *
- *       // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
- *       // Wait in the Blocked state (so not using any CPU processing time) for a
- *       // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
- *       // available.
- *       xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
- *                                           ( void * ) ucRxData,
- *                                           sizeof( ucRxData ),
- *                                           xBlockTime );
+ *  // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
+ *  // Wait in the Blocked state (so not using any CPU processing time) for a
+ *  // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
+ *  // available.
+ *  xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
+ *                                         ( void * ) ucRxData,
+ *                                         sizeof( ucRxData ),
+ *                                         xBlockTime );
  *
- *       if( xReceivedBytes > 0 )
- *       {
- *           // A ucRxData contains another xRecievedBytes bytes of data, which can
- *           // be processed here....
- *       }
- *   }
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // A ucRxData contains another xRecievedBytes bytes of data, which can
+ *      // be processed here....
+ *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferReceive xStreamBufferReceive
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
-							 void *pvRxData,
-							 size_t xBufferLengthBytes,
-							 TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
+                             void * pvRxData,
+                             size_t xBufferLengthBytes,
+                             TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
+ *                                  void *pvRxData,
+ *                                  size_t xBufferLengthBytes,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ * 

+ * @endcond
+ *
  * An interrupt safe version of the API function that receives bytes from a
  * stream buffer.
  *
@@ -495,46 +575,57 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
  *
  * Example use:
  * @code{c}
- *   // A stream buffer that has already been created.
- *   StreamBuffer_t xStreamBuffer;
+ * // A stream buffer that has already been created.
+ * StreamBuffer_t xStreamBuffer;
  *
- *   void vAnInterruptServiceRoutine( void )
- *   {
- *   uint8_t ucRxData[ 20 ];
- *   size_t xReceivedBytes;
- *   BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
+ * void vAnInterruptServiceRoutine( void )
+ * {
+ * uint8_t ucRxData[ 20 ];
+ * size_t xReceivedBytes;
+ * BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
  *
- *       // Receive the next stream from the stream buffer.
- *       xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
- *                                                   ( void * ) ucRxData,
- *                                                   sizeof( ucRxData ),
- *                                                   &xHigherPriorityTaskWoken );
+ *  // Receive the next stream from the stream buffer.
+ *  xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
+ *                                                ( void * ) ucRxData,
+ *                                                sizeof( ucRxData ),
+ *                                                &xHigherPriorityTaskWoken );
  *
- *       if( xReceivedBytes > 0 )
- *       {
- *           // ucRxData contains xReceivedBytes read from the stream buffer.
- *           // Process the stream here....
- *       }
+ *  if( xReceivedBytes > 0 )
+ *  {
+ *      // ucRxData contains xReceivedBytes read from the stream buffer.
+ *      // Process the stream here....
+ *  }
  *
- *       // If xHigherPriorityTaskWoken was set to pdTRUE inside
- *       // xStreamBufferReceiveFromISR() then a task that has a priority above the
- *       // priority of the currently executing task was unblocked and a context
- *       // switch should be performed to ensure the ISR returns to the unblocked
- *       // task.  In most FreeRTOS ports this is done by simply passing
- *       // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
- *       // variables value, and perform the context switch if necessary.  Check the
- *       // documentation for the port in use for port specific instructions.
- *       taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
- *   }
+ *  // If xHigherPriorityTaskWoken was set to pdTRUE inside
+ *  // xStreamBufferReceiveFromISR() then a task that has a priority above the
+ *  // priority of the currently executing task was unblocked and a context
+ *  // switch should be performed to ensure the ISR returns to the unblocked
+ *  // task.  In most FreeRTOS ports this is done by simply passing
+ *  // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+ *  // variables value, and perform the context switch if necessary.  Check the
+ *  // documentation for the port in use for port specific instructions.
+ *  taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ * }
  * @endcode
+ * @cond
+ * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
-									void *pvRxData,
-									size_t xBufferLengthBytes,
-									BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+                                    void * pvRxData,
+                                    size_t xBufferLengthBytes,
+                                    BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Deletes a stream buffer that was previously created using a call to
  * xStreamBufferCreate() or xStreamBufferCreateStatic().  If the stream
  * buffer was created using dynamic memory (that is, by xStreamBufferCreate()),
@@ -545,11 +636,22 @@ size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
  *
  * @param xStreamBuffer The handle of the stream buffer to be deleted.
  *
+ * @cond
+ * \defgroup vStreamBufferDelete vStreamBufferDelete
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Queries a stream buffer to see if it is full.  A stream buffer is full if it
  * does not have any free space, and therefore cannot accept any more data.
  *
@@ -558,11 +660,22 @@ void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTI
  * @return If the stream buffer is full then pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferIsFull xStreamBufferIsFull
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Queries a stream buffer to see if it is empty.  A stream buffer is empty if
  * it does not contain any data.
  *
@@ -571,11 +684,22 @@ BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_
  * @return If the stream buffer is empty then pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Resets a stream buffer to its initial, empty, state.  Any data that was in
  * the stream buffer is discarded.  A stream buffer can only be reset if there
  * are no tasks blocked waiting to either send to or receive from the stream
@@ -587,11 +711,22 @@ BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED
  * a task blocked waiting to send to or read from the stream buffer then the
  * stream buffer is not reset and pdFAIL is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferReset xStreamBufferReset
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Queries a stream buffer to see how much free space it contains, which is
  * equal to the amount of data that can be sent to the stream buffer before it
  * is full.
@@ -601,12 +736,22 @@ BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_F
  * @return The number of bytes that can be written to the stream buffer before
  * the stream buffer would be full.
  *
+ * @cond
  * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
+ * 

+ * @endcond
+ *
  * Queries a stream buffer to see how much data it contains, which is equal to
  * the number of bytes that can be read from the stream buffer before the stream
  * buffer would be empty.
@@ -616,12 +761,22 @@ size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVIL
  * @return The number of bytes that can be read from the stream buffer before
  * the stream buffer would be empty.
  *
+ * @cond
  * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable
+ * @endcond
  * \ingroup StreamBufferManagement
  */
 size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
+ * 

+ * @endcond
+ *
  * A stream buffer's trigger level is the number of bytes that must be in the
  * stream buffer before a task that is blocked on the stream buffer to
  * wait for data is moved out of the blocked state.  For example, if a task is
@@ -647,11 +802,23 @@ size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILE
  * then the trigger level will be updated and pdTRUE is returned.  Otherwise
  * pdFALSE is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
+ * @endcond
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer,
+                                         size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 

+ * @endcond
+ *
  * For advanced users only.
  *
  * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
@@ -679,11 +846,23 @@ BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, siz
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
+ * @endcond
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                              BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * stream_buffer.h
+ *
+ * 
+ * BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
+ * 

+ * @endcond
+ *
  * For advanced users only.
  *
  * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
@@ -712,34 +891,41 @@ BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer
  * @return If a task was removed from the Blocked state then pdTRUE is returned.
  * Otherwise pdFALSE is returned.
  *
+ * @cond
+ * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
+ * @endcond
  * \ingroup StreamBufferManagement
  */
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer,
+                                                 BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /** @cond */
 /* Functions below here are not part of the public API. */
 StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
-												 size_t xTriggerLevelBytes,
-												 BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION;
+                                                 size_t xTriggerLevelBytes,
+                                                 BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION;
 
 StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
-													   size_t xTriggerLevelBytes,
-													   BaseType_t xIsMessageBuffer,
-													   uint8_t * const pucStreamBufferStorageArea,
-													   StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
+                                                       size_t xTriggerLevelBytes,
+                                                       BaseType_t xIsMessageBuffer,
+                                                       uint8_t * const pucStreamBufferStorageArea,
+                                                       StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
 
 size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 
-#if( configUSE_TRACE_FACILITY == 1 )
-	void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
-	UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-	uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer,
+                                             UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
+    uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
 #endif
 
 /** @endcond */
 
+/* *INDENT-OFF* */
 #if defined( __cplusplus )
-}
+    }
 #endif
+/* *INDENT-ON* */
 
-#endif	/* !defined( STREAM_BUFFER_H ) */
+#endif /* !defined( STREAM_BUFFER_H ) */
diff --git a/components/freertos/include/freertos/task.h b/components/freertos/include/freertos/task.h
index 26e71c1f2d..d443179701 100644
--- a/components/freertos/include/freertos/task.h
+++ b/components/freertos/include/freertos/task.h
@@ -1,6 +1,6 @@
 /*
  * FreeRTOS Kernel V10.2.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -19,10 +19,9 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
@@ -30,15 +29,17 @@
 #define INC_TASK_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include task.h"
+    #error "include FreeRTOS.h must appear in source files before include task.h"
 #endif
 
 #include "list.h"
 #include "freertos/portmacro.h"
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
  * MACROS AND DEFINITIONS
@@ -51,48 +52,53 @@ extern "C" {
 
 /* MPU region parameters passed in ulParameters
  * of MemoryRegion_t struct. */
-#define tskMPU_REGION_READ_ONLY			( 1UL << 0UL )
-#define tskMPU_REGION_READ_WRITE		( 1UL << 1UL )
-#define tskMPU_REGION_EXECUTE_NEVER		( 1UL << 2UL )
-#define tskMPU_REGION_NORMAL_MEMORY		( 1UL << 3UL )
-#define tskMPU_REGION_DEVICE_MEMORY		( 1UL << 4UL )
+#define tskMPU_REGION_READ_ONLY        ( 1UL << 0UL )
+#define tskMPU_REGION_READ_WRITE       ( 1UL << 1UL )
+#define tskMPU_REGION_EXECUTE_NEVER    ( 1UL << 2UL )
+#define tskMPU_REGION_NORMAL_MEMORY    ( 1UL << 3UL )
+#define tskMPU_REGION_DEVICE_MEMORY    ( 1UL << 4UL )
 
-#define tskNO_AFFINITY	( 0x7FFFFFFF )
+#define tskNO_AFFINITY  ( 0x7FFFFFFF )
 /**
+ * task. h
+ *
  * Type by which tasks are referenced.  For example, a call to xTaskCreate
  * returns (via a pointer parameter) an TaskHandle_t variable that can then
  * be used as a parameter to vTaskDelete to delete the task.
  *
+ * @cond
+ * \defgroup TaskHandle_t TaskHandle_t
+ * @endcond
  * \ingroup Tasks
  */
-struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
+struct tskTaskControlBlock;     /* The old naming convention is used to prevent breaking kernel aware debuggers. */
 //typedef struct tskTaskControlBlock* TaskHandle_t;
 typedef void* TaskHandle_t;
 /**
  * Defines the prototype to which the application task hook function must
  * conform.
  */
-typedef BaseType_t (*TaskHookFunction_t)( void * );
+typedef BaseType_t (* TaskHookFunction_t)( void * );
 
 /** Task states returned by eTaskGetState. */
 typedef enum
 {
-	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
-	eReady,			/* The task being queried is in a read or pending ready list. */
-	eBlocked,		/* The task being queried is in the Blocked state. */
-	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
-	eDeleted,		/* The task being queried has been deleted, but its TCB has not yet been freed. */
-	eInvalid		/* Used as an 'invalid state' value. */
+    eRunning = 0,     /* A task is querying the state of itself, so must be running. */
+    eReady,           /* The task being queried is in a read or pending ready list. */
+    eBlocked,         /* The task being queried is in the Blocked state. */
+    eSuspended,       /* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+    eDeleted,         /* The task being queried has been deleted, but its TCB has not yet been freed. */
+    eInvalid          /* Used as an 'invalid state' value. */
 } eTaskState;
 
 /* Actions that can be performed when vTaskNotify() is called. */
 typedef enum
 {
-	eNoAction = 0,				/* Notify the task without updating its notify value. */
-	eSetBits,					/* Set bits in the task's notification value. */
-	eIncrement,					/* Increment the task's notification value. */
-	eSetValueWithOverwrite,		/* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
-	eSetValueWithoutOverwrite	/* Set the task's notification value if the previous value has been read by the task. */
+    eNoAction = 0,                /* Notify the task without updating its notify value. */
+    eSetBits,                     /* Set bits in the task's notification value. */
+    eIncrement,                   /* Increment the task's notification value. */
+    eSetValueWithOverwrite,       /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
+    eSetValueWithoutOverwrite     /* Set the task's notification value if the previous value has been read by the task. */
 } eNotifyAction;
 
 /** @cond */
@@ -101,8 +107,8 @@ typedef enum
  */
 typedef struct xTIME_OUT
 {
-	BaseType_t xOverflowCount;
-	TickType_t xTimeOnEntering;
+    BaseType_t xOverflowCount;
+    TickType_t xTimeOnEntering;
 } TimeOut_t;
 
 /**
@@ -110,9 +116,9 @@ typedef struct xTIME_OUT
  */
 typedef struct xMEMORY_REGION
 {
-	void *pvBaseAddress;
-	uint32_t ulLengthInBytes;
-	uint32_t ulParameters;
+    void * pvBaseAddress;
+    uint32_t ulLengthInBytes;
+    uint32_t ulParameters;
 } MemoryRegion_t;
 
 /*
@@ -120,16 +126,16 @@ typedef struct xMEMORY_REGION
  */
 typedef struct xTASK_PARAMETERS
 {
-	TaskFunction_t pvTaskCode;
-	const char * const pcName;	/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	configSTACK_DEPTH_TYPE usStackDepth;
-	void *pvParameters;
-	UBaseType_t uxPriority;
-	StackType_t *puxStackBuffer;
-	MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
-	#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-		StaticTask_t * const pxTaskBuffer;
-	#endif
+    TaskFunction_t pvTaskCode;
+    const char * const pcName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    configSTACK_DEPTH_TYPE usStackDepth;
+    void * pvParameters;
+    UBaseType_t uxPriority;
+    StackType_t * puxStackBuffer;
+    MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
+    #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+        StaticTask_t * const pxTaskBuffer;
+    #endif
 } TaskParameters_t;
 
 
@@ -138,17 +144,17 @@ typedef struct xTASK_PARAMETERS
  */
 typedef struct xTASK_STATUS
 {
-	TaskHandle_t xHandle;			/* The handle of the task to which the rest of the information in the structure relates. */
-	const char *pcTaskName;			/* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-	UBaseType_t xTaskNumber;		/* A number unique to the task. */
-	eTaskState eCurrentState;		/* The state in which the task existed when the structure was populated. */
-	UBaseType_t uxCurrentPriority;	/* The priority at which the task was running (may be inherited) when the structure was populated. */
-	UBaseType_t uxBasePriority;		/* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
-	uint32_t ulRunTimeCounter;		/* The total run time allocated to the task so far, as defined by the run time stats clock.  See http://www.freertos.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
-	StackType_t *pxStackBase;		/* Points to the lowest address of the task's stack area. */
-	configSTACK_DEPTH_TYPE usStackHighWaterMark;	/* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
+    TaskHandle_t xHandle;                            /* The handle of the task to which the rest of the information in the structure relates. */
+    const char * pcTaskName;                         /* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+    UBaseType_t xTaskNumber;                         /* A number unique to the task. */
+    eTaskState eCurrentState;                        /* The state in which the task existed when the structure was populated. */
+    UBaseType_t uxCurrentPriority;                   /* The priority at which the task was running (may be inherited) when the structure was populated. */
+    UBaseType_t uxBasePriority;                      /* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
+    uint32_t ulRunTimeCounter;                       /* The total run time allocated to the task so far, as defined by the run time stats clock.  See http://www.freertos.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
+    StackType_t *pxStackBase;                        /* Points to the lowest address of the task's stack area. */
+    configSTACK_DEPTH_TYPE usStackHighWaterMark;     /* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
 #if configTASKLIST_INCLUDE_COREID
-	BaseType_t xCoreID;				/*!< Core this task is pinned to (0, 1, or -1 for tskNO_AFFINITY). This field is present if CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID is set. */
+    BaseType_t xCoreID;                              /*!< Core this task is pinned to (0, 1, or -1 for tskNO_AFFINITY). This field is present if CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID is set. */
 #endif
 } TaskStatus_t;
 
@@ -159,9 +165,9 @@ typedef struct xTASK_STATUS
  */
 typedef enum
 {
-	eAbortSleep = 0,		/* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
-	eStandardSleep,			/* Enter a sleep mode that will not last any longer than the expected idle time. */
-	eNoTasksWaitingTimeout	/* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+    eAbortSleep = 0,           /* A task has been made ready or a context switch pended since 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;
 
 /**
@@ -169,61 +175,86 @@ typedef enum
  *
  * \ingroup TaskUtils
  */
-#define tskIDLE_PRIORITY			( ( UBaseType_t ) 0U )
+#define tskIDLE_PRIORITY    ( ( UBaseType_t ) 0U )
 
 /**
+ * task. h
+ *
  * Macro for forcing a context switch.
  *
+ * @cond
+ * \defgroup taskYIELD taskYIELD
+ * @endcond
  * \ingroup SchedulerControl
  */
-#define taskYIELD()					portYIELD()
+#define taskYIELD()                        portYIELD()
 
 /**
+ * task. h
+ *
  * Macro to mark the start of a critical code region.  Preemptive context
  * switches cannot occur when in a critical region.
  *
  * @note This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
+ * @cond
+ * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
+ * @endcond
  * \ingroup SchedulerControl
  */
-#define taskENTER_CRITICAL( x )		portENTER_CRITICAL( x )
+#define taskENTER_CRITICAL( x )     portENTER_CRITICAL( x )
 #define taskENTER_CRITICAL_FROM_ISR( ) portSET_INTERRUPT_MASK_FROM_ISR()
-#define taskENTER_CRITICAL_ISR(mux)		portENTER_CRITICAL_ISR(mux)
+#define taskENTER_CRITICAL_ISR(mux)     portENTER_CRITICAL_ISR(mux)
 
 /**
+ * task. h
+ *
  * Macro to mark the end of a critical code region.  Preemptive context
  * switches cannot occur when in a critical region.
  *
  * @note This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
+ * @cond
+ * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
+ * @endcond
  * \ingroup SchedulerControl
  */
-#define taskEXIT_CRITICAL( x )			portEXIT_CRITICAL( x )
+#define taskEXIT_CRITICAL( x )          portEXIT_CRITICAL( x )
 #define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
-#define taskEXIT_CRITICAL_ISR(mux)		portEXIT_CRITICAL_ISR(mux)
+#define taskEXIT_CRITICAL_ISR(mux)      portEXIT_CRITICAL_ISR(mux)
 
 /**
+ * task. h
+ *
  * Macro to disable all maskable interrupts.
  *
+ * @cond
+ * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
+ * @endcond
  * \ingroup SchedulerControl
  */
-#define taskDISABLE_INTERRUPTS()	portDISABLE_INTERRUPTS()
+#define taskDISABLE_INTERRUPTS()           portDISABLE_INTERRUPTS()
 
 /**
+ * task. h
+ *
  * Macro to enable microcontroller interrupts.
  *
+ * @cond
+ * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
+ * @endcond
  * \ingroup SchedulerControl
  */
-#define taskENABLE_INTERRUPTS()		portENABLE_INTERRUPTS()
+#define taskENABLE_INTERRUPTS()            portENABLE_INTERRUPTS()
 
 /* Definitions returned by xTaskGetSchedulerState().  taskSCHEDULER_SUSPENDED is
-0 to generate more optimal code when configASSERT() is defined as the constant
-is used in assert() statements. */
-#define taskSCHEDULER_SUSPENDED		( ( BaseType_t ) 0 )
-#define taskSCHEDULER_NOT_STARTED	( ( BaseType_t ) 1 )
-#define taskSCHEDULER_RUNNING		( ( BaseType_t ) 2 )
+ * 0 to generate more optimal code when configASSERT() is defined as the constant
+ * is used in assert() statements. */
+#define taskSCHEDULER_SUSPENDED      ( ( BaseType_t ) 0 )
+#define taskSCHEDULER_NOT_STARTED    ( ( BaseType_t ) 1 )
+#define taskSCHEDULER_RUNNING        ( ( BaseType_t ) 2 )
 
 
 /*-----------------------------------------------------------
@@ -271,13 +302,13 @@ is used in assert() statements. */
  * \ingroup Tasks
  */
 #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	BaseType_t xTaskCreatePinnedToCore(	TaskFunction_t pvTaskCode,
-										const char * const pcName,
-										const uint32_t usStackDepth,
-										void * const pvParameters,
-										UBaseType_t uxPriority,
-										TaskHandle_t * const pvCreatedTask,
-										const BaseType_t xCoreID);
+    BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pvTaskCode,
+                                        const char * const pcName,
+                                        const uint32_t usStackDepth,
+                                        void * const pvParameters,
+                                        UBaseType_t uxPriority,
+                                        TaskHandle_t * const pvCreatedTask,
+                                        const BaseType_t xCoreID);
 
 #endif
 
@@ -289,7 +320,7 @@ is used in assert() statements. */
  * second block is used by the task as its stack.  If a task is created using
  * xTaskCreate() then both blocks of memory are automatically dynamically
  * allocated inside the xTaskCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a task is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a task is created using
  * xTaskCreateStatic() then the application writer must provide the required
  * memory.  xTaskCreateStatic() therefore allows a task to be created without
  * using any dynamic memory allocation.
@@ -333,50 +364,52 @@ is used in assert() statements. */
  *
  * Example usage:
  * @code{c}
- *  // Task to be created.
- *  void vTaskCode( void * pvParameters )
- *  {
+ * // Task to be created.
+ * void vTaskCode( void * pvParameters )
+ * {
  *   for( ;; )
  *   {
  *       // Task code goes here.
  *   }
- *  }
+ * }
  *
- *  // Function that creates a task.
- *  void vOtherFunction( void )
- *  {
- *  static uint8_t ucParameterToPass;
- *  TaskHandle_t xHandle = NULL;
+ * // Function that creates a task.
+ * void vOtherFunction( void )
+ * {
+ * static uint8_t ucParameterToPass;
+ * TaskHandle_t xHandle = NULL;
  *
  *   // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
  *   // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
  *   // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
  *   // the new task attempts to access it.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
- *      configASSERT( xHandle );
+ *   configASSERT( xHandle );
  *
  *   // Use the handle to delete the task.
- *      if( xHandle != NULL )
- *      {
- *       vTaskDelete( xHandle );
- *      }
- *  }
+ *   if( xHandle != NULL )
+ *   {
+ *      vTaskDelete( xHandle );
+ *   }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xTaskCreate xTaskCreate
+ * @endcond
  * \ingroup Tasks
  */
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
 
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
-	static inline IRAM_ATTR BaseType_t xTaskCreate(
-			TaskFunction_t pvTaskCode,
-			const char * const pcName,
-			const uint32_t usStackDepth,
-			void * const pvParameters,
-			UBaseType_t uxPriority,
-			TaskHandle_t * const pvCreatedTask)
-	{
-		return xTaskCreatePinnedToCore( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, tskNO_AFFINITY );
-	}
+    static inline IRAM_ATTR BaseType_t xTaskCreate(
+            TaskFunction_t pvTaskCode,
+            const char * const pcName,
+            const uint32_t usStackDepth,
+            void * const pvParameters,
+            UBaseType_t uxPriority,
+            TaskHandle_t * const pvCreatedTask)
+    {
+        return xTaskCreatePinnedToCore( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pvCreatedTask, tskNO_AFFINITY );
+    }
 
 #endif
 
@@ -427,14 +460,14 @@ is used in assert() statements. */
  * \ingroup Tasks
  */
 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	TaskHandle_t xTaskCreateStaticPinnedToCore(	TaskFunction_t pvTaskCode,
-												const char * const pcName,
-												const uint32_t ulStackDepth,
-												void * const pvParameters,
-												UBaseType_t uxPriority,
-												StackType_t * const pxStackBuffer,
-												StaticTask_t * const pxTaskBuffer,
-												const BaseType_t xCoreID );
+    TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pvTaskCode,
+                                                const char * const pcName,
+                                                const uint32_t ulStackDepth,
+                                                void * const pvParameters,
+                                                UBaseType_t uxPriority,
+                                                StackType_t * const pxStackBuffer,
+                                                StaticTask_t * const pxTaskBuffer,
+                                                const BaseType_t xCoreID );
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
@@ -485,68 +518,68 @@ is used in assert() statements. */
  * Example usage:
  * @code{c}
  *
- *     // Dimensions the buffer that the task being created will use as its stack.
- *     // NOTE:  This is the number of bytes the stack will hold, not the number of
- *     // words as found in vanilla FreeRTOS.
- *     #define STACK_SIZE 200
+ *  // Dimensions the buffer that the task being created will use as its stack.
+ *  // NOTE:  This is the number of bytes the stack will hold, not the number of
+ *  // words as found in vanilla FreeRTOS.
+ * \#define STACK_SIZE 200
  *
- *     // Structure that will hold the TCB of the task being created.
- *     StaticTask_t xTaskBuffer;
+ *  // Structure that will hold the TCB of the task being created.
+ *  StaticTask_t xTaskBuffer;
  *
- *     // Buffer that the task being created will use as its stack.  Note this is
- *     // an array of StackType_t variables.  The size of StackType_t is dependent on
- *     // the RTOS port.
- *     StackType_t xStack[ STACK_SIZE ];
+ *  // Buffer that the task being created will use as its stack.  Note this is
+ *  // an array of StackType_t variables.  The size of StackType_t is dependent on
+ *  // the RTOS port.
+ *  StackType_t xStack[ STACK_SIZE ];
  *
- *     // Function that implements the task being created.
- *     void vTaskCode( void * pvParameters )
- *     {
- *         // The parameter value is expected to be 1 as 1 is passed in the
- *         // pvParameters value in the call to xTaskCreateStatic().
- *         configASSERT( ( uint32_t ) pvParameters == 1UL );
+ *  // Function that implements the task being created.
+ *  void vTaskCode( void * pvParameters )
+ *  {
+ *      // The parameter value is expected to be 1 as 1 is passed in the
+ *      // pvParameters value in the call to xTaskCreateStatic().
+ *      configASSERT( ( uint32_t ) pvParameters == 1UL );
  *
- *         for( ;; )
- *         {
- *             // Task code goes here.
- *         }
- *     }
+ *      for( ;; )
+ *      {
+ *          // Task code goes here.
+ *      }
+ *  }
  *
- *     // Function that creates a task.
- *     void vOtherFunction( void )
- *     {
- *         TaskHandle_t xHandle = NULL;
+ *  // Function that creates a task.
+ *  void vOtherFunction( void )
+ *  {
+ *      TaskHandle_t xHandle = NULL;
  *
- *         // Create the task without using any dynamic memory allocation.
- *         xHandle = xTaskCreateStatic(
- *                       vTaskCode,       // Function that implements the task.
- *                       "NAME",          // Text name for the task.
- *                       STACK_SIZE,      // Stack size in bytes, not words.
- *                       ( void * ) 1,    // Parameter passed into the task.
- *                       tskIDLE_PRIORITY,// Priority at which the task is created.
- *                       xStack,          // Array to use as the task's stack.
- *                       &xTaskBuffer );  // Variable to hold the task's data structure.
+ *      // Create the task without using any dynamic memory allocation.
+ *      xHandle = xTaskCreateStatic(
+ *                    vTaskCode,       // Function that implements the task.
+ *                    "NAME",          // Text name for the task.
+ *                    STACK_SIZE,      // Stack size in bytes, not words.
+ *                    ( void * ) 1,    // Parameter passed into the task.
+ *                    tskIDLE_PRIORITY,// Priority at which the task is created.
+ *                    xStack,          // Array to use as the task's stack.
+ *                    &xTaskBuffer );  // Variable to hold the task's data structure.
  *
- *         // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
- *         // been created, and xHandle will be the task's handle.  Use the handle
- *         // to suspend the task.
- *         vTaskSuspend( xHandle );
- *     }
+ *      // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
+ *      // been created, and xHandle will be the task's handle.  Use the handle
+ *      // to suspend the task.
+ *      vTaskSuspend( xHandle );
+ *  }
  * @endcode
  * \ingroup Tasks
  */
 
 #if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	static inline IRAM_ATTR TaskHandle_t xTaskCreateStatic(
-			TaskFunction_t pvTaskCode,
-			const char * const pcName,
-			const uint32_t ulStackDepth,
-			void * const pvParameters,
-			UBaseType_t uxPriority,
-			StackType_t * const pxStackBuffer,
-			StaticTask_t * const pxTaskBuffer)
-	{
-		return xTaskCreateStaticPinnedToCore( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, pxStackBuffer, pxTaskBuffer, tskNO_AFFINITY );
-	}
+    static inline IRAM_ATTR TaskHandle_t xTaskCreateStatic(
+            TaskFunction_t pvTaskCode,
+            const char * const pcName,
+            const uint32_t ulStackDepth,
+            void * const pvParameters,
+            UBaseType_t uxPriority,
+            StackType_t * const pxStackBuffer,
+            StaticTask_t * const pxTaskBuffer)
+    {
+        return xTaskCreateStaticPinnedToCore( pvTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, pxStackBuffer, pxTaskBuffer, tskNO_AFFINITY );
+    }
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /*
@@ -560,12 +593,12 @@ is used in assert() statements. */
  * See xTaskCreateRestrictedStatic() for a version that does not use any
  * dynamic memory allocation.
  *
- * param pxTaskDefinition Pointer to a structure that contains a member
+ * @param pxTaskDefinition Pointer to a structure that contains a member
  * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
  * documentation) plus an optional stack buffer and the memory region
  * definitions.
  *
- * param pxCreatedTask Used to pass back a handle by which the created task
+ * @param pxCreatedTask Used to pass back a handle by which the created task
  * can be referenced.
  *
  * return pdPASS if the task was successfully created and added to a ready
@@ -576,46 +609,50 @@ is used in assert() statements. */
  * // Create an TaskParameters_t structure that defines the task to be created.
  * static const TaskParameters_t xCheckTaskParameters =
  * {
- * 	vATask,		// pvTaskCode - the function that implements the task.
- * 	"ATask",	// pcName - just a text name for the task to assist debugging.
- * 	100,		// usStackDepth	- the stack size DEFINED IN WORDS.
- * 	NULL,		// pvParameters - passed into the task function as the function parameters.
- * 	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
- * 	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *  100,        // usStackDepth - the stack size DEFINED IN WORDS.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
  *
- * 	// xRegions - Allocate up to three separate memory regions for access by
- * 	// the task, with appropriate access permissions.  Different processors have
- * 	// different memory alignment requirements - refer to the FreeRTOS documentation
- * 	// for full information.
- * 	{
- * 		// Base address					Length	Parameters
- *         { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
- *         { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
- *         { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
- * 	}
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
  * };
  *
  * int main( void )
  * {
  * TaskHandle_t xHandle;
  *
- * 	// Create a task from the const structure defined above.  The task handle
- * 	// is requested (the second parameter is not NULL) but in this case just for
- * 	// demonstration purposes as its not actually used.
- * 	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
  *
- * 	// Start the scheduler.
- * 	vTaskStartScheduler();
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
  *
- * 	// Will only get here if there was insufficient memory to create the idle
- * 	// and/or timer task.
- * 	for( ;; );
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
  * }
  * @endcode
+ * @cond
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * @endcond
  * \ingroup Tasks
  */
-#if( portUSING_MPU_WRAPPERS == 1 )
-	BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+#if ( portUSING_MPU_WRAPPERS == 1 )
+    BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
+	                                  TaskHandle_t * pxCreatedTask );
 #endif
 
 /*
@@ -635,14 +672,14 @@ is used in assert() statements. */
  * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
  * created without using any dynamic memory allocation.
  *
- * param pxTaskDefinition Pointer to a structure that contains a member
+ * @param pxTaskDefinition Pointer to a structure that contains a member
  * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
  * documentation) plus an optional stack buffer and the memory region
  * definitions.  If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure
  * contains an additional member, which is used to point to a variable of type
  * StaticTask_t - which is then used to hold the task's data structure.
  *
- * param pxCreatedTask Used to pass back a handle by which the created task
+ * @param pxCreatedTask Used to pass back a handle by which the created task
  * can be referenced.
  *
  * return pdPASS if the task was successfully created and added to a ready
@@ -657,62 +694,72 @@ is used in assert() statements. */
  * static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
  * static const TaskParameters_t xCheckTaskParameters =
  * {
- *  	vATask,		// pvTaskCode - the function that implements the task.
- * 	"ATask",	// pcName - just a text name for the task to assist debugging.
- *  	100,		// usStackDepth	- the stack size DEFINED IN BYTES.
- * 	NULL,		// pvParameters - passed into the task function as the function parameters.
- *	( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
- *	cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
+ *  vATask,     // pvTaskCode - the function that implements the task.
+ *  "ATask",    // pcName - just a text name for the task to assist debugging.
+ *   100,       // usStackDepth - the stack size DEFINED IN BYTES.
+ *  NULL,       // pvParameters - passed into the task function as the function parameters.
+ *  ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
+ *  cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
  *
- *	// xRegions - Allocate up to three separate memory regions for access by
- *	// the task, with appropriate access permissions.  Different processors have
- *	// different memory alignment requirements - refer to the FreeRTOS documentation
- *	// for full information.
- *	{
- *  		// Base address					Length	Parameters
- *        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
- *        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
- *        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
- * 	}
+ *  // xRegions - Allocate up to three separate memory regions for access by
+ *  // the task, with appropriate access permissions.  Different processors have
+ *  // different memory alignment requirements - refer to the FreeRTOS documentation
+ *  // for full information.
+ *  {
+ *      // Base address                 Length  Parameters
+ *      { cReadWriteArray,              32,     portMPU_REGION_READ_WRITE },
+ *      { cReadOnlyArray,               32,     portMPU_REGION_READ_ONLY },
+ *      { cPrivilegedOnlyAccessArray,   128,    portMPU_REGION_PRIVILEGED_READ_WRITE }
+ *  }
  *
- *  	&xTaskBuffer; // Holds the task's data structure.
+ *  &xTaskBuffer; // Holds the task's data structure.
  * };
  *
  * int main( void )
  * {
  * TaskHandle_t xHandle;
  *
- *	// Create a task from the const structure defined above.  The task handle
- *	// is requested (the second parameter is not NULL) but in this case just for
- *	// demonstration purposes as its not actually used.
- *	xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
+ *  // Create a task from the const structure defined above.  The task handle
+ *  // is requested (the second parameter is not NULL) but in this case just for
+ *  // demonstration purposes as its not actually used.
+ *  xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
  *
- *	// Start the scheduler.
- *	vTaskStartScheduler();
+ *  // Start the scheduler.
+ *  vTaskStartScheduler();
  *
- *	// Will only get here if there was insufficient memory to create the idle
- *	// and/or timer task.
- *	for( ;; );
+ *  // Will only get here if there was insufficient memory to create the idle
+ *  // and/or timer task.
+ *  for( ;; );
  * }
  * @endcode
+ * @cond
+ * \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic
+ * @endcond
  * \ingroup Tasks
  */
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-	BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask );
+#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
+    BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
+	                                        TaskHandle_t * pxCreatedTask );
 #endif
 
-/*
+/**
+ * @cond
+ * task. h
+ * 
+ * void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );
+ * 

+ * @endcond
+ *
  * 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 xTask The handle of the task being updated.
  *
- * param pxRegions A pointer to an MemoryRegion_t structure that contains the
+ * @param pxRegions A pointer to an MemoryRegion_t structure that contains the
  * new memory region definitions.
  *
  * Example usage:
- *
  * @code{c}
  * // Define an array of MemoryRegion_t structures that configures an MPU region
  * // allowing read/write access for 1024 bytes starting at the beginning of the
@@ -720,30 +767,34 @@ is used in assert() statements. */
  * // unused so set to zero.
  * static const MemoryRegion_t xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
  * {
- * 	// Base address		Length		Parameters
- * 	{ ucOneKByte,		1024,		portMPU_REGION_READ_WRITE },
- * 	{ 0,				0,			0 },
- * 	{ 0,				0,			0 }
+ *  // Base address     Length      Parameters
+ *  { ucOneKByte,       1024,       portMPU_REGION_READ_WRITE },
+ *  { 0,                0,          0 },
+ *  { 0,                0,          0 }
  * };
  *
  * void vATask( void *pvParameters )
  * {
- * 	// This task was created such that it has access to certain regions of
- * 	// memory as defined by the MPU configuration.  At some point it is
- * 	// desired that these MPU regions are replaced with that defined in the
- * 	// xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
- * 	// for this purpose.  NULL is used as the task handle to indicate that this
- * 	// function should modify the MPU regions of the calling task.
- * 	vTaskAllocateMPURegions( NULL, xAltRegions );
+ *  // This task was created such that it has access to certain regions of
+ *  // memory as defined by the MPU configuration.  At some point it is
+ *  // desired that these MPU regions are replaced with that defined in the
+ *  // xAltRegions const struct above.  Use a call to vTaskAllocateMPURegions()
+ *  // for this purpose.  NULL is used as the task handle to indicate that this
+ *  // function should modify the MPU regions of the calling task.
+ *  vTaskAllocateMPURegions( NULL, xAltRegions );
  *
- * 	// Now the task can continue its function, but from this point on can only
- * 	// access its stack and the ucOneKByte array (unless any other statically
- * 	// defined or shared regions have been declared elsewhere).
+ *  // Now the task can continue its function, but from this point on can only
+ *  // access its stack and the ucOneKByte array (unless any other statically
+ *  // defined or shared regions have been declared elsewhere).
  * }
  * @endcode
+ * @cond
+ * \defgroup xTaskCreateRestricted xTaskCreateRestricted
+ * @endcond
  * \ingroup Tasks
  */
-void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
+void vTaskAllocateMPURegions( TaskHandle_t xTask,
+                              const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
 
 /**
  * Remove a task from the RTOS real time kernel's management.  The task being
@@ -752,6 +803,9 @@ void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const p
  * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
+ * Remove a task from the RTOS real time kernel's management.  The task being
+ * deleted will be removed from all ready, blocked, suspended and event lists.
+ *
  * NOTE:  The idle task is responsible for freeing the kernel allocated
  * memory from tasks that have been deleted.  It is therefore important that
  * the idle task is not starved of microcontroller processing time if your
@@ -767,17 +821,20 @@ void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const p
  *
  * Example usage:
  * @code{c}
- *  void vOtherFunction( void )
- *  {
- *  TaskHandle_t xHandle;
+ * void vOtherFunction( void )
+ * {
+ * TaskHandle_t xHandle;
  *
- * 	 // Create the task, storing the handle.
- * 	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+ *   // Create the task, storing the handle.
+ *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
  *
- * 	 // Use the handle to delete the task.
- * 	 vTaskDelete( xHandle );
- *  }
+ *   // Use the handle to delete the task.
+ *   vTaskDelete( xHandle );
+ * }
  * @endcode
+ * @cond
+ * \defgroup vTaskDelete vTaskDelete
+ * @endcond
  * \ingroup Tasks
  */
 void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
@@ -797,6 +854,7 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
+ *
  * vTaskDelay() specifies a time at which the task wishes to unblock relative to
  * the time at which vTaskDelay() is called.  For example, specifying a block
  * period of 100 ticks will cause the task to unblock 100 ticks after
@@ -814,19 +872,23 @@ void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  void vTaskFunction( void * pvParameters )
- *  {
- *  // Block for 500ms.
- *  const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
+ * void vTaskFunction( void * pvParameters )
+ * {
+ * // Block for 500ms.
+ * const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
  *
- * 	 for( ;; )
- * 	 {
- * 		 // Simply toggle the LED every 500ms, blocking between each toggle.
- * 		 vToggleLED();
- * 		 vTaskDelay( xDelay );
- * 	 }
- *  }
+ *   for( ;; )
+ *   {
+ *       // Simply toggle the LED every 500ms, blocking between each toggle.
+ *       vToggleLED();
+ *       vTaskDelay( xDelay );
+ *   }
+ * }
  * @endcode
+ *
+ * @cond
+ * \defgroup vTaskDelay vTaskDelay
+ * @endcond
  * \ingroup TaskCtrl
  */
 void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
@@ -867,28 +929,39 @@ void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  // Perform an action every 10 ticks.
- *  void vTaskFunction( void * pvParameters )
- *  {
- *  TickType_t xLastWakeTime;
- *  const TickType_t xFrequency = 10;
+ * // Perform an action every 10 ticks.
+ * void vTaskFunction( void * pvParameters )
+ * {
+ * TickType_t xLastWakeTime;
+ * const TickType_t xFrequency = 10;
  *
- * 	 // Initialise the xLastWakeTime variable with the current time.
- * 	 xLastWakeTime = xTaskGetTickCount ();
- * 	 for( ;; )
- * 	 {
- * 		 // Wait for the next cycle.
- * 		 vTaskDelayUntil( &xLastWakeTime, xFrequency );
+ *     // Initialise the xLastWakeTime variable with the current time.
+ *     xLastWakeTime = xTaskGetTickCount ();
+ *     for( ;; )
+ *     {
+ *         // Wait for the next cycle.
+ *         vTaskDelayUntil( &xLastWakeTime, xFrequency );
  *
- * 		 // Perform action here.
- * 	 }
- *  }
+ *         // Perform action here.
+ *     }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xTaskDelayUntil xTaskDelayUntil
+ * @endcond
  * \ingroup TaskCtrl
  */
-void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+                            const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * task. h
+ * 
+ * BaseType_t xTaskAbortDelay( TaskHandle_t xTask );
+ * 

+ * @endcond
+ *
  * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this
  * function to be available.
  *
@@ -900,22 +973,36 @@ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xT
  * task will leave the Blocked state, and return from whichever function call
  * placed the task into the Blocked state.
  *
+ * There is no 'FromISR' version of this function as an interrupt would need to
+ * know which object a task was blocked on in order to know which actions to
+ * take.  For example, if the task was blocked on a queue the interrupt handler
+ * would then need to know if the queue was locked.
+ *
  * @param xTask The handle of the task to remove from the Blocked state.
  *
  * @return If the task referenced by xTask was not in the Blocked state then
  * pdFAIL is returned.  Otherwise pdPASS is returned.
  *
+ * @cond
  * \defgroup xTaskAbortDelay xTaskAbortDelay
+ * @endcond
  * \ingroup TaskCtrl
  */
 BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * Obtain the priority of any task.
+ * @cond
+ * task. h
+ * 
+ * UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );
+ * 

+ * @endcond
  *
  * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
+ * Obtain the priority of any task.
+ *
  * @param xTask Handle of the task to be queried.  Passing a NULL
  * handle results in the priority of the calling task being returned.
  *
@@ -923,9 +1010,9 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  void vAFunction( void )
- *  {
- *  TaskHandle_t xHandle;
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
  *
  *   // Create a task, storing the handle.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
@@ -949,23 +1036,39 @@ BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  *   }
  * }
  * @endcode
+ * @cond
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet
+ * @endcond
  * \ingroup TaskCtrl
  */
 UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * task. h
+ * 
+ * UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );
+ * 

+ * @endcond
+ *
  * A version of uxTaskPriorityGet() that can be used from an ISR.
  */
 UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * Obtain the state of any task.
- *
- * States are encoded by the eTaskState enumerated type.
+ * @cond
+ * task. h
+ * 
+ * eTaskState eTaskGetState( TaskHandle_t xTask );
+ * 

+ * @endcond
  *
  * 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
@@ -975,11 +1078,17 @@ UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNC
 eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
 /**
- * Populates a TaskStatus_t structure with information about a task.
+ * @cond
+ * task. h
+ * 
+ * void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );
+ * 

+ * @endcond
  *
  * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
  *
+ * Populates a TaskStatus_t structure with information about a task.
  *
  * @param xTask Handle of the task being queried.  If xTask is NULL then
  * information will be returned about the calling task.
@@ -1010,29 +1119,42 @@ eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * TaskHandle_t xHandle;
  * TaskStatus_t xTaskDetails;
  *
- *    // Obtain the handle of a task from its name.
- *    xHandle = xTaskGetHandle( "Task_Name" );
+ *  // Obtain the handle of a task from its name.
+ *  xHandle = xTaskGetHandle( "Task_Name" );
  *
- *    // Check the handle is not NULL.
- *    configASSERT( xHandle );
+ *  // Check the handle is not NULL.
+ *  configASSERT( xHandle );
  *
- *    // Use the handle to obtain further information about the task.
- *    vTaskGetInfo( xHandle,
- *                  &xTaskDetails,
- *                  pdTRUE, // Include the high water mark in xTaskDetails.
- *                  eInvalid ); // Include the task state in xTaskDetails.
+ *  // Use the handle to obtain further information about the task.
+ *  vTaskGetInfo( xHandle,
+ *                &xTaskDetails,
+ *                pdTRUE, // Include the high water mark in xTaskDetails.
+ *                eInvalid ); // Include the task state in xTaskDetails.
  * }
  * @endcode
+ * @cond
+ * \defgroup vTaskGetInfo vTaskGetInfo
+ * @endcond
  * \ingroup TaskCtrl
  */
-void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) PRIVILEGED_FUNCTION;
+void vTaskGetInfo( TaskHandle_t xTask,
+                   TaskStatus_t * pxTaskStatus,
+                   BaseType_t xGetFreeStackSpace,
+                   eTaskState eState ) PRIVILEGED_FUNCTION;
 
 /**
- * Set the priority of any task.
+ * @cond
+ * task. h
+ * 
+ * void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );
+ * 

+ * @endcond
  *
  * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
+ * Set the priority of any task.
+ *
  * A context switch will occur before the function returns if the priority
  * being set is higher than the currently executing task.
  *
@@ -1043,9 +1165,9 @@ void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xG
  *
  * Example usage:
  * @code{c}
- *  void vAFunction( void )
- *  {
- *  TaskHandle_t xHandle;
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
  *
  *   // Create a task, storing the handle.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
@@ -1059,11 +1181,15 @@ void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xG
  *
  *   // Use a NULL handle to raise our priority to the same value.
  *   vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup vTaskPrioritySet vTaskPrioritySet
+ * @endcond
  * \ingroup TaskCtrl
  */
-void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
+void vTaskPrioritySet( TaskHandle_t xTask,
+                       UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
  * Suspend a task.
@@ -1083,9 +1209,9 @@ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGE
  *
  * Example usage:
  * @code{c}
- *  void vAFunction( void )
- *  {
- *  TaskHandle_t xHandle;
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
  *
  *   // Create a task, storing the handle.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
@@ -1108,18 +1234,28 @@ void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGE
  *
  *   // We cannot get here unless another task calls vTaskResume
  *   // with our handle as the parameter.
- *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup vTaskSuspend vTaskSuspend
+ * @endcond
  * \ingroup TaskCtrl
  */
 void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
- * Resumes a suspended task.
+ * @cond
+ * task. h
+ * 
+ * void vTaskResume( TaskHandle_t xTaskToResume );
+ * 

+ * @endcond
  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
+ * Resumes a suspended task.
+ *
  * A task that has been suspended by one or more calls to vTaskSuspend ()
  * will be made available for running again by a single call to
  * vTaskResume ().
@@ -1128,9 +1264,9 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  void vAFunction( void )
- *  {
- *  TaskHandle_t xHandle;
+ * void vAFunction( void )
+ * {
+ * TaskHandle_t xHandle;
  *
  *   // Create a task, storing the handle.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
@@ -1153,8 +1289,11 @@ void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
  *
  *   // The created task will once again get microcontroller processing
  *   // time in accordance with its priority within the system.
- *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup vTaskResume vTaskResume
+ * @endcond
  * \ingroup TaskCtrl
  */
 void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
@@ -1180,6 +1319,9 @@ void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  * otherwise pdFALSE. This is used by the ISR to determine if a context switch
  * may be required following the ISR.
  *
+ * @cond
+ * \defgroup vTaskResumeFromISR vTaskResumeFromISR
+ * @endcond
  * \ingroup TaskCtrl
  */
 BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
@@ -1201,9 +1343,9 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  * tasks and starting the kernel.
  *
  * Example usage:
- * @code{c}
- *  void vAFunction( void )
- *  {
+ * 
+ * void vAFunction( void )
+ * {
  *   // Create at least one task before starting the kernel.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
  *
@@ -1211,9 +1353,12 @@ BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
  *   vTaskStartScheduler ();
  *
  *   // Will not get here unless a task calls vTaskEndScheduler ()
- *  }
- * @endcode
+ * }
+ * 

  *
+ * @cond
+ * \defgroup vTaskStartScheduler vTaskStartScheduler
+ * @endcond
  * \ingroup SchedulerControl
  */
 void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
@@ -1241,9 +1386,9 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
  * tasks.
  *
  * Example usage:
- * @code{c}
- *  void vTaskCode( void * pvParameters )
- *  {
+ * 
+ * void vTaskCode( void * pvParameters )
+ * {
  *   for( ;; )
  *   {
  *       // Task code goes here.
@@ -1252,10 +1397,10 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
  *       // so call ...
  *       vTaskEndScheduler ();
  *   }
- *  }
+ * }
  *
- *  void vAFunction( void )
- *  {
+ * void vAFunction( void )
+ * {
  *   // Create at least one task before starting the kernel.
  *   xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
  *
@@ -1265,8 +1410,12 @@ void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
  *   // Will only get here when the vTaskCode () task has called
  *   // vTaskEndScheduler ().  When we get here we are back to single task
  *   // execution.
- *  }
- * @endcode
+ * }
+ * 

+ *
+ * @cond
+ * \defgroup vTaskEndScheduler vTaskEndScheduler
+ * @endcond
  * \ingroup SchedulerControl
  */
 void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
@@ -1288,8 +1437,8 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- *  void vTask1( void * pvParameters )
- *  {
+ * void vTask1( void * pvParameters )
+ * {
  *   for( ;; )
  *   {
  *       // Task code goes here.
@@ -1315,13 +1464,23 @@ void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
  *       // The operation is complete.  Restart the kernel.
  *       xTaskResumeAll ();
  *   }
- *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup vTaskSuspendAll vTaskSuspendAll
+ * @endcond
  * \ingroup SchedulerControl
  */
 void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
 
 /**
+ * @cond
+ * task. h
+ * 
+ * BaseType_t xTaskResumeAll( void );
+ * 

+ * @endcond
+ *
  * Resumes scheduler activity after it was suspended by a call to
  * vTaskSuspendAll().
  *
@@ -1329,12 +1488,12 @@ void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
  * that were previously suspended by a call to vTaskSuspend().
  *
  * @return If resuming the scheduler caused a context switch then pdTRUE is
- *		  returned, otherwise pdFALSE is returned.
+ *         returned, otherwise pdFALSE is returned.
  *
  * Example usage:
  * @code{c}
- *  void vTask1( void * pvParameters )
- *  {
+ * void vTask1( void * pvParameters )
+ * {
  *   for( ;; )
  *   {
  *       // Task code goes here.
@@ -1365,8 +1524,11 @@ void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
  *            taskYIELD ();
  *       }
  *   }
- *  }
+ * }
  * @endcode
+ * @cond
+ * \defgroup xTaskResumeAll xTaskResumeAll
+ * @endcond
  * \ingroup SchedulerControl
  */
 BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
@@ -1380,6 +1542,9 @@ BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
  *
  * @return The count of ticks since vTaskStartScheduler was called.
  *
+ * @cond
+ * \defgroup xTaskGetTickCount xTaskGetTickCount
+ * @endcond
  * \ingroup TaskUtils
  */
 TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
@@ -1394,6 +1559,9 @@ TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
  * microcontroller being used or interrupt nesting is either not supported or
  * not being used.
  *
+ * @cond
+ * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR
+ * @endcond
  * \ingroup TaskUtils
  */
 TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
@@ -1406,6 +1574,9 @@ TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
  * has been deleted but not yet freed by the idle task will also be
  * included in the count.
  *
+ * @cond
+ * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
+ * @endcond
  * \ingroup TaskUtils
  */
 UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
@@ -1417,6 +1588,9 @@ UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
  * xTaskToQuery.  A task can query its own name by either passing in its own
  * handle, or by setting xTaskToQuery to NULL.
  *
+ * @cond
+ * \defgroup pcTaskGetName pcTaskGetName
+ * @endcond
  * \ingroup TaskUtils
  */
 char *pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
@@ -1429,9 +1603,12 @@ char *pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e9
  * NULL is returned if no matching name is found.  INCLUDE_xTaskGetHandle
  * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available.
  *
+ * @cond
+ * \defgroup pcTaskGetHandle pcTaskGetHandle
+ * @endcond
  * \ingroup TaskUtils
  */
-TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
  * Returns the high water mark of the stack associated with xTask.
@@ -1501,109 +1678,136 @@ configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVIL
 uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
 
 /* When using trace macros it is sometimes necessary to include task.h before
-FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
-so the following two prototypes will cause a compilation error.  This can be
-fixed by simply guarding against the inclusion of these two prototypes unless
-they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
-constant. */
+ * FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
+ * so the following two prototypes will cause a compilation error.  This can be
+ * fixed by simply guarding against the inclusion of these two prototypes unless
+ * they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
+ * constant. */
 #ifdef configUSE_APPLICATION_TASK_TAG
-	#if configUSE_APPLICATION_TASK_TAG == 1
-		/**
-		 * Sets pxHookFunction to be the task hook function used by the task xTask.
-		 * @param xTask Handle of the task to set the hook function for
-		 *              Passing xTask as NULL has the effect of setting the calling
-		 *              tasks hook function.
-		 * @param pxHookFunction  Pointer to the hook function.
-		 */
-		void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION;
+    #if configUSE_APPLICATION_TASK_TAG == 1
+/**
+ * @cond
+ * task.h
+ * 
+ * void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );
+ * 

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

+ * @endcond
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.  Do not
+ * call from an interrupt service routine - call
+ * xTaskGetApplicationTaskTagFromISR() instead.
+ */
+        TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
-		/**
-		 *
-		 * Returns the pxHookFunction value assigned to the task xTask.  Can
-		 * be called from an interrupt service routine.
-		 */
-		TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-	#endif /* configUSE_APPLICATION_TASK_TAG ==1 */
+/**
+ * @cond
+ * task.h
+ * 
+ * void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );
+ * 

+ * @endcond
+ *
+ * Returns the pxHookFunction value assigned to the task xTask.  Can
+ * be called from an interrupt service routine.
+ */
+        TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
+    #endif /* configUSE_APPLICATION_TASK_TAG ==1 */
 #endif /* ifdef configUSE_APPLICATION_TASK_TAG */
 
-#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
+#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
 
-	/**
-	 * Set local storage pointer specific to the given task.
-	 *
-	 * Each task contains an array of pointers that is dimensioned by the
-	 * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
-	 * The kernel does not use the pointers itself, so the application writer
-	 * can use the pointers for any purpose they wish.
-	 *
-	 * @param xTaskToSet  Task to set thread local storage pointer for
-	 * @param xIndex The index of the pointer to set, from 0 to
-	 *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
-	 * @param pvValue  Pointer value to set.
-	 */
-	void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) PRIVILEGED_FUNCTION;
+    /**
+     * Set local storage pointer specific to the given task.
+     *
+     * Each task contains an array of pointers that is dimensioned by the
+     * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
+     * The kernel does not use the pointers itself, so the application writer
+     * can use the pointers for any purpose they wish.
+     *
+     * @param xTaskToSet  Task to set thread local storage pointer for
+     * @param xIndex The index of the pointer to set, from 0 to
+     *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
+     * @param pvValue  Pointer value to set.
+     */
+    void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) PRIVILEGED_FUNCTION;
 
 
-	/**
-	 * Get local storage pointer specific to the given task.
-	 *
-	 * Each task contains an array of pointers that is dimensioned by the
-	 * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
-	 * The kernel does not use the pointers itself, so the application writer
-	 * can use the pointers for any purpose they wish.
-	 *
-	 * @param xTaskToQuery  Task to get thread local storage pointer for
-	 * @param xIndex The index of the pointer to get, from 0 to
-	 *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
-	 * @return  Pointer value
-	 */
-	void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) PRIVILEGED_FUNCTION;
+    /**
+     * Get local storage pointer specific to the given task.
+     *
+     * Each task contains an array of pointers that is dimensioned by the
+     * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
+     * The kernel does not use the pointers itself, so the application writer
+     * can use the pointers for any purpose they wish.
+     *
+     * @param xTaskToQuery  Task to get thread local storage pointer for
+     * @param xIndex The index of the pointer to get, from 0 to
+     *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
+     * @return  Pointer value
+     */
+    void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) PRIVILEGED_FUNCTION;
 
-	#if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
+    #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS )
 
-		/**
-		 * Prototype of local storage pointer deletion callback.
-		 */
-		typedef void (*TlsDeleteCallbackFunction_t)( int, void * );
+        /**
+         * Prototype of local storage pointer deletion callback.
+         */
+        typedef void (*TlsDeleteCallbackFunction_t)( int, void * );
 
-		/**
-		 * Set local storage pointer and deletion callback.
-		 *
-		 * Each task contains an array of pointers that is dimensioned by the
-		 * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
-		 * The kernel does not use the pointers itself, so the application writer
-		 * can use the pointers for any purpose they wish.
-		 *
-		 * Local storage pointers set for a task can reference dynamically
-		 * allocated resources. This function is similar to
-		 * vTaskSetThreadLocalStoragePointer, but provides a way to release
-		 * these resources when the task gets deleted. For each pointer,
-		 * a callback function can be set. This function will be called
-		 * when task is deleted, with the local storage pointer index
-		 * and value as arguments.
-		 *
-		 * @param xTaskToSet  Task to set thread local storage pointer for
-		 * @param xIndex The index of the pointer to set, from 0 to
-		 *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
-		 * @param pvValue  Pointer value to set.
-		 * @param pvDelCallback  Function to call to dispose of the local
-		 *                       storage pointer when the task is deleted.
-		 */
-		void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback);
-	#endif
+        /**
+         * Set local storage pointer and deletion callback.
+         *
+         * Each task contains an array of pointers that is dimensioned by the
+         * configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h.
+         * The kernel does not use the pointers itself, so the application writer
+         * can use the pointers for any purpose they wish.
+         *
+         * Local storage pointers set for a task can reference dynamically
+         * allocated resources. This function is similar to
+         * vTaskSetThreadLocalStoragePointer, but provides a way to release
+         * these resources when the task gets deleted. For each pointer,
+         * a callback function can be set. This function will be called
+         * when task is deleted, with the local storage pointer index
+         * and value as arguments.
+         *
+         * @param xTaskToSet  Task to set thread local storage pointer for
+         * @param xIndex The index of the pointer to set, from 0 to
+         *               configNUM_THREAD_LOCAL_STORAGE_POINTERS - 1.
+         * @param pvValue  Pointer value to set.
+         * @param pvDelCallback  Function to call to dispose of the local
+         *                       storage pointer when the task is deleted.
+         */
+        void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue, TlsDeleteCallbackFunction_t pvDelCallback);
+    #endif
 
 #endif
 
 /**
- * Calls the hook function associated with xTask. Passing xTask as NULL has
+ * @cond
+ * task.h
+ * 
+ * BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );
+ * 

+ * @endcond
+ *
+ * Calls the hook function associated with xTask.  Passing xTask as NULL has
  * the effect of calling the Running tasks (the calling task) hook function.
  *
  * @param xTask  Handle of the task to call the hook for.
@@ -1611,7 +1815,8 @@ constant. */
  * wants.  The return value is the value returned by the task hook function
  * registered by the user.
  */
-BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
+                                         void * pvParameter ) PRIVILEGED_FUNCTION;
 
 /**
  * xTaskGetIdleTaskHandle() is only available if
@@ -1632,7 +1837,7 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
  * of run time consumed by the task.  See the TaskStatus_t structure
  * definition in this file for the full member list.
  *
- * @note This function is intended for debugging use only as its use results in
+ * NOTE: This function is intended for debugging use only as its use results in
  * the scheduler remaining suspended for an extended period.
  *
  * @param pxTaskStatusArray A pointer to an array of TaskStatus_t structures.
@@ -1648,7 +1853,7 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
  * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in
  * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the
  * total run time (as defined by the run time stats clock, see
- * http://www.freertos.org/rtos-run-time-stats.html) since the target booted.
+ * https://www.FreeRTOS.org/rtos-run-time-stats.html) since the target booted.
  * pulTotalRunTime can be set to NULL to omit the total run time information.
  *
  * @return The number of TaskStatus_t structures that were populated by
@@ -1658,68 +1863,70 @@ TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * Example usage:
  * @code{c}
- * // This example demonstrates how a human readable table of run time stats
- * // information is generated from raw data provided by uxTaskGetSystemState().
- * // The human readable table is written to pcWriteBuffer
- * void vTaskGetRunTimeStats( char *pcWriteBuffer )
- * {
- * TaskStatus_t *pxTaskStatusArray;
- * volatile UBaseType_t uxArraySize, x;
- * uint32_t ulTotalRunTime, ulStatsAsPercentage;
- *
- *  // Make sure the write buffer does not contain a string.
- *  *pcWriteBuffer = 0x00;
- *
- *  // Take a snapshot of the number of tasks in case it changes while this
- *  // function is executing.
- *  uxArraySize = uxTaskGetNumberOfTasks();
- *
- *  // Allocate a TaskStatus_t structure for each task.  An array could be
- *  // allocated statically at compile time.
- *  pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
- *
- *  if( pxTaskStatusArray != NULL )
+ *  // This example demonstrates how a human readable table of run time stats
+ *  // information is generated from raw data provided by uxTaskGetSystemState().
+ *  // The human readable table is written to pcWriteBuffer
+ *  void vTaskGetRunTimeStats( char *pcWriteBuffer )
  *  {
- *      // Generate raw status information about each task.
- *      uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+ *  TaskStatus_t *pxTaskStatusArray;
+ *  volatile UBaseType_t uxArraySize, x;
+ *  uint32_t ulTotalRunTime, ulStatsAsPercentage;
  *
- *      // For percentage calculations.
- *      ulTotalRunTime /= 100UL;
+ *      // Make sure the write buffer does not contain a string.
+ * *pcWriteBuffer = 0x00;
  *
- *      // Avoid divide by zero errors.
- *      if( ulTotalRunTime > 0 )
+ *      // Take a snapshot of the number of tasks in case it changes while this
+ *      // function is executing.
+ *      uxArraySize = uxTaskGetNumberOfTasks();
+ *
+ *      // Allocate a TaskStatus_t structure for each task.  An array could be
+ *      // allocated statically at compile time.
+ *      pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
+ *
+ *      if( pxTaskStatusArray != NULL )
  *      {
- *          // For each populated position in the pxTaskStatusArray array,
- *          // format the raw data as human readable ASCII data
- *          for( x = 0; x < uxArraySize; x++ )
+ *          // 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 )
  *          {
- *              // 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 )
+ *              // For each populated position in the pxTaskStatusArray array,
+ *              // format the raw data as human readable ASCII data
+ *              for( x = 0; x < uxArraySize; x++ )
  *              {
- *                  sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
- *              }
- *              else
- *              {
- *                  // If the percentage is zero here then the task has
- *                  // consumed less than 1% of the total run time.
- *                  sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
- *              }
+ *                  // 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;
  *
- *              pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+ *                  if( ulStatsAsPercentage > 0UL )
+ *                  {
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+ *                  }
+ *                  else
+ *                  {
+ *                      // If the percentage is zero here then the task has
+ *                      // consumed less than 1% of the total run time.
+ *                      sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+ *                  }
+ *
+ *                  pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+ *              }
  *          }
- *      }
  *
- *      // The array is no longer needed, free the memory it consumes.
- *      vPortFree( pxTaskStatusArray );
+ *          // The array is no longer needed, free the memory it consumes.
+ *          vPortFree( pxTaskStatusArray );
+ *      }
  *  }
- * }
- * @endcode
+ *  @endcode
  */
-UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
+UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
+                                  const UBaseType_t uxArraySize,
+                                  uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
 
 /**
  * List all the current tasks.
@@ -1728,7 +1935,7 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const
  * 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
@@ -1737,7 +1944,9 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const
  * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
  * suspended ('S').
  *
- * @note This function is provided for convenience only, and is used by many of the
+ * 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
@@ -1760,9 +1969,12 @@ UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const
  * enough to contain the generated report.  Approximately 40 bytes per
  * task should be sufficient.
  *
+ * @cond
+ * \defgroup vTaskList vTaskList
+ * @endcond
  * \ingroup TaskUtils
  */
-void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
  * Get the state of running tasks as a string
@@ -1775,7 +1987,7 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
  * 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
@@ -1786,7 +1998,9 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
  * task into a buffer, both as an absolute count value and as a percentage
  * of the total system execution time.
  *
- * @note This function is provided for convenience only, and is used by many of the
+ * NOTE 2:
+ *
+ * This function is provided for convenience only, and is used by many of the
  * demo applications.  Do not consider it to be part of the scheduler.
  *
  * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part of the
@@ -1810,34 +2024,45 @@ void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unquali
  * contain the generated report.  Approximately 40 bytes per task should
  * be sufficient.
  *
+ * @cond
+ * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
+ * @endcond
  * \ingroup TaskUtils
  */
-void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+void vTaskGetRunTimeStats( char * pcWriteBuffer ) PRIVILEGED_FUNCTION;     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
 
 /**
-* configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
-* must both be defined as 1 for this function to be available.  The application
-* must also then provide definitions for
-* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
-* to configure a peripheral timer/counter and return the timers current count
-* value respectively.  The counter should be at least 10 times the frequency of
-* the tick count.
-*
-* Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
-* accumulated execution time being stored for each task.  The resolution
-* of the accumulated time value depends on the frequency of the timer
-* configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
-* While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
-* execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
-* returns the total execution time of just the idle task.
-*
-* @return The total run time of the idle task.  This is the amount of time the
-* idle task has actually been executing.  The unit of time is dependent on the
-* frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
-* portGET_RUN_TIME_COUNTER_VALUE() macros.
-*
-* \ingroup TaskUtils
-*/
+ * @cond
+ * task. h
+ * 
uint32_t ulTaskGetIdleRunTimeCounter( void );

+ * @endcond
+ *
+ * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
+ * must both be defined as 1 for this function to be available.  The application
+ * must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
+ * to configure a peripheral timer/counter and return the timers current count
+ * value respectively.  The counter should be at least 10 times the frequency of
+ * the tick count.
+ *
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task.  The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
+ * execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
+ * returns the total execution time of just the idle task.
+ *
+ * @return The total run time of the idle task.  This is the amount of time the
+ * idle task has actually been executing.  The unit of time is dependent on the
+ * frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
+ * portGET_RUN_TIME_COUNTER_VALUE() macros.
+ *
+ * @cond
+ * \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
+ * @endcond
+ * \ingroup TaskUtils
+ */
 uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
 
 /**
@@ -2341,8 +2566,11 @@ BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * portTICK_PERIOD_MS can be used to convert kernel ticks into a real time
  * period.
  */
-void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventList( List_t * const pxEventList,
+                            const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
+                                     const TickType_t xItemValue,
+                                     const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -2355,7 +2583,9 @@ void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xIte
  * indefinitely, whereas vTaskPlaceOnEventList() does.
  *
  */
-void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
+                                      TickType_t xTicksToWait,
+                                      const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -2382,7 +2612,8 @@ void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTi
  * making the call, otherwise pdFALSE.
  */
 BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
-BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
+                                              const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS ONLY
@@ -2448,7 +2679,8 @@ BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGE
  * the highest priority task that is still waiting for the mutex (if there were
  * more than one task waiting for the mutex).
  */
-void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
+void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
+                                          UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
 
 /*
  * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
@@ -2464,7 +2696,8 @@ BaseType_t xTaskGetAffinity( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  * Set the uxTaskNumber of the task referenced by the xTask parameter to
  * uxHandle.
  */
-void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION;
+void vTaskSetTaskNumber( TaskHandle_t xTask,
+                         const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION;
 
 /*
  * Only available when configUSE_TICKLESS_IDLE is set to 1.
@@ -2512,7 +2745,7 @@ eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
 TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
 
 /*
- * For internal use only.  Same as vTaskSetTimeOutState(), but without a critial
+ * For internal use only.  Same as vTaskSetTimeOutState(), but without a critical
  * section.
  */
 void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
@@ -2521,7 +2754,9 @@ void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNC
 #include "freertos/task_snapshot.h"
 
 /** @endcond */
+
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 #endif /* INC_TASK_H */
diff --git a/components/freertos/include/freertos/timers.h b/components/freertos/include/freertos/timers.h
index 9a5e23385f..53a23c3f19 100644
--- a/components/freertos/include/freertos/timers.h
+++ b/components/freertos/include/freertos/timers.h
@@ -1,6 +1,6 @@
 /*
  * FreeRTOS Kernel V10.2.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -19,10 +19,9 @@
  * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
  * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
  *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
  *
- * 1 tab == 4 spaces!
  */
 
 
@@ -30,41 +29,43 @@
 #define TIMERS_H
 
 #ifndef INC_FREERTOS_H
-	#error "include FreeRTOS.h must appear in source files before include timers.h"
+    #error "include FreeRTOS.h must appear in source files before include timers.h"
 #endif
 
 /*lint -save -e537 This headers are only multiply included if the application code
-happens to also be including task.h. */
+ * happens to also be including task.h. */
 #include "task.h"
 /*lint -restore */
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-extern "C" {
+    extern "C" {
 #endif
+/* *INDENT-ON* */
 
 /*-----------------------------------------------------------
  * MACROS AND DEFINITIONS
  *----------------------------------------------------------*/
 
 /* IDs for commands that can be sent/received on the timer queue.  These are to
-be used solely through the macros that make up the public software timer API,
-as defined below.  The commands that are sent from interrupts must use the
-highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
-or interrupt version of the queue send function should be used. */
-#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR 	( ( BaseType_t ) -2 )
-#define tmrCOMMAND_EXECUTE_CALLBACK				( ( BaseType_t ) -1 )
-#define tmrCOMMAND_START_DONT_TRACE				( ( BaseType_t ) 0 )
-#define tmrCOMMAND_START					    ( ( BaseType_t ) 1 )
-#define tmrCOMMAND_RESET						( ( BaseType_t ) 2 )
-#define tmrCOMMAND_STOP							( ( BaseType_t ) 3 )
-#define tmrCOMMAND_CHANGE_PERIOD				( ( BaseType_t ) 4 )
-#define tmrCOMMAND_DELETE						( ( BaseType_t ) 5 )
+ * be used solely through the macros that make up the public software timer API,
+ * as defined below.  The commands that are sent from interrupts must use the
+ * highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
+ * or interrupt version of the queue send function should be used. */
+#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR    ( ( BaseType_t ) -2 )
+#define tmrCOMMAND_EXECUTE_CALLBACK             ( ( BaseType_t ) -1 )
+#define tmrCOMMAND_START_DONT_TRACE             ( ( BaseType_t ) 0 )
+#define tmrCOMMAND_START                        ( ( BaseType_t ) 1 )
+#define tmrCOMMAND_RESET                        ( ( BaseType_t ) 2 )
+#define tmrCOMMAND_STOP                         ( ( BaseType_t ) 3 )
+#define tmrCOMMAND_CHANGE_PERIOD                ( ( BaseType_t ) 4 )
+#define tmrCOMMAND_DELETE                       ( ( BaseType_t ) 5 )
 
-#define tmrFIRST_FROM_ISR_COMMAND				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_START_FROM_ISR				( ( BaseType_t ) 6 )
-#define tmrCOMMAND_RESET_FROM_ISR				( ( BaseType_t ) 7 )
-#define tmrCOMMAND_STOP_FROM_ISR				( ( BaseType_t ) 8 )
-#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR		( ( BaseType_t ) 9 )
+#define tmrFIRST_FROM_ISR_COMMAND               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_START_FROM_ISR               ( ( BaseType_t ) 6 )
+#define tmrCOMMAND_RESET_FROM_ISR               ( ( BaseType_t ) 7 )
+#define tmrCOMMAND_STOP_FROM_ISR                ( ( BaseType_t ) 8 )
+#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR       ( ( BaseType_t ) 9 )
 
 
 /**
@@ -79,15 +80,22 @@ typedef void* TimerHandle_t;
 /*
  * Defines the prototype to which timer callback functions must conform.
  */
-typedef void (*TimerCallbackFunction_t)( TimerHandle_t xTimer );
+typedef void (* TimerCallbackFunction_t)( TimerHandle_t xTimer );
 
 /*
  * Defines the prototype to which functions used with the
  * xTimerPendFunctionCallFromISR() function must conform.
  */
-typedef void (*PendedFunction_t)( void *, uint32_t );
+typedef void (* PendedFunction_t)( void *,
+                                   uint32_t );
 
 /**
+ * TimerHandle_t xTimerCreate(  const char * const pcTimerName,
+ *                              TickType_t xTimerPeriodInTicks,
+ *                              UBaseType_t uxAutoReload,
+ *                              void * pvTimerID,
+ *                              TimerCallbackFunction_t pxCallbackFunction );
+ *
  * Creates a new software timer instance, and returns a handle by which the
  * created software timer can be referenced.
  *
@@ -95,7 +103,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * of memory, in which the timer data structure is stored.  If a software timer
  * is created using xTimerCreate() then the required memory is automatically
  * dynamically allocated inside the xTimerCreate() function.  (see
- * http://www.freertos.org/a00111.html).  If a software timer is created using
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
  * xTimerCreateStatic() then the application writer must provide the memory that
  * will get used by the software timer.  xTimerCreateStatic() therefore allows a
  * software timer to be created without using any dynamic memory allocation.
@@ -115,7 +123,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
  * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
- * equal to 1000.
+ * equal to 1000.  Time timer period must be greater than 0.
  *
  * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
@@ -129,7 +137,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  * @param pxCallbackFunction The function to call when the timer expires.
  * Callback functions must have the prototype defined by TimerCallbackFunction_t,
- * which is	"void vCallbackFunction( TimerHandle_t xTimer );".
+ * which is "void vCallbackFunction( TimerHandle_t xTimer );".
  *
  * @return If the timer is successfully created then a handle to the newly
  * created timer is returned.  If the timer cannot be created (because either
@@ -137,7 +145,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * structures, or the timer period was set to 0) then NULL is returned.
  *
  * Example usage:
- * @code{c}
+ * @verbatim
  * #define NUM_TIMERS 5
  *
  * // An array to hold handles to the created timers.
@@ -155,8 +163,8 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * int32_t lArrayIndex;
  * const int32_t xMaxExpiryCountBeforeStopping = 10;
  *
- * 	   // Optionally do something if the pxTimer parameter is NULL.
- * 	   configASSERT( pxTimer );
+ *     // Optionally do something if the pxTimer parameter is NULL.
+ *     configASSERT( pxTimer );
  *
  *     // Which timer expired?
  *     lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
@@ -216,138 +224,145 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *     // Should not reach here.
  *     for( ;; );
  * }
- * @endcode
+ * @endverbatim
  */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-	TimerHandle_t xTimerCreate(	const char * const pcTimerName,			/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-								const TickType_t xTimerPeriodInTicks,
-								const UBaseType_t uxAutoReload,
-								void * const pvTimerID,
-								TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
+#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
+    TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                const TickType_t xTimerPeriodInTicks,
+                                const UBaseType_t uxAutoReload,
+                                void * const pvTimerID,
+                                TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
 #endif
 
- /**
-  * Creates a new software timer instance, and returns a handle by which the
-  * created software timer can be referenced.
-  *
-  * Internally, within the FreeRTOS implementation, software timers use a block
-  * of memory, in which the timer data structure is stored.  If a software timer
-  * is created using xTimerCreate() then the required memory is automatically
-  * dynamically allocated inside the xTimerCreate() function.  (see
-  * http://www.freertos.org/a00111.html).  If a software timer is created using
-  * xTimerCreateStatic() then the application writer must provide the memory that
-  * will get used by the software timer.  xTimerCreateStatic() therefore allows a
-  * software timer to be created without using any dynamic memory allocation.
-  *
-  * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
-  * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
-  * xTimerChangePeriodFromISR() API functions can all be used to transition a
-  * timer into the active state.
-  *
-  * @param pcTimerName A text name that is assigned to the timer.  This is done
-  * purely to assist debugging.  The kernel itself only ever references a timer
-  * by its handle, and never by its name.
-  *
-  * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
-  * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
-  * has been specified in milliseconds.  For example, if the timer must expire
-  * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
-  * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
-  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
-  * equal to 1000.
-  *
-  * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
-  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
-  * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
-  * enter the dormant state after it expires.
-  *
-  * @param pvTimerID An identifier that is assigned to the timer being created.
-  * Typically this would be used in the timer callback function to identify which
-  * timer expired when the same callback function is assigned to more than one
-  * timer.
-  *
-  * @param pxCallbackFunction The function to call when the timer expires.
-  * Callback functions must have the prototype defined by TimerCallbackFunction_t,
-  * which is "void vCallbackFunction( TimerHandle_t xTimer );".
-  *
-  * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which
-  * will be then be used to hold the software timer's data structures, removing
-  * the need for the memory to be allocated dynamically.
-  *
-  * @return If the timer is created then a handle to the created timer is
-  * returned.  If pxTimerBuffer was NULL then NULL is returned.
-  *
-  * Example usage:
-  * @code{c}
-  *
-  * // The buffer used to hold the software timer's data structure.
-  * static StaticTimer_t xTimerBuffer;
-  *
-  * // A variable that will be incremented by the software timer's callback
-  * // function.
-  * UBaseType_t uxVariableToIncrement = 0;
-  *
-  * // A software timer callback function that increments a variable passed to
-  * // it when the software timer was created.  After the 5th increment the
-  * // callback function stops the software timer.
-  * static void prvTimerCallback( TimerHandle_t xExpiredTimer )
-  * {
-  * UBaseType_t *puxVariableToIncrement;
-  * BaseType_t xReturned;
-  *
-  *     // Obtain the address of the variable to increment from the timer ID.
-  *     puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer );
-  *
-  *     // Increment the variable to show the timer callback has executed.
-  *     ( *puxVariableToIncrement )++;
-  *
-  *     // If this callback has executed the required number of times, stop the
-  *     // timer.
-  *     if( *puxVariableToIncrement == 5 )
-  *     {
-  *         // This is called from a timer callback so must not block.
-  *         xTimerStop( xExpiredTimer, staticDONT_BLOCK );
-  *     }
-  * }
-  *
-  *
-  * void main( void )
-  * {
-  *     // Create the software time.  xTimerCreateStatic() has an extra parameter
-  *     // than the normal xTimerCreate() API function.  The parameter is a pointer
-  *     // to the StaticTimer_t structure that will hold the software timer
-  *     // structure.  If the parameter is passed as NULL then the structure will be
-  *     // allocated dynamically, just as if xTimerCreate() had been called.
-  *     xTimer = xTimerCreateStatic( "T1",             // Text name for the task.  Helps debugging only.  Not used by FreeRTOS.
-  *                                  xTimerPeriod,     // The period of the timer in ticks.
-  *                                  pdTRUE,           // This is an auto-reload timer.
-  *                                  ( void * ) &uxVariableToIncrement,    // A variable incremented by the software timer's callback function
-  *                                  prvTimerCallback, // The function to execute when the timer expires.
-  *                                  &xTimerBuffer );  // The buffer that will hold the software timer structure.
-  *
-  *     // The scheduler has not started yet so a block time is not used.
-  *     xReturned = xTimerStart( xTimer, 0 );
-  *
-  *     // ...
-  *     // Create tasks here.
-  *     // ...
-  *
-  *     // Starting the scheduler will start the timers running as they have already
-  *     // been set into the active state.
-  *     vTaskStartScheduler();
-  *
-  *     // Should not reach here.
-  *     for( ;; );
-  * }
-  * @endcode
-  */
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
-	TimerHandle_t xTimerCreateStatic(	const char * const pcTimerName,
-										const TickType_t xTimerPeriodInTicks,
-										const UBaseType_t uxAutoReload,
-										void * const pvTimerID,
-										TimerCallbackFunction_t pxCallbackFunction,
-										StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION;
+/**
+ * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
+ *                                  TickType_t xTimerPeriodInTicks,
+ *                                  UBaseType_t uxAutoReload,
+ *                                  void * pvTimerID,
+ *                                  TimerCallbackFunction_t pxCallbackFunction,
+ *                                  StaticTimer_t *pxTimerBuffer );
+ *
+ * Creates a new software timer instance, and returns a handle by which the
+ * created software timer can be referenced.
+ *
+ * Internally, within the FreeRTOS implementation, software timers use a block
+ * of memory, in which the timer data structure is stored.  If a software timer
+ * is created using xTimerCreate() then the required memory is automatically
+ * dynamically allocated inside the xTimerCreate() function.  (see
+ * https://www.FreeRTOS.org/a00111.html).  If a software timer is created using
+ * xTimerCreateStatic() then the application writer must provide the memory that
+ * will get used by the software timer.  xTimerCreateStatic() therefore allows a
+ * software timer to be created without using any dynamic memory allocation.
+ *
+ * Timers are created in the dormant state.  The xTimerStart(), xTimerReset(),
+ * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
+ * xTimerChangePeriodFromISR() API functions can all be used to transition a
+ * timer into the active state.
+ *
+ * @param pcTimerName A text name that is assigned to the timer.  This is done
+ * purely to assist debugging.  The kernel itself only ever references a timer
+ * by its handle, and never by its name.
+ *
+ * @param xTimerPeriodInTicks The timer period.  The time is defined in tick
+ * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
+ * has been specified in milliseconds.  For example, if the timer must expire
+ * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
+ * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
+ * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
+ * equal to 1000.  The timer period must be greater than 0.
+ *
+ * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
+ * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
+ * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
+ * enter the dormant state after it expires.
+ *
+ * @param pvTimerID An identifier that is assigned to the timer being created.
+ * Typically this would be used in the timer callback function to identify which
+ * timer expired when the same callback function is assigned to more than one
+ * timer.
+ *
+ * @param pxCallbackFunction The function to call when the timer expires.
+ * Callback functions must have the prototype defined by TimerCallbackFunction_t,
+ * which is "void vCallbackFunction( TimerHandle_t xTimer );".
+ *
+ * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which
+ * will be then be used to hold the software timer's data structures, removing
+ * the need for the memory to be allocated dynamically.
+ *
+ * @return If the timer is created then a handle to the created timer is
+ * returned.  If pxTimerBuffer was NULL then NULL is returned.
+ *
+ * Example usage:
+ * @verbatim
+ *
+ * // The buffer used to hold the software timer's data structure.
+ * static StaticTimer_t xTimerBuffer;
+ *
+ * // A variable that will be incremented by the software timer's callback
+ * // function.
+ * UBaseType_t uxVariableToIncrement = 0;
+ *
+ * // A software timer callback function that increments a variable passed to
+ * // it when the software timer was created.  After the 5th increment the
+ * // callback function stops the software timer.
+ * static void prvTimerCallback( TimerHandle_t xExpiredTimer )
+ * {
+ * UBaseType_t *puxVariableToIncrement;
+ * BaseType_t xReturned;
+ *
+ *     // Obtain the address of the variable to increment from the timer ID.
+ *     puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer );
+ *
+ *     // Increment the variable to show the timer callback has executed.
+ *     ( *puxVariableToIncrement )++;
+ *
+ *     // If this callback has executed the required number of times, stop the
+ *     // timer.
+ *     if( *puxVariableToIncrement == 5 )
+ *     {
+ *         // This is called from a timer callback so must not block.
+ *         xTimerStop( xExpiredTimer, staticDONT_BLOCK );
+ *     }
+ * }
+ *
+ *
+ * void main( void )
+ * {
+ *     // Create the software time.  xTimerCreateStatic() has an extra parameter
+ *     // than the normal xTimerCreate() API function.  The parameter is a pointer
+ *     // to the StaticTimer_t structure that will hold the software timer
+ *     // structure.  If the parameter is passed as NULL then the structure will be
+ *     // allocated dynamically, just as if xTimerCreate() had been called.
+ *     xTimer = xTimerCreateStatic( "T1",             // Text name for the task.  Helps debugging only.  Not used by FreeRTOS.
+ *                                  xTimerPeriod,     // The period of the timer in ticks.
+ *                                  pdTRUE,           // This is an auto-reload timer.
+ *                                  ( void * ) &uxVariableToIncrement,    // A variable incremented by the software timer's callback function
+ *                                  prvTimerCallback, // The function to execute when the timer expires.
+ *                                  &xTimerBuffer );  // The buffer that will hold the software timer structure.
+ *
+ *     // The scheduler has not started yet so a block time is not used.
+ *     xReturned = xTimerStart( xTimer, 0 );
+ *
+ *     // ...
+ *     // Create tasks here.
+ *     // ...
+ *
+ *     // Starting the scheduler will start the timers running as they have already
+ *     // been set into the active state.
+ *     vTaskStartScheduler();
+ *
+ *     // Should not reach here.
+ *     for( ;; );
+ * }
+ * @endverbatim
+ */
+#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
+    TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
+                                      const TickType_t xTimerPeriodInTicks,
+                                      const UBaseType_t uxAutoReload,
+                                      void * const pvTimerID,
+                                      TimerCallbackFunction_t pxCallbackFunction,
+                                      StaticTimer_t * pxTimerBuffer ) PRIVILEGED_FUNCTION;
 #endif /* configSUPPORT_STATIC_ALLOCATION */
 
 /**
@@ -370,7 +385,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+void * pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
  * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
@@ -391,7 +406,8 @@ void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerCreate() API function example usage scenario.
  */
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION;
+void vTimerSetTimerID( TimerHandle_t xTimer,
+                       void * pvNewID ) PRIVILEGED_FUNCTION;
 
 /**
  * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
@@ -413,7 +429,7 @@ void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION
  * pdFALSE will be returned if the timer is active.
  *
  * Example usage:
- * @code{c}
+ * @verbatim
  * // This function assumes xTimer has already been created.
  * void vAFunction( TimerHandle_t xTimer )
  * {
@@ -426,7 +442,7 @@ void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION
  *         // xTimer is not active, do something else.
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
 BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
@@ -489,9 +505,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerStart( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
+ * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait );
+ *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
  * through a queue called the timer command queue.  The timer command queue is
@@ -529,9 +548,14 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * See the xTimerCreate() API function example usage scenario.
  *
  */
-#define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
+#define xTimerStop( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
 
 /**
+ * BaseType_t xTimerChangePeriod(   TimerHandle_t xTimer,
+ *                                  TickType_t xNewPeriod,
+ *                                  TickType_t xTicksToWait );
+ *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
  * through a queue called the timer command queue.  The timer command queue is
@@ -573,7 +597,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @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
@@ -603,11 +627,14 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *         }
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
- #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
+#define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
 
 /**
+ * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait );
+ *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
  * through a queue called the timer command queue.  The timer command queue is
@@ -641,9 +668,12 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *
  * See the xTimerChangePeriod() API function example usage scenario.
  */
-#define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
+#define xTimerDelete( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
 
 /**
+ * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
+ *
  * Timer functionality is provided by a timer service/daemon task.  Many of the
  * public FreeRTOS timer API functions send commands to the timer service task
  * through a queue called the timer command queue.  The timer command queue is
@@ -689,7 +719,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @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.
@@ -761,11 +791,15 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *     // Should not reach here.
  *     for( ;; );
  * }
- * @endcode
+ * @endverbatim
  */
-#define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
+#define xTimerReset( xTimer, xTicksToWait ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
 
 /**
+ * BaseType_t xTimerStartFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
  * A version of xTimerStart() that can be called from an interrupt service
  * routine.
  *
@@ -793,7 +827,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @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
@@ -844,11 +878,15 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *         // depends on the FreeRTOS port being used).
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
-#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
+ * BaseType_t xTimerStopFromISR(    TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
  * A version of xTimerStop() that can be called from an interrupt service
  * routine.
  *
@@ -874,7 +912,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @verbatim
  * // This scenario assumes xTimer has already been created and started.  When
  * // an interrupt occurs, the timer should be simply stopped.
  *
@@ -904,11 +942,16 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *         // depends on the FreeRTOS port being used).
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
-#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
+ * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer,
+ *                                       TickType_t xNewPeriod,
+ *                                       BaseType_t *pxHigherPriorityTaskWoken );
+ *
  * A version of xTimerChangePeriod() that can be called from an interrupt
  * service routine.
  *
@@ -943,7 +986,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @verbatim
  * // This scenario assumes xTimer has already been created and started.  When
  * // an interrupt occurs, the period of xTimer should be changed to 500ms.
  *
@@ -973,11 +1016,15 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *         // depends on the FreeRTOS port being used).
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
-#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
 
 /**
+ * BaseType_t xTimerResetFromISR(   TimerHandle_t xTimer,
+ *                                  BaseType_t *pxHigherPriorityTaskWoken );
+ *
  * A version of xTimerReset() that can be called from an interrupt service
  * routine.
  *
@@ -1005,7 +1052,7 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- * @code{c}
+ * @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
@@ -1056,12 +1103,19 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  *         // depends on the FreeRTOS port being used).
  *     }
  * }
- * @endcode
+ * @endverbatim
  */
-#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
+#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) \
+    xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
 
 /**
+ * BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+ *                                          void *pvParameter1,
+ *                                          uint32_t ulParameter2,
+ *                                          BaseType_t *pxHigherPriorityTaskWoken );
+ *
+ *
  * Used from application interrupt service routines to defer the execution of a
  * function to the RTOS daemon task (the timer service task, hence this function
  * is implemented in timers.c and is prefixed with 'Timer').
@@ -1103,75 +1157,87 @@ TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
  * timer daemon task, otherwise pdFALSE is returned.
  *
  * Example usage:
- * @code{c}
+ * @verbatim
  *
- *	// The callback function that will execute in the context of the daemon task.
+ *  // The callback function that will execute in the context of the daemon task.
  *  // Note callback functions must all use this same prototype.
  *  void vProcessInterface( void *pvParameter1, uint32_t ulParameter2 )
- *	{
- *		BaseType_t xInterfaceToService;
+ *  {
+ *      BaseType_t xInterfaceToService;
  *
- *		// The interface that requires servicing is passed in the second
+ *      // The interface that requires servicing is passed in the second
  *      // parameter.  The first parameter is not used in this case.
- *		xInterfaceToService = ( BaseType_t ) ulParameter2;
+ *      xInterfaceToService = ( BaseType_t ) ulParameter2;
  *
- *		// ...Perform the processing here...
- *	}
+ *      // ...Perform the processing here...
+ *  }
  *
- *	// An ISR that receives data packets from multiple interfaces
+ *  // An ISR that receives data packets from multiple interfaces
  *  void vAnISR( void )
- *	{
- *		BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
+ *  {
+ *      BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
  *
- *		// Query the hardware to determine which interface needs processing.
- *		xInterfaceToService = prvCheckInterfaces();
+ *      // Query the hardware to determine which interface needs processing.
+ *      xInterfaceToService = prvCheckInterfaces();
  *
  *      // The actual processing is to be deferred to a task.  Request the
  *      // vProcessInterface() callback function is executed, passing in the
- *		// number of the interface that needs processing.  The interface to
- *		// service is passed in the second parameter.  The first parameter is
- *		// not used in this case.
- *		xHigherPriorityTaskWoken = pdFALSE;
- *		xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
+ *      // number of the interface that needs processing.  The interface to
+ *      // service is passed in the second parameter.  The first parameter is
+ *      // not used in this case.
+ *      xHigherPriorityTaskWoken = pdFALSE;
+ *      xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
  *
- *		// If xHigherPriorityTaskWoken is now set to pdTRUE then a context
- *		// switch should be requested.  The macro used is port specific and will
- *		// be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
- *		// the documentation page for the port being used.
- *		portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+ *      // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
+ *      // switch should be requested.  The macro used is port specific and will
+ *      // be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
+ *      // the documentation page for the port being used.
+ *      portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
  *
- *	}
- * @endcode
+ *  }
+ * @endverbatim
  */
-BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
+BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
+                                          void * pvParameter1,
+                                          uint32_t ulParameter2,
+                                          BaseType_t * pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
- /**
-  * Used to defer the execution of a function to the RTOS daemon task (the timer
-  * service task, hence this function is implemented in timers.c and is prefixed
-  * with 'Timer').
-  *
-  * @param xFunctionToPend The function to execute from the timer service/
-  * daemon task.  The function must conform to the PendedFunction_t
-  * prototype.
-  *
-  * @param pvParameter1 The value of the callback function's first parameter.
-  * The parameter has a void * type to allow it to be used to pass any type.
-  * For example, unsigned longs can be cast to a void *, or the void * can be
-  * used to point to a structure.
-  *
-  * @param ulParameter2 The value of the callback function's second parameter.
-  *
-  * @param xTicksToWait Calling this function will result in a message being
-  * sent to the timer daemon task on a queue.  xTicksToWait is the amount of
-  * time the calling task should remain in the Blocked state (so not using any
-  * processing time) for space to become available on the timer queue if the
-  * queue is found to be full.
-  *
-  * @return pdPASS is returned if the message was successfully sent to the
-  * timer daemon task, otherwise pdFALSE is returned.
-  *
-  */
-BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+/**
+ * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+ *                                    void *pvParameter1,
+ *                                    uint32_t ulParameter2,
+ *                                    TickType_t xTicksToWait );
+ *
+ *
+ * Used to defer the execution of a function to the RTOS daemon task (the timer
+ * service task, hence this function is implemented in timers.c and is prefixed
+ * with 'Timer').
+ *
+ * @param xFunctionToPend The function to execute from the timer service/
+ * daemon task.  The function must conform to the PendedFunction_t
+ * prototype.
+ *
+ * @param pvParameter1 The value of the callback function's first parameter.
+ * The parameter has a void * type to allow it to be used to pass any type.
+ * For example, unsigned longs can be cast to a void *, or the void * can be
+ * used to point to a structure.
+ *
+ * @param ulParameter2 The value of the callback function's second parameter.
+ *
+ * @param xTicksToWait Calling this function will result in a message being
+ * sent to the timer daemon task on a queue.  xTicksToWait is the amount of
+ * time the calling task should remain in the Blocked state (so not using any
+ * processing time) for space to become available on the timer queue if the
+ * queue is found to be full.
+ *
+ * @return pdPASS is returned if the message was successfully sent to the
+ * timer daemon task, otherwise pdFALSE is returned.
+ *
+ */
+BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
+                                   void * pvParameter1,
+                                   uint32_t ulParameter2,
+                                   TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /**
  * const char * const pcTimerGetName( TimerHandle_t xTimer );
@@ -1187,7 +1253,7 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
 /**
  * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload );
  *
- * Updates a timer to be either an autoreload timer, in which case the timer
+ * Updates a timer to be either an auto-reload timer, in which case the timer
  * automatically resets itself each time it expires, or a one shot timer, in
  * which case the timer will only expire once unless it is manually restarted.
  *
@@ -1199,7 +1265,8 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
  * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
  * enter the dormant state after it expires.
  */
-void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
+void vTimerSetReloadMode( TimerHandle_t xTimer,
+                          const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
 
 /**
  * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
@@ -1213,18 +1280,18 @@ void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload )
 TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /**
-* TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
-*
-* Returns the time in ticks at which the timer will expire.  If this is less
-* than the current tick count then the expiry time has overflowed from the
-* current time.
-*
-* @param xTimer The handle of the timer being queried.
-*
-* @return If the timer is running then the time in ticks at which the timer
-* will next expire is returned.  If the timer is not running then the return
-* value is undefined.
-*/
+ * TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
+ *
+ * Returns the time in ticks at which the timer will expire.  If this is less
+ * than the current tick count then the expiry time has overflowed from the
+ * current time.
+ *
+ * @param xTimer The handle of the timer being queried.
+ *
+ * @return If the timer is running then the time in ticks at which the timer
+ * will next expire is returned.  If the timer is not running then the return
+ * value is undefined.
+ */
 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 
 /** @cond */
@@ -1234,16 +1301,23 @@ TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
  * for use by the kernel only.
  */
 BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
+BaseType_t xTimerGenericCommand( TimerHandle_t xTimer,
+                                 const BaseType_t xCommandID,
+                                 const TickType_t xOptionalValue,
+                                 BaseType_t * const pxHigherPriorityTaskWoken,
+                                 const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
 
-#if( configUSE_TRACE_FACILITY == 1 )
-	void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
-	UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+#if ( configUSE_TRACE_FACILITY == 1 )
+    void vTimerSetTimerNumber( TimerHandle_t xTimer,
+                               UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
+    UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
 #endif
 
 /** @endcond */
 
+/* *INDENT-OFF* */
 #ifdef __cplusplus
-}
+    }
 #endif
+/* *INDENT-ON* */
 #endif /* TIMERS_H */