text: /*
   * FreeRTOS SMP Kernel V202110.00
   * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   *
   * Permission is hereby granted, free of charge, to any person obtaining a copy of
   * this software and associated documentation files (the "Software"), to deal in
   * the Software without restriction, including without limitation the rights to
   * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   * the Software, and to permit persons to whom the Software is furnished to do so,
   * subject to the following conditions:
   *
   * The above copyright notice and this permission notice shall be included in all
   * copies or substantial portions of the Software.
   *
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
   * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
   * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
   * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
   * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
   *
   * https://www.FreeRTOS.org
   * https://github.com/FreeRTOS
   *
   */
  
  /* Standard includes. */
  #include <stdlib.h>
  #include <string.h>
  
  /* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
   * all the API functions to use the MPU wrappers.  That should only be done when
   * task.h is included from an application file. */
  #define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
  
  /* FreeRTOS includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  #include "timers.h"
  #include "stack_macros.h"
  
  #ifdef ESP_PLATFORM
  #include "esp_newlib.h"             /* required for esp_reent_init() in tasks.c */
  #undef _REENT_INIT_PTR
  #define _REENT_INIT_PTR                 esp_reent_init
  #endif
  
  /* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
   * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
   * for the header files above, but not in this file, in order to generate the
   * correct privileged Vs unprivileged linkage and placement. */
  #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
  
  /* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
   * functions but without including stdio.h here. */
  #if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
  
  /* At the bottom of this file are two optional functions that can be used
   * to generate human readable text from the raw data generated by the
   * uxTaskGetSystemState() function.  Note the formatting functions are provided
   * for convenience only, and are NOT considered part of the kernel. */
      #include <stdio.h>
  #endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
  
  #if ( configUSE_PREEMPTION == 0 )
  
  /* If the cooperative scheduler is being used then a yield should not be
   * performed just because a higher priority task has been woken. */
      #define taskYIELD_IF_USING_PREEMPTION()
  #else
      #define taskYIELD_IF_USING_PREEMPTION()    vTaskYieldWithinAPI()
  #endif
  
  /* Values that can be assigned to the ucNotifyState member of the TCB. */
  #define taskNOT_WAITING_NOTIFICATION              ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
  #define taskWAITING_NOTIFICATION                  ( ( uint8_t ) 1 )
  #define taskNOTIFICATION_RECEIVED                 ( ( uint8_t ) 2 )
  
  /*
   * The value used to fill the stack of a task when the task is created.  This
   * is used purely for checking the high water mark for tasks.
   */
  #define tskSTACK_FILL_BYTE                        ( 0xa5U )
  
  /* Bits used to record how a task's stack and TCB were allocated. */
  #define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB    ( ( uint8_t ) 0 )
  #define tskSTATICALLY_ALLOCATED_STACK_ONLY        ( ( uint8_t ) 1 )
  #define tskSTATICALLY_ALLOCATED_STACK_AND_TCB     ( ( uint8_t ) 2 )
  
  /* If any of the following are set then task stacks are filled with a known
   * value so the high water mark can be determined.  If none of the following are
   * set then don't fill the stack so there is no unnecessary dependency on memset. */
  #if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
      #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    1
  #else
      #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    0
  #endif
  
  /*
   * Macros used by vListTask to indicate which state a task is in.
   */
  #define tskRUNNING_CHAR      ( 'X' )
  #define tskBLOCKED_CHAR      ( 'B' )
  #define tskREADY_CHAR        ( 'R' )
  #define tskDELETED_CHAR      ( 'D' )
  #define tskSUSPENDED_CHAR    ( 'S' )
  
  /*
   * Some kernel aware debuggers require the data the debugger needs access to to
   * be global, rather than file scope.
   */
  #ifdef portREMOVE_STATIC_QUALIFIER
      #define static
  #endif
  
  /* The name allocated to the Idle task.  This can be overridden by defining
   * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
  #ifndef configIDLE_TASK_NAME
      #define configIDLE_TASK_NAME    "IDLE"
  #endif
  
  #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
  
  /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
   * performed in a generic way that is not optimised to any particular
   * microcontroller architecture. */
  
  /* uxTopReadyPriority holds the priority of the highest priority ready
   * state task. */
      #define taskRECORD_READY_PRIORITY( uxPriority ) \
      {                                               \
          if( ( uxPriority ) > uxTopReadyPriority )   \
          {                                           \
              uxTopReadyPriority = ( uxPriority );    \
          }                                           \
      } /* taskRECORD_READY_PRIORITY */
  
      /*-----------------------------------------------------------*/
  
  /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
   * they are only required when a port optimised method of task selection is
   * being used. */
      #define taskRESET_READY_PRIORITY( uxPriority )
      #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
  
  #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
  
      #error configUSE_PORT_OPTIMISED_TASK_SELECTION not yet supported in SMP
  
  /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
   * performed in a way that is tailored to the particular microcontroller
   * architecture being used. */
  
  /* A port optimised version is provided.  Call the port defined macros. */
      #define taskRECORD_READY_PRIORITY( uxPriority )    portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
  
      /*-----------------------------------------------------------*/
  
  /* A port optimised version is provided, call it only if the TCB being reset
   * is being referenced from a ready list.  If it is referenced from a delayed
   * or suspended list then it won't be in a ready list. */
      #define taskRESET_READY_PRIORITY( uxPriority )                                                     \
      {                                                                                                  \
          if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
          {                                                                                              \
              portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                        \
          }                                                                                              \
      }
  
  #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
  
  /*-----------------------------------------------------------*/
  
  /* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
   * count overflows. */
  #define taskSWITCH_DELAYED_LISTS()                                                \
      {                                                                             \
          List_t * pxTemp;                                                          \
                                                                                    \
          /* The delayed tasks list should be empty when the lists are switched. */ \
          configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );               \
                                                                                    \
          pxTemp = pxDelayedTaskList;                                               \
          pxDelayedTaskList = pxOverflowDelayedTaskList;                            \
          pxOverflowDelayedTaskList = pxTemp;                                       \
          xNumOfOverflows++;                                                        \
          prvResetNextTaskUnblockTime();                                            \
      }
  
  /*-----------------------------------------------------------*/
  
  /*
   * Place the task represented by pxTCB into the appropriate ready list for
   * the task.  It is inserted at the end of the list.
   */
  #define prvAddTaskToReadyList( pxTCB )                                                                 \
      traceMOVED_TASK_TO_READY_STATE( pxTCB );                                                           \
      taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                \
      vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
      tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
  /*-----------------------------------------------------------*/
  
  /*
   * Several functions take a TaskHandle_t parameter that can optionally be NULL,
   * where NULL is used to indicate that the handle of the currently executing
   * task should be used in place of the parameter.  This macro simply checks to
   * see if the parameter is NULL and returns a pointer to the appropriate TCB.
   */
  #define prvGetTCBFromHandle( pxHandle )    ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
  
  /* The item value of the event list item is normally used to hold the priority
   * of the task to which it belongs (coded to allow it to be held in reverse
   * priority order).  However, it is occasionally borrowed for other purposes.  It
   * is important its value is not updated due to a task priority change while it is
   * being used for another purpose.  The following bit definition is used to inform
   * the scheduler that the value should not be changed - in which case it is the
   * responsibility of whichever module is using the value to ensure it gets set back
   * to its original value when it is released. */
  #if ( configUSE_16_BIT_TICKS == 1 )
      #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x8000U
  #else
      #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x80000000UL
  #endif
  
  /* Indicates that the task is not actively running on any core. */
  #define taskTASK_NOT_RUNNING    ( TaskRunning_t ) ( -1 )
  
  /* Indicates that the task is actively running but scheduled to yield. */
  #define taskTASK_YIELDING       ( TaskRunning_t ) ( -2 )
  
  /* Returns pdTRUE if the task is actively running and not scheduled to yield. */
  #define taskTASK_IS_RUNNING( xTaskRunState )    ( ( 0 <= xTaskRunState ) && ( xTaskRunState < configNUM_CORES ) )
  
  typedef BaseType_t TaskRunning_t;
  
  /*
   * Task control block.  A task control block (TCB) is allocated for each task,
   * and stores task state information, including a pointer to the task's context
   * (the task's run time environment, including register values)
   */
  typedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
  {
      volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
  
      #if ( portUSING_MPU_WRAPPERS == 1 )
          xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
      #endif
  
      #if ( configUSE_CORE_AFFINITY == 1 && configNUM_CORES > 1 )
          UBaseType_t uxCoreAffinityMask; /*< Used to link the task to certain cores.  UBaseType_t must have >= the same number of bits as SMP confNUM_CORES */
      #endif
  
      ListItem_t xStateListItem;                  /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
      ListItem_t xEventListItem;                  /*< Used to reference a task from an event list. */
      UBaseType_t uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */
      StackType_t * pxStack;                      /*< Points to the start of the stack. */
      volatile TaskRunning_t xTaskRunState;       /*< Used to identify the core the task is running on, if any. */
      BaseType_t xIsIdle;                         /*< Used to identify the idle tasks. */
      char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
  
      #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
          BaseType_t xPreemptionDisable; /*< Used to prevent the task from being preempted */
      #endif
  
      #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
          StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
      #endif
  
      #if ( portCRITICAL_NESTING_IN_TCB == 1 )
          UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
      #endif
  
      #if ( configUSE_TRACE_FACILITY == 1 )
          UBaseType_t uxTCBNumber;  /*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
          UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
      #endif
  
      #if ( configUSE_MUTEXES == 1 )
          UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
          UBaseType_t uxMutexesHeld;
      #endif
  
      #if ( configUSE_APPLICATION_TASK_TAG == 1 )
          TaskHookFunction_t pxTaskTag;
      #endif
  
      #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
          void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
      #endif
  
      #if ( configGENERATE_RUN_TIME_STATS == 1 )
          uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
      #endif
  
      #if ( configUSE_NEWLIB_REENTRANT == 1 )
          /* Allocate a Newlib reent structure that is specific to this task.
           * Note Newlib support has been included by popular demand, but is not
           * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
           * responsible for resulting newlib operation.  User must be familiar with
           * newlib and must provide system-wide implementations of the necessary
           * stubs. Be warned that (at the time of writing) the current newlib design
           * implements a system-wide malloc() that must be provided with locks.
           *
           * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
           * for additional information. */
          struct  _reent xNewLib_reent;
      #endif
  
      #if ( configUSE_TASK_NOTIFICATIONS == 1 )
          volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
          volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
      #endif
  
      /* See the comments in FreeRTOS.h with the definition of
       * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
      #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
          uint8_t ucStaticallyAllocated;                     /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
      #endif
  
      #if ( INCLUDE_xTaskAbortDelay == 1 )
          uint8_t ucDelayAborted;
      #endif
  
      #if ( configUSE_POSIX_ERRNO == 1 )
          int iTaskErrno;
      #endif
  } tskTCB;
  
  /* The old tskTCB name is maintained above then typedefed to the new TCB_t name
   * below to enable the use of older kernel aware debuggers. */
  typedef tskTCB TCB_t;
  
  /*lint -save -e956 A manual analysis and inspection has been used to determine
   * which static variables must be declared volatile. */
  PRIVILEGED_DATA TCB_t * volatile pxCurrentTCBs[ configNUM_CORES ] = { NULL };
  #define pxCurrentTCB    xTaskGetCurrentTaskHandle()
  
  /* Lists for ready and blocked tasks. --------------------
   * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
   * doing so breaks some kernel aware debuggers and debuggers that rely on removing
   * the static qualifier. */
  PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
  PRIVILEGED_DATA static List_t xDelayedTaskList1;                         /*< Delayed tasks. */
  PRIVILEGED_DATA static List_t xDelayedTaskList2;                         /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
  PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;              /*< Points to the delayed task list currently being used. */
  PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;      /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
  PRIVILEGED_DATA static List_t xPendingReadyList;                         /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
  
  #if ( INCLUDE_vTaskDelete == 1 )
  
      PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
      PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
  
  #endif
  
  #if ( INCLUDE_vTaskSuspend == 1 )
  
      PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
  
  #endif
  
  /* Global POSIX errno. Its value is changed upon context switching to match
   * the errno of the currently running task. */
  #if ( configUSE_POSIX_ERRNO == 1 )
      int FreeRTOS_errno = 0;
  #endif
  
  /* Other file private variables. --------------------------------*/
  PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
  PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
  PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
  PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
  PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
  PRIVILEGED_DATA static volatile BaseType_t xYieldPendings[ configNUM_CORES ] = { pdFALSE };
  PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
  PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
  PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
  PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle[ configNUM_CORES ] = { NULL };   /*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */
  
  #define xYieldPending    prvGetCurrentYieldPending()
  
  /* Improve support for OpenOCD. The kernel tracks Ready tasks via priority lists.
   * For tracking the state of remote threads, OpenOCD uses uxTopUsedPriority
   * to determine the number of priority lists to read back from the remote target. */
  const volatile UBaseType_t uxTopUsedPriority = configMAX_PRIORITIES - 1U;
  
  /* Context switches are held pending while the scheduler is suspended.  Also,
   * interrupts must not manipulate the xStateListItem of a TCB, or any of the
   * lists the xStateListItem can be referenced from, if the scheduler is suspended.
   * If an interrupt needs to unblock a task while the scheduler is suspended then it
   * moves the task's event list item into the xPendingReadyList, ready for the
   * kernel to move the task from the pending ready list into the real ready list
   * when the scheduler is unsuspended.  The pending ready list itself can only be
   * accessed from a critical section.
   *
   * Updates to uxSchedulerSuspended must be protected by both the task and ISR locks and
   * must not be done by an ISR. Reads must be protected by either lock and may be done by
   * either an ISR or a task. */
  PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
  
  #if ( configGENERATE_RUN_TIME_STATS == 1 )
  
  /* Do not move these variables to function scope as doing so prevents the
   * code working with debuggers that need to remove the static qualifier. */
      PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL;    /*< Holds the value of a timer/counter the last time a task was switched in. */
      PRIVILEGED_DATA static volatile uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
  
  #endif
  
  /*lint -restore */
  
  /*-----------------------------------------------------------*/
  
  /* File private functions. --------------------------------*/
  
  /*
   * Creates the idle tasks during scheduler start
   */
  static BaseType_t prvCreateIdleTasks( void );
  
  /*
   * Returns the yield pending count for the calling core.
   */
  static BaseType_t prvGetCurrentYieldPending( void );
  
  /*
   * Checks to see if another task moved the current task out of the ready
   * list while it was waiting to enter a critical section and yields if so.
   */
  static void prvCheckForRunStateChange( void );
  
  /*
   * Yields the given core.
   */
  static void prvYieldCore( BaseType_t xCoreID );
  
  /*
   * Yields a core, or cores if multiple priorities are not allowed to run
   * simultaneously, to allow the task pxTCB to run.
   */
  static void prvYieldForTask( TCB_t * pxTCB,
                               const BaseType_t xPreemptEqualPriority );
  
  /*
   * Selects the highest priority available task
   */
  static BaseType_t prvSelectHighestPriorityTask( const BaseType_t xCoreID );
  
  /**
   * Utility task that simply returns pdTRUE if the task referenced by xTask is
   * currently in the Suspended state, or pdFALSE if the task referenced by xTask
   * is in any other state.
   */
  #if ( INCLUDE_vTaskSuspend == 1 )
  
      static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
  
  #endif /* INCLUDE_vTaskSuspend */
  
  /*
   * Utility to ready all the lists used by the scheduler.  This is called
   * automatically upon the creation of the first task.
   */
  static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
  
  /*
   * The idle task, which as all tasks is implemented as a never ending loop.
   * The idle task is automatically created and added to the ready lists upon
   * creation of the first user task.
   *
   */
  static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
  #if ( configNUM_CORES > 1 )
      static portTASK_FUNCTION_PROTO( prvMinimalIdleTask, pvParameters ) PRIVILEGED_FUNCTION;
  #endif
  
  /*
   * Utility to free all memory allocated by the scheduler to hold a TCB,
   * including the stack pointed to by the TCB.
   *
   * This does not free memory allocated by the task itself (i.e. memory
   * allocated by calls to pvPortMalloc from within the tasks application code).
   */
  #if ( INCLUDE_vTaskDelete == 1 )
  
      static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * Used only by the idle task.  This checks to see if anything has been placed
   * in the list of tasks waiting to be deleted.  If so the task is cleaned up
   * and its TCB deleted.
   */
  static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
  
  /*
   * The currently executing task is entering the Blocked state.  Add the task to
   * either the current or the overflow delayed task list.
   */
  static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                              const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
  
  /*
   * Fills an TaskStatus_t structure with information on each task that is
   * referenced from the pxList list (which may be a ready list, a delayed list,
   * a suspended list, etc.).
   *
   * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
   * NORMAL APPLICATION CODE.
   */
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                       List_t * pxList,
                                                       eTaskState eState ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * Searches pxList for a task with name pcNameToQuery - returning a handle to
   * the task if it is found, or NULL if the task is not found.
   */
  #if ( INCLUDE_xTaskGetHandle == 1 )
  
      static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                       const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * When a task is created, the stack of the task is filled with a known value.
   * This function determines the 'high water mark' of the task stack by
   * determining how much of the stack remains at the original preset value.
   */
  #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
  
      static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * Return the amount of time, in ticks, that will pass before the kernel will
   * next move a task from the Blocked state to the Running state.
   *
   * This conditional compilation should use inequality to 0, not equality to 1.
   * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
   * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
   * set to a value other than 1.
   */
  #if ( configUSE_TICKLESS_IDLE != 0 )
  
      static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * Set xNextTaskUnblockTime to the time at which the next Blocked state task
   * will exit the Blocked state.
   */
  static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;
  
  #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
  
  /*
   * Helper function used to pad task names with spaces when printing out
   * human readable tables of task information.
   */
      static char * prvWriteNameToBuffer( char * pcBuffer,
                                          const char * pcTaskName ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*
   * Called after a Task_t structure has been allocated either statically or
   * dynamically to fill in the structure's members.
   */
  static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                    const uint32_t ulStackDepth,
                                    void * const pvParameters,
                                    UBaseType_t uxPriority,
                                    TaskHandle_t * const pxCreatedTask,
                                    TCB_t * pxNewTCB,
                                    const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
  
  /*
   * Called after a new task has been created and initialised to place the task
   * under the control of the scheduler.
   */
  static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;
  
  /*
   * freertos_tasks_c_additions_init() should only be called if the user definable
   * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
   * called by the function.
   */
  #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
  
      static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
  
  #endif
  
  /*-----------------------------------------------------------*/
  
  static BaseType_t prvGetCurrentYieldPending( void )
  {
      BaseType_t xReturn;
      UBaseType_t ulState;
  
      ulState = portDISABLE_INTERRUPTS();
      xReturn = xYieldPendings[ portGET_CORE_ID() ];
      portRESTORE_INTERRUPTS( ulState );
  
      return xReturn;
  }
  
  /*-----------------------------------------------------------*/
  
  static void prvCheckForRunStateChange( void )
  {
      UBaseType_t uxPrevCriticalNesting;
      UBaseType_t uxPrevSchedulerSuspended;
      TCB_t * pxThisTCB;
  
      /* This should be skipped when entering a critical section within
       * an ISR. If the task on the current core is no longer running, then
       * vTaskSwitchContext() probably should be run before returning, but
       * we don't have a way to force that to happen from here. */
      if( portCHECK_IF_IN_ISR() == pdFALSE )
      {
          /* This function is always called with interrupts disabled
           * so this is safe. */
          pxThisTCB = pxCurrentTCBs[ portGET_CORE_ID() ];
  
          while( pxThisTCB->xTaskRunState == taskTASK_YIELDING )
          {
              /* We are only here if we just entered a critical section
              * or if we just suspended the scheduler, and another task
              * has requested that we yield.
              *
              * This is slightly complicated since we need to save and restore
              * the suspension and critical nesting counts, as well as release
              * and reacquire the correct locks. And then do it all over again
              * if our state changed again during the reacquisition. */
  
              uxPrevCriticalNesting = pxThisTCB->uxCriticalNesting;
              uxPrevSchedulerSuspended = uxSchedulerSuspended;
  
              /* this must only be called the first time we enter into a critical
               * section, otherwise it could context switch in the middle of a
               * critical section. */
              configASSERT( uxPrevCriticalNesting + uxPrevSchedulerSuspended == 1U );
  
              uxSchedulerSuspended = 0U;
  
              if( uxPrevCriticalNesting > 0U )
              {
                  pxThisTCB->uxCriticalNesting = 0U;
                  portRELEASE_ISR_LOCK();
                  portRELEASE_TASK_LOCK();
              }
              else
              {
                  /* uxPrevSchedulerSuspended must be 1 */
                  portRELEASE_TASK_LOCK();
              }
  
              portMEMORY_BARRIER();
              configASSERT( pxThisTCB->xTaskRunState == taskTASK_YIELDING );
  
              portENABLE_INTERRUPTS();
  
              /* Enabling interrupts should cause this core to immediately
               * service the pending interrupt and yield. If the run state is still
               * yielding here then that is a problem. */
              configASSERT( pxThisTCB->xTaskRunState != taskTASK_YIELDING );
  
              portDISABLE_INTERRUPTS();
              portGET_TASK_LOCK();
              portGET_ISR_LOCK();
              pxCurrentTCB->uxCriticalNesting = uxPrevCriticalNesting;
              uxSchedulerSuspended = uxPrevSchedulerSuspended;
  
              if( uxPrevCriticalNesting == 0U )
              {
                  /* uxPrevSchedulerSuspended must be 1 */
                  configASSERT( uxPrevSchedulerSuspended != ( UBaseType_t ) pdFALSE );
                  portRELEASE_ISR_LOCK();
              }
          }
      }
  }
  
  /*-----------------------------------------------------------*/
  
  static void prvYieldCore( BaseType_t xCoreID )
  {
      /* This must be called from a critical section and
       * xCoreID must be valid. */
  
      if( portCHECK_IF_IN_ISR() && ( xCoreID == portGET_CORE_ID() ) )
      {
          xYieldPendings[ xCoreID ] = pdTRUE;
      }
      else if( pxCurrentTCBs[ xCoreID ]->xTaskRunState != taskTASK_YIELDING )
      {
          if( xCoreID == portGET_CORE_ID() )
          {
              xYieldPendings[ xCoreID ] = pdTRUE;
          }
  
  #ifdef ESP_PLATFORM
  // TODO: IDF-5256
          #if ( configNUM_CORES > 1 )
              else
              {
                  portYIELD_CORE( xCoreID );
                  pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_YIELDING;
              }
          #endif /* ( configNUM_CORES > 1 ) */
  #endif /* ESP_PLATFORM */
      }
  }
  
  /*-----------------------------------------------------------*/
  
  static void prvYieldForTask( TCB_t * pxTCB,
                               const BaseType_t xPreemptEqualPriority )
  {
      BaseType_t xLowestPriority;
      BaseType_t xTaskPriority;
      BaseType_t xLowestPriorityCore = -1;
      BaseType_t xYieldCount = 0;
      BaseType_t x;
      TaskRunning_t xTaskRunState;
  
      /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION */
  
      configASSERT( pxCurrentTCB->uxCriticalNesting > 0U );
  
      #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
          {
              /* No task should yield for this one if it is a lower priority
               * than priority level of currently ready tasks. */
              if( pxTCB->uxPriority < uxTopReadyPriority )
              {
                  return;
              }
          }
      #endif
  
      xLowestPriority = ( BaseType_t ) pxTCB->uxPriority;
  
      if( xPreemptEqualPriority == pdFALSE )
      {
          /* xLowestPriority will be decremented to -1 if the priority of pxTCB
           * is 0. This is ok as we will give system idle tasks a priority of -1 below. */
          --xLowestPriority;
      }
  
      for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configNUM_CORES; x++ )
      {
          /* System idle tasks are being assigned a priority of tskIDLE_PRIORITY - 1 here */
          xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ x ]->uxPriority - pxCurrentTCBs[ x ]->xIsIdle;
          xTaskRunState = pxCurrentTCBs[ x ]->xTaskRunState;
  
          if( ( taskTASK_IS_RUNNING( xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ x ] == pdFALSE ) )
          {
              if( xTaskPriority <= xLowestPriority )
              {
                  #if ( configNUM_CORES > 1 )
                      #if ( configUSE_CORE_AFFINITY == 1 )
                          if( ( pxTCB->uxCoreAffinityMask & ( 1 << x ) ) != 0 )
                      #endif
                  #endif
                  {
                      #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
                          if( pxCurrentTCBs[ x ]->xPreemptionDisable == pdFALSE )
                      #endif
                      {
                          xLowestPriority = xTaskPriority;
                          xLowestPriorityCore = x;
                      }
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) && 1
                  {
                      /* Yield all currently running non-idle tasks with a priority lower than
                       * the task that needs to run. */
                      if( ( ( BaseType_t ) tskIDLE_PRIORITY - 1 < xTaskPriority ) && ( xTaskPriority < ( BaseType_t ) pxTCB->uxPriority ) )
                      {
                          prvYieldCore( x );
                          xYieldCount++;
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
              #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) && 1 */
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
      if( ( xYieldCount == 0 ) && taskVALID_CORE_ID( xLowestPriorityCore ) )
      {
          prvYieldCore( xLowestPriorityCore );
          xYieldCount++;
      }
  
      #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
          /* Verify that the calling core always yields to higher priority tasks */
          if( !pxCurrentTCBs[ portGET_CORE_ID() ]->xIsIdle && ( pxTCB->uxPriority > pxCurrentTCBs[ portGET_CORE_ID() ]->uxPriority ) )
          {
              configASSERT( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE || taskTASK_IS_RUNNING( pxCurrentTCBs[ portGET_CORE_ID() ]->xTaskRunState ) == pdFALSE );
          }
      #endif
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
  
      static BaseType_t prvSelectHighestPriorityTask( const BaseType_t xCoreID )
      {
          UBaseType_t uxCurrentPriority = uxTopReadyPriority;
          BaseType_t xTaskScheduled = pdFALSE;
          BaseType_t xDecrementTopPriority = pdTRUE;
  
          #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
              TCB_t * pxPreviousTCB = NULL;
          #endif
          #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
              BaseType_t xPriorityDropped = pdFALSE;
          #endif
  
          while( xTaskScheduled == pdFALSE )
          {
              #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
                  {
                      if( uxCurrentPriority < uxTopReadyPriority )
                      {
                          /* We can't schedule any tasks, other than idle, that have a
                           * priority lower than the priority of a task currently running
                           * on another core. */
                          uxCurrentPriority = tskIDLE_PRIORITY;
                      }
                  }
              #endif
  
              if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurrentPriority ] ) ) == pdFALSE )
              {
                  List_t * const pxReadyList = &( pxReadyTasksLists[ uxCurrentPriority ] );
                  ListItem_t * pxLastTaskItem = pxReadyList->pxIndex->pxPrevious;
                  ListItem_t * pxTaskItem = pxLastTaskItem;
  
                  if( ( void * ) pxLastTaskItem == ( void * ) &( pxReadyList->xListEnd ) )
                  {
                      pxLastTaskItem = pxLastTaskItem->pxPrevious;
                  }
  
                  /* The ready task list for uxCurrentPriority is not empty, so uxTopReadyPriority
                   * must not be decremented any further */
                  xDecrementTopPriority = pdFALSE;
  
                  do
                  {
                      TCB_t * pxTCB;
  
                      pxTaskItem = pxTaskItem->pxNext;
  
                      if( ( void * ) pxTaskItem == ( void * ) &( pxReadyList->xListEnd ) )
                      {
                          pxTaskItem = pxTaskItem->pxNext;
                      }
  
                      pxTCB = pxTaskItem->pvOwner;
  
                      /*debug_printf("Attempting to schedule %s on core %d\n", pxTCB->pcTaskName, portGET_CORE_ID() ); */
  
                      #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
                          {
                              /* When falling back to the idle priority because only one priority
                               * level is allowed to run at a time, we should ONLY schedule the true
                               * idle tasks, not user tasks at the idle priority. */
                              if( uxCurrentPriority < uxTopReadyPriority )
                              {
                                  if( pxTCB->xIsIdle == pdFALSE )
                                  {
                                      continue;
                                  }
                              }
                          }
                      #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */
  
                      if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
                      {
                          #if ( configNUM_CORES > 1 )
                              #if ( configUSE_CORE_AFFINITY == 1 )
                                  if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
                              #endif
                          #endif
                          {
                              /* If the task is not being executed by any core swap it in */
                              pxCurrentTCBs[ xCoreID ]->xTaskRunState = taskTASK_NOT_RUNNING;
                              #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
                                  pxPreviousTCB = pxCurrentTCBs[ xCoreID ];
                              #endif
                              pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
                              pxCurrentTCBs[ xCoreID ] = pxTCB;
                              xTaskScheduled = pdTRUE;
                          }
                      }
                      else if( pxTCB == pxCurrentTCBs[ xCoreID ] )
                      {
                          configASSERT( ( pxTCB->xTaskRunState == xCoreID ) || ( pxTCB->xTaskRunState == taskTASK_YIELDING ) );
                          #if ( configNUM_CORES > 1 )
                              #if ( configUSE_CORE_AFFINITY == 1 )
                                  if( ( pxTCB->uxCoreAffinityMask & ( 1 << xCoreID ) ) != 0 )
                              #endif
                          #endif
                          {
                              /* The task is already running on this core, mark it as scheduled */
                              pxTCB->xTaskRunState = ( TaskRunning_t ) xCoreID;
                              xTaskScheduled = pdTRUE;
                          }
                      }
  
                      if( xTaskScheduled != pdFALSE )
                      {
                          /* Once a task has been selected to run on this core,
                           * move it to the end of the ready task list. */
                          uxListRemove( pxTaskItem );
                          vListInsertEnd( pxReadyList, pxTaskItem );
                          break;
                      }
                  } while( pxTaskItem != pxLastTaskItem );
              }
              else
              {
                  if( xDecrementTopPriority != pdFALSE )
                  {
                      uxTopReadyPriority--;
                      #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
                          {
                              xPriorityDropped = pdTRUE;
                          }
                      #endif
                  }
              }
  
              /* This function can get called by vTaskSuspend() before the scheduler is started.
               * In that case, since the idle tasks have not yet been created it is possible that we
               * won't find a new task to schedule. Return pdFALSE in this case. */
              if( ( xSchedulerRunning == pdFALSE ) && ( uxCurrentPriority == tskIDLE_PRIORITY ) && ( xTaskScheduled == pdFALSE ) )
              {
                  return pdFALSE;
              }
  
              configASSERT( ( uxCurrentPriority > tskIDLE_PRIORITY ) || ( xTaskScheduled == pdTRUE ) );
              uxCurrentPriority--;
          }
  
          configASSERT( taskTASK_IS_RUNNING( pxCurrentTCBs[ xCoreID ]->xTaskRunState ) );
  
          #if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) )
              if( xPriorityDropped != pdFALSE )
              {
                  /* There may be several ready tasks that were being prevented from running because there was
                   * a higher priority task running. Now that the last of the higher priority tasks is no longer
                   * running, make sure all the other idle tasks yield. */
                  UBaseType_t x;
  
                  for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configNUM_CORES; x++ )
                  {
                      if( pxCurrentTCBs[ x ]->xIsIdle != pdFALSE )
                      {
                          prvYieldCore( x );
                      }
                  }
              }
          #endif /* if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configNUM_CORES > 1 ) ) */
  
          #if ( configNUM_CORES > 1 )
              #if ( configUSE_CORE_AFFINITY == 1 )
                  if( ( pxPreviousTCB != NULL ) && ( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxPreviousTCB->uxPriority ] ), &( pxPreviousTCB->xStateListItem ) ) != pdFALSE ) )
                  {
                      /* A ready task was just bumped off this core. Look at the cores it can run from
                       * from to see if it is able to run on any of them */
                      UBaseType_t uxCoreMap = pxPreviousTCB->uxCoreAffinityMask;
                      BaseType_t xLowestPriority = pxPreviousTCB->uxPriority - pxPreviousTCB->xIsIdle;
                      BaseType_t xLowestPriorityCore = -1;
  
                      if( ( uxCoreMap & ( 1 << xCoreID ) ) != 0 )
                      {
                          /* The ready task that was removed from this core is not excluded from it.
                           * Only look at the intersection of the cores the removed task is allowed to run
                           * on with the cores that the new task is excluded from. It is possible that the
                           * new task was only placed onto this core because it is excluded from another.
                           * Check to see if the previous task could run on one of those cores. */
                          uxCoreMap &= ~( pxCurrentTCBs[ xCoreID ]->uxCoreAffinityMask );
                      }
                      else
                      {
                          /* The ready task that was removed from this core is excluded from it. */
                      }
  
                      uxCoreMap &= ( ( 1 << configNUM_CORES ) - 1 );
  
                      while( uxCoreMap != 0 )
                      {
                          int uxCore = 31UL - ( uint32_t ) __builtin_clz( uxCoreMap );
  
                          configASSERT( taskVALID_CORE_ID( uxCore ) );
  
                          uxCoreMap &= ~( 1 << uxCore );
  
                          BaseType_t xTaskPriority = ( BaseType_t ) pxCurrentTCBs[ uxCore ]->uxPriority - pxCurrentTCBs[ uxCore ]->xIsIdle;
  
                          if( ( xTaskPriority < xLowestPriority ) && ( taskTASK_IS_RUNNING( pxCurrentTCBs[ uxCore ]->xTaskRunState ) != pdFALSE ) && ( xYieldPendings[ uxCore ] == pdFALSE ) )
                          {
                              #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
                                  if( pxCurrentTCBs[ uxCore ]->xPreemptionDisable == pdFALSE )
                              #endif
                              {
                                  xLowestPriority = xTaskPriority;
                                  xLowestPriorityCore = uxCore;
                              }
                          }
                      }
  
                      if( taskVALID_CORE_ID( xLowestPriorityCore ) )
                      {
                          prvYieldCore( xLowestPriorityCore );
                      }
                  }
              #endif /* if ( configUSE_CORE_AFFINITY == 1 ) */
          #endif /* if ( configNUM_CORES > 1 ) */
  
          return pdTRUE;
      }
  
  #else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
  
      static void prvSelectHighestPriorityTask( BaseType_t xCoreID )
      {
          UBaseType_t uxTopPriority;
  
          /* Find the highest priority list that contains ready tasks. */
          portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );
          configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );
          listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) );
      }
  
  #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
  /*-----------------------------------------------------------*/
  
  #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
  
      TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
                                      const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                      const uint32_t ulStackDepth,
                                      void * const pvParameters,
                                      UBaseType_t uxPriority,
                                      StackType_t * const puxStackBuffer,
                                      StaticTask_t * const pxTaskBuffer )
      #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
          {
              return xTaskCreateStaticAffinitySet(pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, puxStackBuffer, pxTaskBuffer, tskNO_AFFINITY);
          }
  
          TaskHandle_t xTaskCreateStaticAffinitySet( TaskFunction_t pxTaskCode,
                                                     const char * const pcName,   /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                                     const uint32_t ulStackDepth,
                                                     void * const pvParameters,
                                                     UBaseType_t uxPriority,
                                                     StackType_t * const puxStackBuffer,
                                                     StaticTask_t * const pxTaskBuffer,
                                                     UBaseType_t uxCoreAffinityMask )
      #endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
      {
          TCB_t * pxNewTCB;
          TaskHandle_t xReturn;
  
          configASSERT( puxStackBuffer != NULL );
          configASSERT( pxTaskBuffer != NULL );
  
          #if ( configASSERT_DEFINED == 1 )
              {
                  /* Sanity check that the size of the structure used to declare a
                   * variable of type StaticTask_t equals the size of the real task
                   * structure. */
                  volatile size_t xSize = sizeof( StaticTask_t );
                  configASSERT( xSize == sizeof( TCB_t ) );
                  ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
              }
          #endif /* configASSERT_DEFINED */
  
          if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
          {
              /* The memory used for the task's TCB and stack are passed into this
               * function - use them. */
              pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
              pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
  
              #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                  {
                      /* Tasks can be created statically or dynamically, so note this
                       * task was created statically in case the task is later deleted. */
                      pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                  }
              #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
  
              prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
  
              #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
                  {
                      /* Set the task's affinity before scheduling it */
                      pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
                  }
              #endif
  
              prvAddNewTaskToReadyList( pxNewTCB );
          }
          else
          {
              xReturn = NULL;
          }
  
          return xReturn;
      }
  
  #endif /* SUPPORT_STATIC_ALLOCATION */
  /*-----------------------------------------------------------*/
  
  #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
  
      BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
                                              TaskHandle_t * pxCreatedTask )
      #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
          {
              return xTaskCreateRestrictedStaticAffinitySet( pxTaskDefinition, tskNO_AFFINITY, pxCreatedTask );
          }
  
          BaseType_t xTaskCreateRestrictedStaticAffinitySet( const TaskParameters_t * const pxTaskDefinition,
                                                             UBaseType_t uxCoreAffinityMask,
                                                             TaskHandle_t * pxCreatedTask )
      #endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
      {
          TCB_t * pxNewTCB;
          BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
  
          configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
          configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
  
          if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
          {
              /* Allocate space for the TCB.  Where the memory comes from depends
               * on the implementation of the port malloc function and whether or
               * not static allocation is being used. */
              pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
  
              /* Store the stack location in the TCB. */
              pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
  
              #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                  {
                      /* Tasks can be created statically or dynamically, so note this
                       * task was created statically in case the task is later deleted. */
                      pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                  }
              #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
  
              prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                    pxTaskDefinition->pcName,
                                    ( uint32_t ) pxTaskDefinition->usStackDepth,
                                    pxTaskDefinition->pvParameters,
                                    pxTaskDefinition->uxPriority,
                                    pxCreatedTask, pxNewTCB,
                                    pxTaskDefinition->xRegions );
  
              #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
                  {
                      /* Set the task's affinity before scheduling it */
                      pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
                  }
              #endif
  
              prvAddNewTaskToReadyList( pxNewTCB );
              xReturn = pdPASS;
          }
  
          return xReturn;
      }
  
  #endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
  /*-----------------------------------------------------------*/
  
  #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
  
      BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
                                        TaskHandle_t * pxCreatedTask )
      #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
          {
              return xTaskCreateRestrictedAffinitySet( pxTaskDefinition, tskNO_AFFINITY, pxCreatedTask );
          }
  
          BaseType_t xTaskCreateRestrictedAffinitySet( const TaskParameters_t * const pxTaskDefinition,
                                                       UBaseType_t uxCoreAffinityMask,
                                                       TaskHandle_t * pxCreatedTask )
      #endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
      {
          TCB_t * pxNewTCB;
          BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
  
          configASSERT( pxTaskDefinition->puxStackBuffer );
  
          if( pxTaskDefinition->puxStackBuffer != NULL )
          {
              /* Allocate space for the TCB.  Where the memory comes from depends
               * on the implementation of the port malloc function and whether or
               * not static allocation is being used. */
              pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
  
              if( pxNewTCB != NULL )
              {
                  /* Store the stack location in the TCB. */
                  pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
  
                  #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                      {
                          /* Tasks can be created statically or dynamically, so note
                           * this task had a statically allocated stack in case it is
                           * later deleted.  The TCB was allocated dynamically. */
                          pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
                      }
                  #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
  
                  prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                        pxTaskDefinition->pcName,
                                        ( uint32_t ) pxTaskDefinition->usStackDepth,
                                        pxTaskDefinition->pvParameters,
                                        pxTaskDefinition->uxPriority,
                                        pxCreatedTask, pxNewTCB,
                                        pxTaskDefinition->xRegions );
  
                  #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
                      {
                          /* Set the task's affinity before scheduling it */
                          pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
                      }
                  #endif
  
                  prvAddNewTaskToReadyList( pxNewTCB );
                  xReturn = pdPASS;
              }
          }
  
          return xReturn;
      }
  
  #endif /* portUSING_MPU_WRAPPERS */
  /*-----------------------------------------------------------*/
  
  #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
  
      BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
                              const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                              const configSTACK_DEPTH_TYPE usStackDepth,
                              void * const pvParameters,
                              UBaseType_t uxPriority,
                              TaskHandle_t * const pxCreatedTask )
      #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
          {
              return xTaskCreateAffinitySet(pxTaskCode, pcName, usStackDepth, pvParameters, uxPriority, tskNO_AFFINITY, pxCreatedTask);
          }
  
          BaseType_t xTaskCreateAffinitySet( TaskFunction_t pxTaskCode,
                                             const char * const pcName,     /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                             const configSTACK_DEPTH_TYPE usStackDepth,
                                             void * const pvParameters,
                                             UBaseType_t uxPriority,
                                             UBaseType_t uxCoreAffinityMask,
                                             TaskHandle_t * const pxCreatedTask )
      #endif /* ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) */
      {
          TCB_t * pxNewTCB;
          BaseType_t xReturn;
  
          /* If the stack grows down then allocate the stack then the TCB so the stack
           * does not grow into the TCB.  Likewise if the stack grows up then allocate
           * the TCB then the stack. */
          #if ( portSTACK_GROWTH > 0 )
              {
                  /* Allocate space for the TCB.  Where the memory comes from depends on
                   * the implementation of the port malloc function and whether or not static
                   * allocation is being used. */
                  pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
  
                  if( pxNewTCB != NULL )
                  {
                      /* Allocate space for the stack used by the task being created.
                       * The base of the stack memory stored in the TCB so the task can
                       * be deleted later if required. */
                      pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
  
                      if( pxNewTCB->pxStack == NULL )
                      {
                          /* Could not allocate the stack.  Delete the allocated TCB. */
                          vPortFree( pxNewTCB );
                          pxNewTCB = NULL;
                      }
                  }
              }
          #else /* portSTACK_GROWTH */
              {
                  StackType_t * pxStack;
  
                  /* Allocate space for the stack used by the task being created. */
                  pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
  
                  if( pxStack != NULL )
                  {
                      /* Allocate space for the TCB. */
                      pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
  
                      if( pxNewTCB != NULL )
                      {
                          /* Store the stack location in the TCB. */
                          pxNewTCB->pxStack = pxStack;
                      }
                      else
                      {
                          /* The stack cannot be used as the TCB was not created.  Free
                           * it again. */
                          vPortFreeStack( pxStack );
                      }
                  }
                  else
                  {
                      pxNewTCB = NULL;
                  }
              }
          #endif /* portSTACK_GROWTH */
  
          if( pxNewTCB != NULL )
          {
              #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
                  {
                      /* Tasks can be created statically or dynamically, so note this
                       * task was created dynamically in case it is later deleted. */
                      pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
                  }
              #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
  
              prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
  
              #if ( ( configNUM_CORES > 1 ) && ( configUSE_CORE_AFFINITY == 1 ) )
                  {
                      /* Set the task's affinity before scheduling it */
                      pxNewTCB->uxCoreAffinityMask = uxCoreAffinityMask;
                  }
              #endif
  
              prvAddNewTaskToReadyList( pxNewTCB );
              xReturn = pdPASS;
          }
          else
          {
              xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
          }
  
          return xReturn;
      }
  
  #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
  /*-----------------------------------------------------------*/
  
  static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                    const uint32_t ulStackDepth,
                                    void * const pvParameters,
                                    UBaseType_t uxPriority,
                                    TaskHandle_t * const pxCreatedTask,
                                    TCB_t * pxNewTCB,
                                    const MemoryRegion_t * const xRegions )
  {
      StackType_t * pxTopOfStack;
      UBaseType_t x;
  
      #if ( portUSING_MPU_WRAPPERS == 1 )
          /* Should the task be created in privileged mode? */
          BaseType_t xRunPrivileged;
  
          if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
          {
              xRunPrivileged = pdTRUE;
          }
          else
          {
              xRunPrivileged = pdFALSE;
          }
          uxPriority &= ~portPRIVILEGE_BIT;
      #endif /* portUSING_MPU_WRAPPERS == 1 */
  
      /* Avoid dependency on memset() if it is not required. */
      #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
          {
              /* Fill the stack with a known value to assist debugging. */
              ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
          }
      #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
  
      /* Calculate the top of stack address.  This depends on whether the stack
       * grows from high memory to low (as per the 80x86) or vice versa.
       * portSTACK_GROWTH is used to make the result positive or negative as required
       * by the port. */
      #if ( portSTACK_GROWTH < 0 )
          {
              pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
              pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type.  Checked by assert(). */
  
              /* Check the alignment of the calculated top of stack is correct. */
              configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
  
              #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
                  {
                      /* Also record the stack's high address, which may assist
                       * debugging. */
                      pxNewTCB->pxEndOfStack = pxTopOfStack;
                  }
              #endif /* configRECORD_STACK_HIGH_ADDRESS */
          }
      #else /* portSTACK_GROWTH */
          {
              pxTopOfStack = pxNewTCB->pxStack;
  
              /* Check the alignment of the stack buffer is correct. */
              configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
  
              /* The other extreme of the stack space is required if stack checking is
               * performed. */
              pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
          }
      #endif /* portSTACK_GROWTH */
  
      /* Store the task name in the TCB. */
      if( pcName != NULL )
      {
          for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
          {
              pxNewTCB->pcTaskName[ x ] = pcName[ x ];
  
              /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
               * configMAX_TASK_NAME_LEN characters just in case the memory after the
               * string is not accessible (extremely unlikely). */
              if( pcName[ x ] == ( char ) 0x00 )
              {
                  break;
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
  
          /* Ensure the name string is terminated in the case that the string length
           * was greater or equal to configMAX_TASK_NAME_LEN. */
          pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
      }
      else
      {
          /* The task has not been given a name, so just ensure there is a NULL
           * terminator when it is read out. */
          pxNewTCB->pcTaskName[ 0 ] = 0x00;
      }
  
      /* This is used as an array index so must ensure it's not too large.  First
       * remove the privilege bit if one is present. */
      if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
      {
          uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
      }
      else
      {
          mtCOVERAGE_TEST_MARKER();
      }
  
      pxNewTCB->uxPriority = uxPriority;
      #if ( configUSE_MUTEXES == 1 )
          {
              pxNewTCB->uxBasePriority = uxPriority;
              pxNewTCB->uxMutexesHeld = 0;
          }
      #endif /* configUSE_MUTEXES */
  
      vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
      vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
  
      /* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get
       * back to  the containing TCB from a generic item in a list. */
      listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
  
      /* Event lists are always in priority order. */
      listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
      listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
  
      #if ( portCRITICAL_NESTING_IN_TCB == 1 )
          {
              pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
          }
      #endif /* portCRITICAL_NESTING_IN_TCB */
  
      #if ( configUSE_APPLICATION_TASK_TAG == 1 )
          {
              pxNewTCB->pxTaskTag = NULL;
          }
      #endif /* configUSE_APPLICATION_TASK_TAG */
  
      #if ( configGENERATE_RUN_TIME_STATS == 1 )
          {
              pxNewTCB->ulRunTimeCounter = 0UL;
          }
      #endif /* configGENERATE_RUN_TIME_STATS */
  
      #if ( portUSING_MPU_WRAPPERS == 1 )
          {
              vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
          }
      #else
          {
              /* Avoid compiler warning about unreferenced parameter. */
              ( void ) xRegions;
          }
      #endif
  
      #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
          {
              memset( ( void * ) &( pxNewTCB->pvThreadLocalStoragePointers[ 0 ] ), 0x00, sizeof( pxNewTCB->pvThreadLocalStoragePointers ) );
          }
      #endif
  
      #if ( configUSE_TASK_NOTIFICATIONS == 1 )
          {
              memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
              memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
          }
      #endif
  
      #if ( configUSE_NEWLIB_REENTRANT == 1 )
          {
              /* Initialise this task's Newlib reent structure.
               * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
               * for additional information. */
              _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
          }
      #endif
  
      #if ( INCLUDE_xTaskAbortDelay == 1 )
          {
              pxNewTCB->ucDelayAborted = pdFALSE;
          }
      #endif
  
      #if ( configNUM_CORES > 1 )
          #if ( configUSE_CORE_AFFINITY == 1 )
              {
                  pxNewTCB->uxCoreAffinityMask = tskNO_AFFINITY;
              }
          #endif
      #endif
      #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
          {
              pxNewTCB->xPreemptionDisable = 0;
          }
      #endif
  
      /* Initialize the TCB stack to look as if the task was already running,
       * but had been interrupted by the scheduler.  The return address is set
       * to the start of the task function. Once the stack has been initialised
       * the top of stack variable is updated. */
      #if ( portUSING_MPU_WRAPPERS == 1 )
          {
              /* If the port has capability to detect stack overflow,
               * pass the stack end address to the stack initialization
               * function as well. */
              #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                  {
                      #if ( portSTACK_GROWTH < 0 )
                          {
                              pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
                          }
                      #else /* portSTACK_GROWTH */
                          {
                              pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                          }
                      #endif /* portSTACK_GROWTH */
                  }
              #else /* portHAS_STACK_OVERFLOW_CHECKING */
                  {
                      pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                  }
              #endif /* portHAS_STACK_OVERFLOW_CHECKING */
          }
      #else /* portUSING_MPU_WRAPPERS */
          {
              /* If the port has capability to detect stack overflow,
               * pass the stack end address to the stack initialization
               * function as well. */
              #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                  {
                      #if ( portSTACK_GROWTH < 0 )
                          {
                              pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
                          }
                      #else /* portSTACK_GROWTH */
                          {
                              pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
                          }
                      #endif /* portSTACK_GROWTH */
                  }
              #else /* portHAS_STACK_OVERFLOW_CHECKING */
                  {
                      pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
                  }
              #endif /* portHAS_STACK_OVERFLOW_CHECKING */
          }
      #endif /* portUSING_MPU_WRAPPERS */
  
      /* Initialize to not running */
      pxNewTCB->xTaskRunState = taskTASK_NOT_RUNNING;
  
      /* Is this an idle task? */
      if( pxTaskCode == prvIdleTask )
      {
          pxNewTCB->xIsIdle = pdTRUE;
      }
  
      #if ( configNUM_CORES > 1 )
          else if( pxTaskCode == prvMinimalIdleTask )
          {
              pxNewTCB->xIsIdle = pdTRUE;
          }
      #endif
      else
      {
          pxNewTCB->xIsIdle = pdFALSE;
      }
  
      if( pxCreatedTask != NULL )
      {
          /* Pass the handle out in an anonymous way.  The handle can be used to
           * change the created task's priority, delete the created task, etc.*/
          *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
      }
      else
      {
          mtCOVERAGE_TEST_MARKER();
      }
  }
  /*-----------------------------------------------------------*/
  
  static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
  {
      /* Ensure interrupts don't access the task lists while the lists are being
       * updated. */
      taskENTER_CRITICAL();
      {
          uxCurrentNumberOfTasks++;
  
          if( xSchedulerRunning == pdFALSE )
          {
              if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
              {
                  /* This is the first task to be created so do the preliminary
                   * initialisation required.  We will not recover if this call
                   * fails, but we will report the failure. */
                  prvInitialiseTaskLists();
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              if( pxNewTCB->xIsIdle != pdFALSE )
              {
                  BaseType_t xCoreID;
  
                  /* Check if a core is free. */
                  for( xCoreID = ( UBaseType_t ) 0; xCoreID < ( UBaseType_t ) configNUM_CORES; xCoreID++ )
                  {
                      if( pxCurrentTCBs[ xCoreID ] == NULL )
                      {
                          pxNewTCB->xTaskRunState = xCoreID;
                          pxCurrentTCBs[ xCoreID ] = pxNewTCB;
                          break;
                      }
                  }
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          uxTaskNumber++;
  
          #if ( configUSE_TRACE_FACILITY == 1 )
              {
                  /* Add a counter into the TCB for tracing only. */
                  pxNewTCB->uxTCBNumber = uxTaskNumber;
              }
          #endif /* configUSE_TRACE_FACILITY */
          traceTASK_CREATE( pxNewTCB );
  
          prvAddTaskToReadyList( pxNewTCB );
  
          portSETUP_TCB( pxNewTCB );
  
          if( xSchedulerRunning != pdFALSE )
          {
              /* If the created task is of a higher priority than another
               * currently running task and preemption is on then it should
               * run now. */
              #if ( configUSE_PREEMPTION == 1 )
                  prvYieldForTask( pxNewTCB, pdFALSE );
              #endif
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
      taskEXIT_CRITICAL();
  }
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskDelete == 1 )
  
      void vTaskDelete( TaskHandle_t xTaskToDelete )
      {
          TCB_t * pxTCB;
          TaskRunning_t xTaskRunningOnCore;
  
          taskENTER_CRITICAL();
          {
              /* If null is passed in here then it is the calling task that is
               * being deleted. */
              pxTCB = prvGetTCBFromHandle( xTaskToDelete );
  
              xTaskRunningOnCore = pxTCB->xTaskRunState;
  
              /* Remove task from the ready/delayed list. */
              if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
              {
                  taskRESET_READY_PRIORITY( pxTCB->uxPriority );
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              /* Is the task waiting on an event also? */
              if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
              {
                  ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              /* Increment the uxTaskNumber also so kernel aware debuggers can
               * detect that the task lists need re-generating.  This is done before
               * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
               * not return. */
              uxTaskNumber++;
  
              /* If the task is running (or yielding), we must add it to the
               * termination list so that an idle task can delete it when it is
               * no longer running. */
              if( xTaskRunningOnCore != taskTASK_NOT_RUNNING )
              {
                  /* A running task is being deleted.  This cannot complete within the
                   * task itself, as a context switch to another task is required.
                   * Place the task in the termination list.  The idle task will
                   * check the termination list and free up any memory allocated by
                   * the scheduler for the TCB and stack of the deleted task. */
                  vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
  
                  /* Increment the ucTasksDeleted variable so the idle task knows
                   * there is a task that has been deleted and that it should therefore
                   * check the xTasksWaitingTermination list. */
                  ++uxDeletedTasksWaitingCleanUp;
  
                  /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
                   * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
                  traceTASK_DELETE( pxTCB );
  
                  /* The pre-delete hook is primarily for the Windows simulator,
                   * in which Windows specific clean up operations are performed,
                   * after which it is not possible to yield away from this task -
                   * hence xYieldPending is used to latch that a context switch is
                   * required. */
                  portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPendings[ pxTCB->xTaskRunState ] );
              }
              else
              {
                  --uxCurrentNumberOfTasks;
                  traceTASK_DELETE( pxTCB );
                  prvDeleteTCB( pxTCB );
  
                  /* Reset the next expected unblock time in case it referred to
                   * the task that has just been deleted. */
                  prvResetNextTaskUnblockTime();
              }
  
              /* Force a reschedule if the task that has just been deleted was running. */
              if( ( xSchedulerRunning != pdFALSE ) && ( taskTASK_IS_RUNNING( xTaskRunningOnCore ) ) )
              {
                  BaseType_t xCoreID;
  
                  xCoreID = portGET_CORE_ID();
  
                  if( xTaskRunningOnCore == xCoreID )
                  {
                      configASSERT( uxSchedulerSuspended == 0 );
                      vTaskYieldWithinAPI();
                  }
                  else
                  {
                      prvYieldCore( xTaskRunningOnCore );
                  }
              }
          }
          taskEXIT_CRITICAL();
      }
  
  #endif /* INCLUDE_vTaskDelete */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_xTaskDelayUntil == 1 )
  
      BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
                                  const TickType_t xTimeIncrement )
      {
          TickType_t xTimeToWake;
          BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
  
          configASSERT( pxPreviousWakeTime );
          configASSERT( ( xTimeIncrement > 0U ) );
  
          vTaskSuspendAll();
          {
              configASSERT( uxSchedulerSuspended == 1 );
  
              /* Minor optimisation.  The tick count cannot change in this
               * block. */
              const TickType_t xConstTickCount = xTickCount;
  
              /* Generate the tick time at which the task wants to wake. */
              xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
  
              if( xConstTickCount < *pxPreviousWakeTime )
              {
                  /* The tick count has overflowed since this function was
                   * lasted called.  In this case the only time we should ever
                   * actually delay is if the wake time has also  overflowed,
                   * and the wake time is greater than the tick time.  When this
                   * is the case it is as if neither time had overflowed. */
                  if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
                  {
                      xShouldDelay = pdTRUE;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  /* The tick time has not overflowed.  In this case we will
                   * delay if either the wake time has overflowed, and/or the
                   * tick time is less than the wake time. */
                  if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
                  {
                      xShouldDelay = pdTRUE;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
  
              /* Update the wake time ready for the next call. */
              *pxPreviousWakeTime = xTimeToWake;
  
              if( xShouldDelay != pdFALSE )
              {
                  traceTASK_DELAY_UNTIL( xTimeToWake );
  
                  /* prvAddCurrentTaskToDelayedList() needs the block time, not
                   * the time to wake, so subtract the current tick count. */
                  prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          xAlreadyYielded = xTaskResumeAll();
  
          /* Force a reschedule if xTaskResumeAll has not already done so, we may
           * have put ourselves to sleep. */
          if( xAlreadyYielded == pdFALSE )
          {
              vTaskYieldWithinAPI();
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return xShouldDelay;
      }
  
  #endif /* INCLUDE_xTaskDelayUntil */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskDelay == 1 )
  
      void vTaskDelay( const TickType_t xTicksToDelay )
      {
          BaseType_t xAlreadyYielded = pdFALSE;
  
          /* A delay time of zero just forces a reschedule. */
          if( xTicksToDelay > ( TickType_t ) 0U )
          {
              vTaskSuspendAll();
              {
                  configASSERT( uxSchedulerSuspended == 1 );
                  traceTASK_DELAY();
  
                  /* A task that is removed from the event list while the
                   * scheduler is suspended will not get placed in the ready
                   * list or removed from the blocked list until the scheduler
                   * is resumed.
                   *
                   * This task cannot be in an event list as it is the currently
                   * executing task. */
                  prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
              }
              xAlreadyYielded = xTaskResumeAll();
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          /* Force a reschedule if xTaskResumeAll has not already done so, we may
           * have put ourselves to sleep. */
          if( xAlreadyYielded == pdFALSE )
          {
              vTaskYieldWithinAPI();
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* INCLUDE_vTaskDelay */
  /*-----------------------------------------------------------*/
  
  #if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
  
      eTaskState eTaskGetState( TaskHandle_t xTask )
      {
          eTaskState eReturn;
          List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList;
          const TCB_t * const pxTCB = xTask;
  
          configASSERT( pxTCB );
  
          taskENTER_CRITICAL();
          {
              pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
              pxDelayedList = pxDelayedTaskList;
              pxOverflowedDelayedList = pxOverflowDelayedTaskList;
          }
          taskEXIT_CRITICAL();
  
          if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
          {
              /* The task being queried is referenced from one of the Blocked
               * lists. */
              eReturn = eBlocked;
          }
  
          #if ( INCLUDE_vTaskSuspend == 1 )
              else if( pxStateList == &xSuspendedTaskList )
              {
                  /* The task being queried is referenced from the suspended
                   * list.  Is it genuinely suspended or is it blocked
                   * indefinitely? */
                  if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
                  {
                      #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                          {
                              BaseType_t x;
  
                              /* The task does not appear on the event list item of
                               * and of the RTOS objects, but could still be in the
                               * blocked state if it is waiting on its notification
                               * rather than waiting on an object.  If not, is
                               * suspended. */
                              eReturn = eSuspended;
  
                              for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                              {
                                  if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                                  {
                                      eReturn = eBlocked;
                                      break;
                                  }
                              }
                          }
                      #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                          {
                              eReturn = eSuspended;
                          }
                      #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                  }
                  else
                  {
                      eReturn = eBlocked;
                  }
              }
          #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */
  
          #if ( INCLUDE_vTaskDelete == 1 )
              else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
              {
                  /* The task being queried is referenced from the deleted
                   * tasks list, or it is not referenced from any lists at
                   * all. */
                  eReturn = eDeleted;
              }
          #endif
  
          else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
          {
              /* If the task is not in any other state, it must be in the
               * Ready (including pending ready) state. */
              if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
              {
                  /* Is it actively running on a core? */
                  eReturn = eRunning;
              }
              else
              {
                  eReturn = eReady;
              }
          }
  
          return eReturn;
      } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
  
  #endif /* INCLUDE_eTaskGetState */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_uxTaskPriorityGet == 1 )
  
      UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
      {
          TCB_t const * pxTCB;
          UBaseType_t uxReturn;
  
          taskENTER_CRITICAL();
          {
              /* If null is passed in here then it is the priority of the task
               * that called uxTaskPriorityGet() that is being queried. */
              pxTCB = prvGetTCBFromHandle( xTask );
              uxReturn = pxTCB->uxPriority;
          }
          taskEXIT_CRITICAL();
  
          return uxReturn;
      }
  
  #endif /* INCLUDE_uxTaskPriorityGet */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_uxTaskPriorityGet == 1 )
  
      UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
      {
          TCB_t const * pxTCB;
          UBaseType_t uxReturn, uxSavedInterruptState;
  
          /* RTOS ports that support interrupt nesting have the concept of a
           * maximum  system call (or maximum API call) interrupt priority.
           * Interrupts that are  above the maximum system call priority are keep
           * permanently enabled, even when the RTOS kernel is in a critical section,
           * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
           * is defined in FreeRTOSConfig.h then
           * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
           * failure if a FreeRTOS API function is called from an interrupt that has
           * been assigned a priority above the configured maximum system call
           * priority.  Only FreeRTOS functions that end in FromISR can be called
           * from interrupts  that have been assigned a priority at or (logically)
           * below the maximum system call interrupt priority.  FreeRTOS maintains a
           * separate interrupt safe API to ensure interrupt entry is as fast and as
           * simple as possible.  More information (albeit Cortex-M specific) is
           * provided on the following link:
           * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
          portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
  
          uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
          {
              /* If null is passed in here then it is the priority of the calling
               * task that is being queried. */
              pxTCB = prvGetTCBFromHandle( xTask );
              uxReturn = pxTCB->uxPriority;
          }
          portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
  
          return uxReturn;
      }
  
  #endif /* INCLUDE_uxTaskPriorityGet */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskPrioritySet == 1 )
  
      void vTaskPrioritySet( TaskHandle_t xTask,
                             UBaseType_t uxNewPriority )
      {
          TCB_t * pxTCB;
          UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
          BaseType_t xYieldRequired = pdFALSE;
          BaseType_t xYieldForTask = pdFALSE;
          BaseType_t xCoreID;
  
          configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
  
          /* Ensure the new priority is valid. */
          if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
          {
              uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          taskENTER_CRITICAL();
          {
              /* If null is passed in here then it is the priority of the calling
               * task that is being changed. */
              pxTCB = prvGetTCBFromHandle( xTask );
  
              traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
  
              #if ( configUSE_MUTEXES == 1 )
                  {
                      uxCurrentBasePriority = pxTCB->uxBasePriority;
                  }
              #else
                  {
                      uxCurrentBasePriority = pxTCB->uxPriority;
                  }
              #endif
  
              if( uxCurrentBasePriority != uxNewPriority )
              {
                  /* The priority change may have readied a task of higher
                   * priority than a running task. */
                  if( uxNewPriority > uxCurrentBasePriority )
                  {
                      /* The priority of a task is being raised so
                       * perform a yield for this task later. */
                      xYieldForTask = pdTRUE;
                  }
                  else if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
                  {
                      /* Setting the priority of a running task down means
                       * there may now be another task of higher priority that
                       * is ready to execute. */
                      #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
                          if( pxTCB->xPreemptionDisable == pdFALSE )
                      #endif
                      {
                          xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
                          xYieldRequired = pdTRUE;
                      }
                  }
                  else
                  {
                      /* Setting the priority of any other task down does not
                       * require a yield as the running task must be above the
                       * new priority of the task being modified. */
                  }
  
                  /* Remember the ready list the task might be referenced from
                   * before its uxPriority member is changed so the
                   * taskRESET_READY_PRIORITY() macro can function correctly. */
                  uxPriorityUsedOnEntry = pxTCB->uxPriority;
  
                  #if ( configUSE_MUTEXES == 1 )
                      {
                          /* Only change the priority being used if the task is not
                           * currently using an inherited priority. */
                          if( pxTCB->uxBasePriority == pxTCB->uxPriority )
                          {
                              pxTCB->uxPriority = uxNewPriority;
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
  
                          /* The base priority gets set whatever. */
                          pxTCB->uxBasePriority = uxNewPriority;
                      }
                  #else /* if ( configUSE_MUTEXES == 1 ) */
                      {
                          pxTCB->uxPriority = uxNewPriority;
                      }
                  #endif /* if ( configUSE_MUTEXES == 1 ) */
  
                  /* Only reset the event list item value if the value is not
                   * being used for anything else. */
                  if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                  {
                      listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
  
                  /* If the task is in the blocked or suspended list we need do
                   * nothing more than change its priority variable. However, if
                   * the task is in a ready list it needs to be removed and placed
                   * in the list appropriate to its new priority. */
                  if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                  {
                      /* The task is currently in its ready list - remove before
                       * adding it to its new ready list.  As we are in a critical
                       * section we can do this even if the scheduler is suspended. */
                      if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                      {
                          /* It is known that the task is in its ready list so
                           * there is no need to check again and the port level
                           * reset macro can be called directly. */
                          portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      prvAddTaskToReadyList( pxTCB );
                  }
                  else
                  {
                      /* It's possible that xYieldForTask was already set to pdTRUE because
                       * its priority is being raised. However, since it is not in a ready list
                       * we don't actually need to yield for it. */
                      xYieldForTask = pdFALSE;
                  }
  
                  #if ( configUSE_PREEMPTION == 1 )
                      if( xYieldRequired != pdFALSE )
                      {
                          prvYieldCore( xCoreID );
                      }
                      else if( xYieldForTask != pdFALSE )
                      {
                          prvYieldForTask( pxTCB, pdTRUE );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  #endif /* if ( configUSE_PREEMPTION == 1 ) */
  
                  /* Remove compiler warning about unused variables when the port
                   * optimised task selection is not being used. */
                  ( void ) uxPriorityUsedOnEntry;
              }
          }
          taskEXIT_CRITICAL();
      }
  
  #endif /* INCLUDE_vTaskPrioritySet */
  /*-----------------------------------------------------------*/
  
  #if ( configNUM_CORES > 1 )
      #if ( configUSE_CORE_AFFINITY == 1 )
  
          void vTaskCoreAffinitySet( const TaskHandle_t xTask,
                                     UBaseType_t uxCoreAffinityMask )
          {
              TCB_t * pxTCB;
              BaseType_t xCoreID;
  
              taskENTER_CRITICAL();
              {
                  pxTCB = prvGetTCBFromHandle( xTask );
  
                  pxTCB->uxCoreAffinityMask = uxCoreAffinityMask;
  
                  if( xSchedulerRunning != pdFALSE )
                  {
                      if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
                      {
                          xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
  
                          if( ( uxCoreAffinityMask & ( 1 << xCoreID ) ) == 0 )
                          {
                              prvYieldCore( xCoreID );
                          }
                      }
                  }
              }
              taskEXIT_CRITICAL();
          }
  
      #endif /* configUSE_CORE_AFFINITY */
  #endif /* if ( configNUM_CORES > 1 ) */
  /*-----------------------------------------------------------*/
  
  #if ( configNUM_CORES > 1 )
      #if ( configUSE_CORE_AFFINITY == 1 )
  
          UBaseType_t vTaskCoreAffinityGet( const TaskHandle_t xTask )
          {
              TCB_t * pxTCB;
              UBaseType_t uxCoreAffinityMask;
  
              taskENTER_CRITICAL();
              {
                  pxTCB = prvGetTCBFromHandle( xTask );
                  uxCoreAffinityMask = pxTCB->uxCoreAffinityMask;
              }
              taskEXIT_CRITICAL();
  
              return uxCoreAffinityMask;
          }
  
      #endif /* configUSE_CORE_AFFINITY */
  #endif /* if ( configNUM_CORES > 1 ) */
  
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
  
      void vTaskPreemptionDisable( const TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
  
          taskENTER_CRITICAL();
          {
              pxTCB = prvGetTCBFromHandle( xTask );
  
              pxTCB->xPreemptionDisable = pdTRUE;
          }
          taskEXIT_CRITICAL();
      }
  
  #endif /* configUSE_TASK_PREEMPTION_DISABLE */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
  
      void vTaskPreemptionEnable( const TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
          BaseType_t xCoreID;
  
          taskENTER_CRITICAL();
          {
              pxTCB = prvGetTCBFromHandle( xTask );
  
              pxTCB->xPreemptionDisable = pdFALSE;
  
              if( xSchedulerRunning != pdFALSE )
              {
                  if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
                  {
                      xCoreID = ( BaseType_t ) pxTCB->xTaskRunState;
                      prvYieldCore( xCoreID );
                  }
              }
          }
          taskEXIT_CRITICAL();
      }
  
  #endif /* configUSE_TASK_PREEMPTION_DISABLE */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskSuspend == 1 )
  
      void vTaskSuspend( TaskHandle_t xTaskToSuspend )
      {
          TCB_t * pxTCB;
          TaskRunning_t xTaskRunningOnCore;
  
          taskENTER_CRITICAL();
          {
              /* If null is passed in here then it is the running task that is
               * being suspended. */
              pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
  
              traceTASK_SUSPEND( pxTCB );
  
              xTaskRunningOnCore = pxTCB->xTaskRunState;
  
              /* Remove task from the ready/delayed list and place in the
               * suspended list. */
              if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
              {
                  taskRESET_READY_PRIORITY( pxTCB->uxPriority );
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              /* Is the task waiting on an event also? */
              if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
              {
                  ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
  
              #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                  {
                      BaseType_t x;
  
                      for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                      {
                          if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                          {
                              /* The task was blocked to wait for a notification, but is
                               * now suspended, so no notification was received. */
                              pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
                          }
                      }
                  }
              #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
  
              if( xSchedulerRunning != pdFALSE )
              {
                  /* Reset the next expected unblock time in case it referred to the
                   * task that is now in the Suspended state. */
                  prvResetNextTaskUnblockTime();
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              if( taskTASK_IS_RUNNING( xTaskRunningOnCore ) )
              {
                  if( xSchedulerRunning != pdFALSE )
                  {
                      if( xTaskRunningOnCore == portGET_CORE_ID() )
                      {
                          /* The current task has just been suspended. */
                          configASSERT( uxSchedulerSuspended == 0 );
                          vTaskYieldWithinAPI();
                      }
                      else
                      {
                          prvYieldCore( xTaskRunningOnCore );
                      }
  
                      taskEXIT_CRITICAL();
                  }
                  else
                  {
                      taskEXIT_CRITICAL();
  
                      configASSERT( pxTCB == pxCurrentTCBs[ xTaskRunningOnCore ] );
  
                      /* The scheduler is not running, but the task that was pointed
                       * to by pxCurrentTCB has just been suspended and pxCurrentTCB
                       * must be adjusted to point to a different task. */
                      if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
                      {
                          /* No other tasks are ready, so set the core's TCB back to
                           * NULL so when the next task is created the core's TCB will
                           * be able to be set to point to it no matter what its relative
                           * priority is. */
                          pxTCB->xTaskRunState = taskTASK_NOT_RUNNING;
                          pxCurrentTCBs[ xTaskRunningOnCore ] = NULL;
                      }
                      else
                      {
                          /* Attempt to switch in a new task. This could fail since the idle tasks
                           * haven't been created yet. If it does then set the core's TCB back to
                           * NULL. */
                          if( prvSelectHighestPriorityTask( xTaskRunningOnCore ) == pdFALSE )
                          {
                              pxTCB->xTaskRunState = taskTASK_NOT_RUNNING;
                              pxCurrentTCBs[ xTaskRunningOnCore ] = NULL;
                          }
                      }
                  }
              }
              else
              {
                  taskEXIT_CRITICAL();
              }
          } /* taskEXIT_CRITICAL() - already exited in one of three cases above */
      }
  
  #endif /* INCLUDE_vTaskSuspend */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskSuspend == 1 )
  
      static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
      {
          BaseType_t xReturn = pdFALSE;
          const TCB_t * const pxTCB = xTask;
  
          /* Accesses xPendingReadyList so must be called from a critical section. */
  
          /* It does not make sense to check if the calling task is suspended. */
          configASSERT( xTask );
  
          /* Is the task being resumed actually in the suspended list? */
          if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
          {
              /* Has the task already been resumed from within an ISR? */
              if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
              {
                  /* Is it in the suspended list because it is in the Suspended
                   * state, or because is is blocked with no timeout? */
                  if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961.  The cast is only redundant when NULL is used. */
                  {
                      xReturn = pdTRUE;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return xReturn;
      } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
  
  #endif /* INCLUDE_vTaskSuspend */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskSuspend == 1 )
  
      void vTaskResume( TaskHandle_t xTaskToResume )
      {
          TCB_t * const pxTCB = xTaskToResume;
  
          /* It does not make sense to resume the calling task. */
          configASSERT( xTaskToResume );
  
          /* The parameter cannot be NULL as it is impossible to resume the
           * currently executing task. It is also impossible to resume a task
           * that is actively running on another core but it is too dangerous
           * to check their run state here. Safer to get into a critical section
           * and check if it is actually suspended or not below. */
          if( pxTCB != NULL )
          {
              taskENTER_CRITICAL();
              {
                  if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
                  {
                      traceTASK_RESUME( pxTCB );
  
                      /* The ready list can be accessed even if the scheduler is
                       * suspended because this is inside a critical section. */
                      ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                      prvAddTaskToReadyList( pxTCB );
  
                      /* A higher priority task may have just been resumed. */
                      #if ( configUSE_PREEMPTION == 1 )
                          {
                              prvYieldForTask( pxTCB, pdTRUE );
                          }
                      #endif
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              taskEXIT_CRITICAL();
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* INCLUDE_vTaskSuspend */
  
  /*-----------------------------------------------------------*/
  
  #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
  
      BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
      {
          BaseType_t xYieldRequired = pdFALSE;
          TCB_t * const pxTCB = xTaskToResume;
          UBaseType_t uxSavedInterruptStatus;
  
          configASSERT( xTaskToResume );
  
          /* RTOS ports that support interrupt nesting have the concept of a
           * maximum  system call (or maximum API call) interrupt priority.
           * Interrupts that are  above the maximum system call priority are keep
           * permanently enabled, even when the RTOS kernel is in a critical section,
           * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
           * is defined in FreeRTOSConfig.h then
           * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
           * failure if a FreeRTOS API function is called from an interrupt that has
           * been assigned a priority above the configured maximum system call
           * priority.  Only FreeRTOS functions that end in FromISR can be called
           * from interrupts  that have been assigned a priority at or (logically)
           * below the maximum system call interrupt priority.  FreeRTOS maintains a
           * separate interrupt safe API to ensure interrupt entry is as fast and as
           * simple as possible.  More information (albeit Cortex-M specific) is
           * provided on the following link:
           * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
          portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
  
          uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
          {
              if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
              {
                  traceTASK_RESUME_FROM_ISR( pxTCB );
  
                  /* Check the ready lists can be accessed. */
                  if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                  {
                      /* Ready lists can be accessed so move the task from the
                       * suspended list to the ready list directly. */
  
                      ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                      prvAddTaskToReadyList( pxTCB );
                  }
                  else
                  {
                      /* The delayed or ready lists cannot be accessed so the task
                       * is held in the pending ready list until the scheduler is
                       * unsuspended. */
                      vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                  }
  
                  #if ( configUSE_PREEMPTION == 1 )
                      prvYieldForTask( pxTCB, pdTRUE );
  
                      if( xYieldPendings[ portGET_CORE_ID() ] != pdFALSE )
                      {
                          xYieldRequired = pdTRUE;
                      }
                  #endif
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
  
          return xYieldRequired;
      }
  
  #endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  static BaseType_t prvCreateIdleTasks( void )
  {
      BaseType_t xReturn = pdPASS;
      BaseType_t xCoreID;
      char cIdleName[ configMAX_TASK_NAME_LEN ];
  
      /* Add each idle task at the lowest priority. */
      for( xCoreID = ( BaseType_t ) 0; xCoreID < ( BaseType_t ) configNUM_CORES; xCoreID++ )
      {
          BaseType_t x;
  
          if( xReturn == pdFAIL )
          {
              break;
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          for( x = ( BaseType_t ) 0; x < ( BaseType_t ) configMAX_TASK_NAME_LEN; x++ )
          {
              cIdleName[ x ] = configIDLE_TASK_NAME[ x ];
  
              /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
               * configMAX_TASK_NAME_LEN characters just in case the memory after the
               * string is not accessible (extremely unlikely). */
              if( cIdleName[ x ] == ( char ) 0x00 )
              {
                  break;
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
  
          /* Append the idle task number to the end of the name if there is space */
          if( x < configMAX_TASK_NAME_LEN )
          {
              cIdleName[ x++ ] = xCoreID + '0';
  
              /* And append a null character if there is space */
              if( x < configMAX_TASK_NAME_LEN )
              {
                  cIdleName[ x ] = '\0';
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
              {
                  if( xCoreID == 0 )
                  {
                      StaticTask_t * pxIdleTaskTCBBuffer = NULL;
                      StackType_t * pxIdleTaskStackBuffer = NULL;
                      uint32_t ulIdleTaskStackSize;
  
                      /* The Idle task is created using user provided RAM - obtain the
                       * address of the RAM then create the idle task. */
                      vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
                      xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvIdleTask,
                                                                      cIdleName,
                                                                      ulIdleTaskStackSize,
                                                                      ( void * ) NULL,       /*lint !e961.  The cast is not redundant for all compilers. */
                                                                      portPRIVILEGE_BIT,     /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                                      pxIdleTaskStackBuffer,
                                                                      pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                  }
  
                  #if ( configNUM_CORES > 1 )
                      else
                      {
                          static StaticTask_t xIdleTCBBuffers[ configNUM_CORES - 1 ];
                          static StackType_t xIdleTaskStackBuffers[ configNUM_CORES - 1 ][ configMINIMAL_STACK_SIZE ];
  
                          xIdleTaskHandle[ xCoreID ] = xTaskCreateStatic( prvMinimalIdleTask,
                                                                          cIdleName,
                                                                          configMINIMAL_STACK_SIZE,
                                                                          ( void * ) NULL,                   /*lint !e961.  The cast is not redundant for all compilers. */
                                                                          portPRIVILEGE_BIT,                 /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                                          xIdleTaskStackBuffers[ xCoreID - 1 ],
                                                                          &xIdleTCBBuffers[ xCoreID - 1 ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                      }
                  #endif /* if ( configNUM_CORES > 1 ) */
  
                  if( xIdleTaskHandle[ xCoreID ] != NULL )
                  {
                      xReturn = pdPASS;
                  }
                  else
                  {
                      xReturn = pdFAIL;
                  }
              }
          #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
              {
                  if( xCoreID == 0 )
                  {
                      /* The Idle task is being created using dynamically allocated RAM. */
                      xReturn = xTaskCreate( prvIdleTask,
                                             cIdleName,
                                             configMINIMAL_STACK_SIZE,
                                             ( void * ) NULL,
                                             portPRIVILEGE_BIT,             /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                             &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                  }
  
                  #if ( configNUM_CORES > 1 )
                      else
                      {
                          xReturn = xTaskCreate( prvMinimalIdleTask,
                                                 cIdleName,
                                                 configMINIMAL_STACK_SIZE,
                                                 ( void * ) NULL,
                                                 portPRIVILEGE_BIT,             /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                 &xIdleTaskHandle[ xCoreID ] ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
                      }
                  #endif
              }
          #endif /* configSUPPORT_STATIC_ALLOCATION */
      }
  
      return xReturn;
  }
  
  void vTaskStartScheduler( void )
  {
      BaseType_t xReturn;
  
      #if ( configUSE_TIMERS == 1 )
          {
              xReturn = xTimerCreateTimerTask();
          }
      #endif /* configUSE_TIMERS */
  
      xReturn = prvCreateIdleTasks();
  
      if( xReturn == pdPASS )
      {
          /* freertos_tasks_c_additions_init() should only be called if the user
           * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
           * the only macro called by the function. */
          #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
              {
                  freertos_tasks_c_additions_init();
              }
          #endif
  
          /* Interrupts are turned off here, to ensure a tick does not occur
           * before or during the call to xPortStartScheduler().  The stacks of
           * the created tasks contain a status word with interrupts switched on
           * so interrupts will automatically get re-enabled when the first task
           * starts to run. */
          portDISABLE_INTERRUPTS();
  
          #if ( ( configUSE_NEWLIB_REENTRANT == 1 ) && ( configNEWLIB_REENTRANT_IS_DYNAMIC == 0 ) )
              {
                  /* Switch Newlib's _impure_ptr variable to point to the _reent
                   * structure specific to the task that will run first.
                   * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                   * for additional information.
                   *
                   * Note: Updating the _impure_ptr is not required when Newlib is compiled with
                   * __DYNAMIC_REENT__ enabled. The port should provide __getreent() instead. */
                  _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
              }
          #endif /* ( configUSE_NEWLIB_REENTRANT == 1 ) && ( configNEWLIB_REENTRANT_IS_DYNAMIC == 0 ) */
  
          xNextTaskUnblockTime = portMAX_DELAY;
          xSchedulerRunning = pdTRUE;
          xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
  
          /* If configGENERATE_RUN_TIME_STATS is defined then the following
           * macro must be defined to configure the timer/counter used to generate
           * the run time counter time base.   NOTE:  If configGENERATE_RUN_TIME_STATS
           * is set to 0 and the following line fails to build then ensure you do not
           * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
           * FreeRTOSConfig.h file. */
          portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
  
          traceTASK_SWITCHED_IN();
  
          /* Setting up the timer tick is hardware specific and thus in the
           * portable interface. */
          if( xPortStartScheduler() != pdFALSE )
          {
              /* Should not reach here as if the scheduler is running the
               * function will not return. */
          }
          else
          {
              /* Should only reach here if a task calls xTaskEndScheduler(). */
          }
      }
      else
      {
          /* This line will only be reached if the kernel could not be started,
           * because there was not enough FreeRTOS heap to create the idle task
           * or the timer task. */
          configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
      }
  
      /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
       * meaning xIdleTaskHandle is not used anywhere else. */
      ( void ) xIdleTaskHandle;
  
      /* OpenOCD makes use of uxTopUsedPriority for thread debugging. Prevent uxTopUsedPriority
       * from getting optimized out as it is no longer used by the kernel. */
      ( void ) uxTopUsedPriority;
  }
  /*-----------------------------------------------------------*/
  
  void vTaskEndScheduler( void )
  {
      /* Stop the scheduler interrupts and call the portable scheduler end
       * routine so the original ISRs can be restored if necessary.  The port
       * layer must ensure interrupts enable  bit is left in the correct state. */
      portDISABLE_INTERRUPTS();
      xSchedulerRunning = pdFALSE;
      vPortEndScheduler();
  }
  /*----------------------------------------------------------*/
  
  void vTaskSuspendAll( void )
  {
      UBaseType_t ulState;
  
      /* This must only be called from within a task */
      portASSERT_IF_IN_ISR();
  
      if( xSchedulerRunning != pdFALSE )
      {
          /* writes to uxSchedulerSuspended must be protected by both the task AND ISR locks.
           * We must disable interrupts before we grab the locks in the event that this task is
           * interrupted and switches context before incrementing uxSchedulerSuspended.
           * It is safe to re-enable interrupts after releasing the ISR lock and incrementing
           * uxSchedulerSuspended since that will prevent context switches. */
          ulState = portDISABLE_INTERRUPTS();
  
          /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
           * do not otherwise exhibit real time behaviour. */
          portSOFTWARE_BARRIER();
  
          portGET_TASK_LOCK();
          portGET_ISR_LOCK();
  
          /* The scheduler is suspended if uxSchedulerSuspended is non-zero.  An increment
           * is used to allow calls to vTaskSuspendAll() to nest. */
          ++uxSchedulerSuspended;
          portRELEASE_ISR_LOCK();
  
          if( ( uxSchedulerSuspended == 1U ) && ( pxCurrentTCB->uxCriticalNesting == 0U ) )
          {
              prvCheckForRunStateChange();
          }
  
          portRESTORE_INTERRUPTS( ulState );
      }
      else
      {
          mtCOVERAGE_TEST_MARKER();
      }
  }
  /*----------------------------------------------------------*/
  
  #if ( configUSE_TICKLESS_IDLE != 0 )
  
      static TickType_t prvGetExpectedIdleTime( void )
      {
          TickType_t xReturn;
          UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
  
          /* uxHigherPriorityReadyTasks takes care of the case where
           * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
           * task that are in the Ready state, even though the idle task is
           * running. */
          #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
              {
                  if( uxTopReadyPriority > tskIDLE_PRIORITY )
                  {
                      uxHigherPriorityReadyTasks = pdTRUE;
                  }
              }
          #else
              {
                  const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
  
                  /* When port optimised task selection is used the uxTopReadyPriority
                   * variable is used as a bit map.  If bits other than the least
                   * significant bit are set then there are tasks that have a priority
                   * above the idle priority that are in the Ready state.  This takes
                   * care of the case where the co-operative scheduler is in use. */
                  if( uxTopReadyPriority > uxLeastSignificantBit )
                  {
                      uxHigherPriorityReadyTasks = pdTRUE;
                  }
              }
          #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */
  
          if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
          {
              xReturn = 0;
          }
          else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
          {
              /* There are other idle priority tasks in the ready state.  If
               * time slicing is used then the very next tick interrupt must be
               * processed. */
              xReturn = 0;
          }
          else if( uxHigherPriorityReadyTasks != pdFALSE )
          {
              /* There are tasks in the Ready state that have a priority above the
               * idle priority.  This path can only be reached if
               * configUSE_PREEMPTION is 0. */
              xReturn = 0;
          }
          else
          {
              xReturn = xNextTaskUnblockTime - xTickCount;
          }
  
          return xReturn;
      }
  
  #endif /* configUSE_TICKLESS_IDLE */
  /*----------------------------------------------------------*/
  
  BaseType_t xTaskResumeAll( void )
  {
      TCB_t * pxTCB = NULL;
      BaseType_t xAlreadyYielded = pdFALSE;
  
      if( xSchedulerRunning != pdFALSE )
      {
          /* It is possible that an ISR caused a task to be removed from an event
           * list while the scheduler was suspended.  If this was the case then the
           * removed task will have been added to the xPendingReadyList.  Once the
           * scheduler has been resumed it is safe to move all the pending ready
           * tasks from this list into their appropriate ready list. */
          taskENTER_CRITICAL();
          {
              BaseType_t xCoreID;
  
              xCoreID = portGET_CORE_ID();
  
              /* If uxSchedulerSuspended is zero then this function does not match a
               * previous call to vTaskSuspendAll(). */
              configASSERT( uxSchedulerSuspended );
  
              --uxSchedulerSuspended;
              portRELEASE_TASK_LOCK();
  
              if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
              {
                  if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
                  {
                      /* Move any readied tasks from the pending list into the
                       * appropriate ready list. */
                      while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
                      {
                          pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                          ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                          ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                          prvAddTaskToReadyList( pxTCB );
  
                          /* All appropriate tasks yield at the moment a task is added to xPendingReadyList.
                           * If the current core yielded then vTaskSwitchContext() has already been called
                           * which sets xYieldPendings for the current core to pdTRUE. */
                      }
  
                      if( pxTCB != NULL )
                      {
                          /* A task was unblocked while the scheduler was suspended,
                           * which may have prevented the next unblock time from being
                           * re-calculated, in which case re-calculate it now.  Mainly
                           * important for low power tickless implementations, where
                           * this can prevent an unnecessary exit from low power
                           * state. */
                          prvResetNextTaskUnblockTime();
                      }
  
                      /* If any ticks occurred while the scheduler was suspended then
                       * they should be processed now.  This ensures the tick count does
                       * not	slip, and that any delayed tasks are resumed at the correct
                       * time.
                       *
                       * It should be safe to call xTaskIncrementTick here from any core
                       * since we are in a critical section and xTaskIncrementTick itself
                       * protects itself within a critical section. Suspending the scheduler
                       * from any core causes xTaskIncrementTick to increment uxPendedCounts.*/
                      {
                          TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
  
                          if( xPendedCounts > ( TickType_t ) 0U )
                          {
                              do
                              {
                                  if( xTaskIncrementTick() != pdFALSE )
                                  {
                                      /* other cores are interrupted from
                                       * within xTaskIncrementTick(). */
                                      xYieldPendings[ xCoreID ] = pdTRUE;
                                  }
                                  else
                                  {
                                      mtCOVERAGE_TEST_MARKER();
                                  }
  
                                  --xPendedCounts;
                              } while( xPendedCounts > ( TickType_t ) 0U );
  
                              xPendedTicks = 0;
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
                      }
  
                      if( xYieldPendings[ xCoreID ] != pdFALSE )
                      {
                          /* If xYieldPendings is true then taskEXIT_CRITICAL()
                           * will yield, so make sure we return true to let the
                           * caller know a yield has already happened. */
                          xAlreadyYielded = pdTRUE;
                      }
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          taskEXIT_CRITICAL();
      }
      else
      {
          mtCOVERAGE_TEST_MARKER();
      }
  
      return xAlreadyYielded;
  }
  /*-----------------------------------------------------------*/
  
  TickType_t xTaskGetTickCount( void )
  {
      TickType_t xTicks;
  
      /* Critical section required if running on a 16 bit processor. */
      portTICK_TYPE_ENTER_CRITICAL();
      {
          xTicks = xTickCount;
      }
      portTICK_TYPE_EXIT_CRITICAL();
  
      return xTicks;
  }
  /*-----------------------------------------------------------*/
  
  TickType_t xTaskGetTickCountFromISR( void )
  {
      TickType_t xReturn;
      UBaseType_t uxSavedInterruptStatus;
  
      /* RTOS ports that support interrupt nesting have the concept of a maximum
       * system call (or maximum API call) interrupt priority.  Interrupts that are
       * above the maximum system call priority are kept permanently enabled, even
       * when the RTOS kernel is in a critical section, but cannot make any calls to
       * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
       * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
       * failure if a FreeRTOS API function is called from an interrupt that has been
       * assigned a priority above the configured maximum system call priority.
       * Only FreeRTOS functions that end in FromISR can be called from interrupts
       * that have been assigned a priority at or (logically) below the maximum
       * system call  interrupt priority.  FreeRTOS maintains a separate interrupt
       * safe API to ensure interrupt entry is as fast and as simple as possible.
       * More information (albeit Cortex-M specific) is provided on the following
       * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
      portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
  
      uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
      {
          xReturn = xTickCount;
      }
      portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
  
      return xReturn;
  }
  /*-----------------------------------------------------------*/
  
  UBaseType_t uxTaskGetNumberOfTasks( void )
  {
      /* A critical section is not required because the variables are of type
       * BaseType_t. */
      return uxCurrentNumberOfTasks;
  }
  /*-----------------------------------------------------------*/
  
  char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
  {
      TCB_t * pxTCB;
  
      /* If null is passed in here then the name of the calling task is being
       * queried. */
      pxTCB = prvGetTCBFromHandle( xTaskToQuery );
      configASSERT( pxTCB );
      return &( pxTCB->pcTaskName[ 0 ] );
  }
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_xTaskGetHandle == 1 )
  
      static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                       const char pcNameToQuery[] )
      {
          TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL;
          UBaseType_t x;
          char cNextChar;
          BaseType_t xBreakLoop;
  
          /* This function is called with the scheduler suspended. */
  
          if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
          {
              listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
  
              do
              {
                  listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
  
                  /* Check each character in the name looking for a match or
                   * mismatch. */
                  xBreakLoop = pdFALSE;
  
                  for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
                  {
                      cNextChar = pxNextTCB->pcTaskName[ x ];
  
                      if( cNextChar != pcNameToQuery[ x ] )
                      {
                          /* Characters didn't match. */
                          xBreakLoop = pdTRUE;
                      }
                      else if( cNextChar == ( char ) 0x00 )
                      {
                          /* Both strings terminated, a match must have been
                           * found. */
                          pxReturn = pxNextTCB;
                          xBreakLoop = pdTRUE;
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      if( xBreakLoop != pdFALSE )
                      {
                          break;
                      }
                  }
  
                  if( pxReturn != NULL )
                  {
                      /* The handle has been found. */
                      break;
                  }
              } while( pxNextTCB != pxFirstTCB );
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return pxReturn;
      }
  
  #endif /* INCLUDE_xTaskGetHandle */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_xTaskGetHandle == 1 )
  
      TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
      {
          UBaseType_t uxQueue = configMAX_PRIORITIES;
          TCB_t * pxTCB;
  
          /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
          configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
  
          vTaskSuspendAll();
          {
              /* Search the ready lists. */
              do
              {
                  uxQueue--;
                  pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
  
                  if( pxTCB != NULL )
                  {
                      /* Found the handle. */
                      break;
                  }
              } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
  
              /* Search the delayed lists. */
              if( pxTCB == NULL )
              {
                  pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
              }
  
              if( pxTCB == NULL )
              {
                  pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
              }
  
              #if ( INCLUDE_vTaskSuspend == 1 )
                  {
                      if( pxTCB == NULL )
                      {
                          /* Search the suspended list. */
                          pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
                      }
                  }
              #endif
  
              #if ( INCLUDE_vTaskDelete == 1 )
                  {
                      if( pxTCB == NULL )
                      {
                          /* Search the deleted list. */
                          pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
                      }
                  }
              #endif
          }
          ( void ) xTaskResumeAll();
  
          return pxTCB;
      }
  
  #endif /* INCLUDE_xTaskGetHandle */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
                                        const UBaseType_t uxArraySize,
                                        uint32_t * const pulTotalRunTime )
      {
          UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
  
          vTaskSuspendAll();
          {
              /* Is there a space in the array for each task in the system? */
              if( uxArraySize >= uxCurrentNumberOfTasks )
              {
                  /* Fill in an TaskStatus_t structure with information on each
                   * task in the Ready state. */
                  do
                  {
                      uxQueue--;
                      uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
                  } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
  
                  /* Fill in an TaskStatus_t structure with information on each
                   * task in the Blocked state. */
                  uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
                  uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
  
                  #if ( INCLUDE_vTaskDelete == 1 )
                      {
                          /* Fill in an TaskStatus_t structure with information on
                           * each task that has been deleted but not yet cleaned up. */
                          uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
                      }
                  #endif
  
                  #if ( INCLUDE_vTaskSuspend == 1 )
                      {
                          /* Fill in an TaskStatus_t structure with information on
                           * each task in the Suspended state. */
                          uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
                      }
                  #endif
  
                  #if ( configGENERATE_RUN_TIME_STATS == 1 )
                      {
                          if( pulTotalRunTime != NULL )
                          {
                              #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                                  portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
                              #else
                                  *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                              #endif
                          }
                      }
                  #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
                      {
                          if( pulTotalRunTime != NULL )
                          {
                              *pulTotalRunTime = 0;
                          }
                      }
                  #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          ( void ) xTaskResumeAll();
  
          return uxTask;
      }
  
  #endif /* configUSE_TRACE_FACILITY */
  /*----------------------------------------------------------*/
  
  #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
  
      TaskHandle_t * xTaskGetIdleTaskHandle( void )
      {
          /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
           * started, then xIdleTaskHandle will be NULL. */
          configASSERT( ( xIdleTaskHandle != NULL ) );
          return &( xIdleTaskHandle[ 0 ] );
      }
  
  #endif /* INCLUDE_xTaskGetIdleTaskHandle */
  /*----------------------------------------------------------*/
  
  /* This conditional compilation should use inequality to 0, not equality to 1.
   * This is to ensure vTaskStepTick() is available when user defined low power mode
   * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
   * 1. */
  #if ( configUSE_TICKLESS_IDLE != 0 )
  
      void vTaskStepTick( const TickType_t xTicksToJump )
      {
          /* Correct the tick count value after a period during which the tick
           * was suppressed.  Note this does *not* call the tick hook function for
           * each stepped tick. */
          configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
          xTickCount += xTicksToJump;
          traceINCREASE_TICK_COUNT( xTicksToJump );
      }
  
  #endif /* configUSE_TICKLESS_IDLE */
  /*----------------------------------------------------------*/
  
  BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
  {
      BaseType_t xYieldOccurred;
  
      /* Must not be called with the scheduler suspended as the implementation
       * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
      configASSERT( uxSchedulerSuspended == 0 );
  
      /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
       * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
      vTaskSuspendAll();
      xPendedTicks += xTicksToCatchUp;
      xYieldOccurred = xTaskResumeAll();
  
      return xYieldOccurred;
  }
  /*----------------------------------------------------------*/
  
  #if ( INCLUDE_xTaskAbortDelay == 1 )
  
      BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
      {
          TCB_t * pxTCB = xTask;
          BaseType_t xReturn;
  
          configASSERT( pxTCB );
  
          vTaskSuspendAll();
          {
              /* A task can only be prematurely removed from the Blocked state if
               * it is actually in the Blocked state. */
              if( eTaskGetState( xTask ) == eBlocked )
              {
                  xReturn = pdPASS;
  
                  /* Remove the reference to the task from the blocked list.  An
                   * interrupt won't touch the xStateListItem because the
                   * scheduler is suspended. */
                  ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
  
                  /* Is the task waiting on an event also?  If so remove it from
                   * the event list too.  Interrupts can touch the event list item,
                   * even though the scheduler is suspended, so a critical section
                   * is used. */
                  taskENTER_CRITICAL();
                  {
                      if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                      {
                          ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
  
                          /* This lets the task know it was forcibly removed from the
                           * blocked state so it should not re-evaluate its block time and
                           * then block again. */
                          pxTCB->ucDelayAborted = pdTRUE;
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
                  taskEXIT_CRITICAL();
  
                  /* Place the unblocked task into the appropriate ready list. */
                  prvAddTaskToReadyList( pxTCB );
  
                  /* A task being unblocked cannot cause an immediate context
                   * switch if preemption is turned off. */
                  #if ( configUSE_PREEMPTION == 1 )
                      {
                          taskENTER_CRITICAL();
                          {
                              prvYieldForTask( pxTCB, pdFALSE );
                          }
                          taskEXIT_CRITICAL();
                      }
                  #endif /* configUSE_PREEMPTION */
              }
              else
              {
                  xReturn = pdFAIL;
              }
          }
          ( void ) xTaskResumeAll();
  
          return xReturn;
      }
  
  #endif /* INCLUDE_xTaskAbortDelay */
  /*----------------------------------------------------------*/
  
  BaseType_t xTaskIncrementTick( void )
  {
      TCB_t * pxTCB;
      TickType_t xItemValue;
      BaseType_t xSwitchRequired = pdFALSE;
  
      #if ( configUSE_PREEMPTION == 1 )
          UBaseType_t x;
          BaseType_t xCoreYieldList[ configNUM_CORES ] = { pdFALSE };
      #endif /* configUSE_PREEMPTION */
  
      taskENTER_CRITICAL();
      {
          /* Called by the portable layer each time a tick interrupt occurs.
           * Increments the tick then checks to see if the new tick value will cause any
           * tasks to be unblocked. */
          traceTASK_INCREMENT_TICK( xTickCount );
  
          /* Tick increment should occur on every kernel timer event. Core 0 has the
           * responsibility to increment the tick, or increment the pended ticks if the
           * scheduler is suspended.  If pended ticks is greater than zero, the core that
           * calls xTaskResumeAll has the responsibility to increment the tick. */
          if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
          {
              /* Minor optimisation.  The tick count cannot change in this
               * block. */
              const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
  
              /* Increment the RTOS tick, switching the delayed and overflowed
               * delayed lists if it wraps to 0. */
              xTickCount = xConstTickCount;
  
              if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
              {
                  taskSWITCH_DELAYED_LISTS();
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              /* See if this tick has made a timeout expire.  Tasks are stored in
               * the	queue in the order of their wake time - meaning once one task
               * has been found whose block time has not expired there is no need to
               * look any further down the list. */
              if( xConstTickCount >= xNextTaskUnblockTime )
              {
                  for( ; ; )
                  {
                      if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
                      {
                          /* The delayed list is empty.  Set xNextTaskUnblockTime
                           * to the maximum possible value so it is extremely
                           * unlikely that the
                           * if( xTickCount >= xNextTaskUnblockTime ) test will pass
                           * next time through. */
                          xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                          break;
                      }
                      else
                      {
                          /* The delayed list is not empty, get the value of the
                           * item at the head of the delayed list.  This is the time
                           * at which the task at the head of the delayed list must
                           * be removed from the Blocked state. */
                          pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                          xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
  
                          if( xConstTickCount < xItemValue )
                          {
                              /* It is not time to unblock this item yet, but the
                               * item value is the time at which the task at the head
                               * of the blocked list must be removed from the Blocked
                               * state -	so record the item value in
                               * xNextTaskUnblockTime. */
                              xNextTaskUnblockTime = xItemValue;
                              break; /*lint !e9011 Code structure here is deemed easier to understand with multiple breaks. */
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
  
                          /* It is time to remove the item from the Blocked state. */
                          ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
  
                          /* Is the task waiting on an event also?  If so remove
                           * it from the event list. */
                          if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                          {
                              ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
  
                          /* Place the unblocked task into the appropriate ready
                           * list. */
                          prvAddTaskToReadyList( pxTCB );
  
                          /* A task being unblocked cannot cause an immediate
                           * context switch if preemption is turned off. */
                          #if ( configUSE_PREEMPTION == 1 )
                              {
                                  prvYieldForTask( pxTCB, pdTRUE );
                              }
                          #endif /* configUSE_PREEMPTION */
                      }
                  }
              }
  
              /* Tasks of equal priority to the currently running task will share
               * processing time (time slice) if preemption is on, and the application
               * writer has not explicitly turned time slicing off. */
              #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
                  {
                      /* TODO: If there are fewer "non-IDLE" READY tasks than cores, do not
                       * force a context switch that would just shuffle tasks around cores */
                      /* TODO: There are certainly better ways of doing this that would reduce
                       * the number of interrupts and also potentially help prevent tasks from
                       * moving between cores as often. This, however, works for now. */
                      for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configNUM_CORES; x++ )
                      {
                          if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCBs[ x ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
                          {
                              xCoreYieldList[ x ] = pdTRUE;
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
                      }
                  }
              #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
  
              #if ( configUSE_TICK_HOOK == 1 )
                  {
                      /* Guard against the tick hook being called when the pended tick
                       * count is being unwound (when the scheduler is being unlocked). */
                      if( xPendedTicks == ( TickType_t ) 0 )
                      {
                          vApplicationTickHook();
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
              #endif /* configUSE_TICK_HOOK */
  
              #if ( configUSE_PREEMPTION == 1 )
                  {
                      for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configNUM_CORES; x++ )
                      {
                          if( xYieldPendings[ x ] != pdFALSE )
                          {
                              xCoreYieldList[ x ] = pdTRUE;
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
                      }
                  }
              #endif /* configUSE_PREEMPTION */
  
              #if ( configUSE_PREEMPTION == 1 )
                  {
                      BaseType_t xCoreID;
  
                      xCoreID = portGET_CORE_ID();
  
                      for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configNUM_CORES; x++ )
                      {
                          #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
                              if( pxCurrentTCBs[ x ]->xPreemptionDisable == pdFALSE )
                          #endif
                          {
                              if( xCoreYieldList[ x ] != pdFALSE )
                              {
                                  if( x == xCoreID )
                                  {
                                      xSwitchRequired = pdTRUE;
                                  }
                                  else
                                  {
                                      prvYieldCore( x );
                                  }
                              }
                              else
                              {
                                  mtCOVERAGE_TEST_MARKER();
                              }
                          }
                      }
                  }
              #endif /* configUSE_PREEMPTION */
          }
          else
          {
              ++xPendedTicks;
  
              /* The tick hook gets called at regular intervals, even if the
               * scheduler is locked. */
              #if ( configUSE_TICK_HOOK == 1 )
                  {
                      vApplicationTickHook();
                  }
              #endif
          }
      }
      taskEXIT_CRITICAL();
  
      return xSwitchRequired;
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_APPLICATION_TASK_TAG == 1 )
  
      void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
                                       TaskHookFunction_t pxHookFunction )
      {
          TCB_t * xTCB;
  
          /* If xTask is NULL then it is the task hook of the calling task that is
           * getting set. */
          if( xTask == NULL )
          {
              xTCB = ( TCB_t * ) pxCurrentTCB;
          }
          else
          {
              xTCB = xTask;
          }
  
          /* Save the hook function in the TCB.  A critical section is required as
           * the value can be accessed from an interrupt. */
          taskENTER_CRITICAL();
          {
              xTCB->pxTaskTag = pxHookFunction;
          }
          taskEXIT_CRITICAL();
      }
  
  #endif /* configUSE_APPLICATION_TASK_TAG */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_APPLICATION_TASK_TAG == 1 )
  
      TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
          TaskHookFunction_t xReturn;
  
          /* If xTask is NULL then set the calling task's hook. */
          pxTCB = prvGetTCBFromHandle( xTask );
  
          /* Save the hook function in the TCB.  A critical section is required as
           * the value can be accessed from an interrupt. */
          taskENTER_CRITICAL();
          {
              xReturn = pxTCB->pxTaskTag;
          }
          taskEXIT_CRITICAL();
  
          return xReturn;
      }
  
  #endif /* configUSE_APPLICATION_TASK_TAG */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_APPLICATION_TASK_TAG == 1 )
  
      TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
          TaskHookFunction_t xReturn;
          UBaseType_t uxSavedInterruptStatus;
  
          /* If xTask is NULL then set the calling task's hook. */
          pxTCB = prvGetTCBFromHandle( xTask );
  
          /* Save the hook function in the TCB.  A critical section is required as
           * the value can be accessed from an interrupt. */
          uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
          {
              xReturn = pxTCB->pxTaskTag;
          }
          portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
  
          return xReturn;
      }
  
  #endif /* configUSE_APPLICATION_TASK_TAG */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_APPLICATION_TASK_TAG == 1 )
  
      BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
                                               void * pvParameter )
      {
          TCB_t * xTCB;
          BaseType_t xReturn;
  
          /* If xTask is NULL then we are calling our own task hook. */
          if( xTask == NULL )
          {
              xTCB = pxCurrentTCB;
          }
          else
          {
              xTCB = xTask;
          }
  
          if( xTCB->pxTaskTag != NULL )
          {
              xReturn = xTCB->pxTaskTag( pvParameter );
          }
          else
          {
              xReturn = pdFAIL;
          }
  
          return xReturn;
      }
  
  #endif /* configUSE_APPLICATION_TASK_TAG */
  /*-----------------------------------------------------------*/
  
  void vTaskSwitchContext( BaseType_t xCoreID )
  {
      /* Acquire both locks:
       * - The ISR lock protects the ready list from simultaneous access by
       *  both other ISRs and tasks.
       * - We also take the task lock to pause here in case another core has
       *  suspended the scheduler. We don't want to simply set xYieldPending
       *  and move on if another core suspended the scheduler. We should only
       *  do that if the current core has suspended the scheduler. */
  
      portGET_TASK_LOCK(); /* Must always acquire the task lock first */
      portGET_ISR_LOCK();
      {
          /* vTaskSwitchContext() must never be called from within a critical section.
           * This is not necessarily true for vanilla FreeRTOS, but it is for this SMP port. */
          configASSERT( pxCurrentTCB->uxCriticalNesting == 0 );
  
          if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
          {
              /* The scheduler is currently suspended - do not allow a context
               * switch. */
              xYieldPendings[ xCoreID ] = pdTRUE;
          }
          else
          {
              xYieldPendings[ xCoreID ] = pdFALSE;
              traceTASK_SWITCHED_OUT();
  
              #if ( configGENERATE_RUN_TIME_STATS == 1 )
                  {
                      #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                          portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
                      #else
                          ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                      #endif
  
                      /* Add the amount of time the task has been running to the
                       * accumulated time so far.  The time the task started running was
                       * stored in ulTaskSwitchedInTime.  Note that there is no overflow
                       * protection here so count values are only valid until the timer
                       * overflows.  The guard against negative values is to protect
                       * against suspect run time stat counter implementations - which
                       * are provided by the application, not the kernel. */
                      if( ulTotalRunTime > ulTaskSwitchedInTime )
                      {
                          pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      ulTaskSwitchedInTime = ulTotalRunTime;
                  }
              #endif /* configGENERATE_RUN_TIME_STATS */
  
              /* Check for stack overflow, if configured. */
              taskCHECK_FOR_STACK_OVERFLOW();
  
              /* Before the currently running task is switched out, save its errno. */
              #if ( configUSE_POSIX_ERRNO == 1 )
                  {
                      pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
                  }
              #endif
  
              /* Select a new task to run using either the generic C or port
               * optimised asm code. */
              ( void ) prvSelectHighestPriorityTask( xCoreID );
              traceTASK_SWITCHED_IN();
  
              /* After the new task is switched in, update the global errno. */
              #if ( configUSE_POSIX_ERRNO == 1 )
                  {
                      FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
                  }
              #endif
  
              #if ( ( configUSE_NEWLIB_REENTRANT == 1 ) && ( configNEWLIB_REENTRANT_IS_DYNAMIC == 0 ) )
                  {
                      /* Switch Newlib's _impure_ptr variable to point to the _reent
                       * structure specific to this task.
                       * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                       * for additional information.
                       *
                       * Note: Updating the _impure_ptr is not required when Newlib is compiled with
                       * __DYNAMIC_REENT__ enabled. The the port should provide __getreent() instead. */
                      _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
                  }
              #endif /* ( configUSE_NEWLIB_REENTRANT == 1 ) && ( configNEWLIB_REENTRANT_IS_DYNAMIC == 0 ) */
          }
      }
      portRELEASE_ISR_LOCK();
      portRELEASE_TASK_LOCK();
  }
  /*-----------------------------------------------------------*/
  
  void vTaskPlaceOnEventList( List_t * const pxEventList,
                              const TickType_t xTicksToWait )
  {
      configASSERT( pxEventList );
  
      /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
       * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
  
      /* Place the event list item of the TCB in the appropriate event list.
       * This is placed in the list in priority order so the highest priority task
       * is the first to be woken by the event.  The queue that contains the event
       * list is locked, preventing simultaneous access from interrupts. */
      vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
  
      prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
  }
  /*-----------------------------------------------------------*/
  
  void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
                                       const TickType_t xItemValue,
                                       const TickType_t xTicksToWait )
  {
      configASSERT( pxEventList );
  
      /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
       * the event groups implementation. */
      configASSERT( uxSchedulerSuspended != 0 );
  
      /* Store the item value in the event list item.  It is safe to access the
       * event list item here as interrupts won't access the event list item of a
       * task that is not in the Blocked state. */
      listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
  
      /* Place the event list item of the TCB at the end of the appropriate event
       * list.  It is safe to access the event list here because it is part of an
       * event group implementation - and interrupts don't access event groups
       * directly (instead they access them indirectly by pending function calls to
       * the task level). */
      vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
  
      prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TIMERS == 1 )
  
      void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
                                            TickType_t xTicksToWait,
                                            const BaseType_t xWaitIndefinitely )
      {
          configASSERT( pxEventList );
  
          /* This function should not be called by application code hence the
           * 'Restricted' in its name.  It is not part of the public API.  It is
           * designed for use by kernel code, and has special calling requirements -
           * it should be called with the scheduler suspended. */
  
  
          /* Place the event list item of the TCB in the appropriate event list.
           * In this case it is assume that this is the only task that is going to
           * be waiting on this event list, so the faster vListInsertEnd() function
           * can be used in place of vListInsert. */
          vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
  
          /* If the task should block indefinitely then set the block time to a
           * value that will be recognised as an indefinite delay inside the
           * prvAddCurrentTaskToDelayedList() function. */
          if( xWaitIndefinitely != pdFALSE )
          {
              xTicksToWait = portMAX_DELAY;
          }
  
          traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
          prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
      }
  
  #endif /* configUSE_TIMERS */
  /*-----------------------------------------------------------*/
  
  BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
  {
      TCB_t * pxUnblockedTCB;
      BaseType_t xReturn;
  
      /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.  It can also be
       * called from a critical section within an ISR. */
  
      /* The event list is sorted in priority order, so the first in the list can
       * be removed as it is known to be the highest priority.  Remove the TCB from
       * the delayed list, and add it to the ready list.
       *
       * If an event is for a queue that is locked then this function will never
       * get called - the lock count on the queue will get modified instead.  This
       * means exclusive access to the event list is guaranteed here.
       *
       * This function assumes that a check has already been made to ensure that
       * pxEventList is not empty. */
      pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
      configASSERT( pxUnblockedTCB );
      ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
  
      if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
      {
          ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
          prvAddTaskToReadyList( pxUnblockedTCB );
  
          #if ( configUSE_TICKLESS_IDLE != 0 )
              {
                  /* If a task is blocked on a kernel object then xNextTaskUnblockTime
                   * might be set to the blocked task's time out time.  If the task is
                   * unblocked for a reason other than a timeout xNextTaskUnblockTime is
                   * normally left unchanged, because it is automatically reset to a new
                   * value when the tick count equals xNextTaskUnblockTime.  However if
                   * tickless idling is used it might be more important to enter sleep mode
                   * at the earliest possible time - so reset xNextTaskUnblockTime here to
                   * ensure it is updated at the earliest possible time. */
                  prvResetNextTaskUnblockTime();
              }
          #endif
      }
      else
      {
          /* The delayed and ready lists cannot be accessed, so hold this task
           * pending until the scheduler is resumed. */
          vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
      }
  
      xReturn = pdFALSE;
      #if ( configUSE_PREEMPTION == 1 )
          prvYieldForTask( pxUnblockedTCB, pdFALSE );
  
          if( xYieldPendings[ portGET_CORE_ID() ] != pdFALSE )
          {
              xReturn = pdTRUE;
          }
      #endif
  
      return xReturn;
  }
  /*-----------------------------------------------------------*/
  
  void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
                                          const TickType_t xItemValue )
  {
      TCB_t * pxUnblockedTCB;
  
      /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
       * the event flags implementation. */
      configASSERT( uxSchedulerSuspended != pdFALSE );
  
      /* Store the new item value in the event list. */
      listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
  
      /* Remove the event list form the event flag.  Interrupts do not access
       * event flags. */
      pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
      configASSERT( pxUnblockedTCB );
      ( void ) uxListRemove( pxEventListItem );
  
      #if ( configUSE_TICKLESS_IDLE != 0 )
          {
              /* If a task is blocked on a kernel object then xNextTaskUnblockTime
               * might be set to the blocked task's time out time.  If the task is
               * unblocked for a reason other than a timeout xNextTaskUnblockTime is
               * normally left unchanged, because it is automatically reset to a new
               * value when the tick count equals xNextTaskUnblockTime.  However if
               * tickless idling is used it might be more important to enter sleep mode
               * at the earliest possible time - so reset xNextTaskUnblockTime here to
               * ensure it is updated at the earliest possible time. */
              prvResetNextTaskUnblockTime();
          }
      #endif
  
      /* Remove the task from the delayed list and add it to the ready list.  The
       * scheduler is suspended so interrupts will not be accessing the ready
       * lists. */
      ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
      prvAddTaskToReadyList( pxUnblockedTCB );
  
      #if ( configUSE_PREEMPTION == 1 )
          taskENTER_CRITICAL();
          {
              prvYieldForTask( pxUnblockedTCB, pdFALSE );
          }
          taskEXIT_CRITICAL();
      #endif
  }
  /*-----------------------------------------------------------*/
  
  void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
  {
      configASSERT( pxTimeOut );
      taskENTER_CRITICAL();
      {
          pxTimeOut->xOverflowCount = xNumOfOverflows;
          pxTimeOut->xTimeOnEntering = xTickCount;
      }
      taskEXIT_CRITICAL();
  }
  /*-----------------------------------------------------------*/
  
  void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
  {
      /* For internal use only as it does not use a critical section. */
      pxTimeOut->xOverflowCount = xNumOfOverflows;
      pxTimeOut->xTimeOnEntering = xTickCount;
  }
  /*-----------------------------------------------------------*/
  
  BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
                                   TickType_t * const pxTicksToWait )
  {
      BaseType_t xReturn;
  
      configASSERT( pxTimeOut );
      configASSERT( pxTicksToWait );
  
      taskENTER_CRITICAL();
      {
          /* Minor optimisation.  The tick count cannot change in this block. */
          const TickType_t xConstTickCount = xTickCount;
          const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
  
          #if ( INCLUDE_xTaskAbortDelay == 1 )
              if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
              {
                  /* The delay was aborted, which is not the same as a time out,
                   * but has the same result. */
                  pxCurrentTCB->ucDelayAborted = pdFALSE;
                  xReturn = pdTRUE;
              }
              else
          #endif
  
          #if ( INCLUDE_vTaskSuspend == 1 )
              if( *pxTicksToWait == portMAX_DELAY )
              {
                  /* If INCLUDE_vTaskSuspend is set to 1 and the block time
                   * specified is the maximum block time then the task should block
                   * indefinitely, and therefore never time out. */
                  xReturn = pdFALSE;
              }
              else
          #endif
  
          if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
          {
              /* The tick count is greater than the time at which
               * vTaskSetTimeout() was called, but has also overflowed since
               * vTaskSetTimeOut() was called.  It must have wrapped all the way
               * around and gone past again. This passed since vTaskSetTimeout()
               * was called. */
              xReturn = pdTRUE;
              *pxTicksToWait = ( TickType_t ) 0;
          }
          else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
          {
              /* Not a genuine timeout. Adjust parameters for time remaining. */
              *pxTicksToWait -= xElapsedTime;
              vTaskInternalSetTimeOutState( pxTimeOut );
              xReturn = pdFALSE;
          }
          else
          {
              *pxTicksToWait = ( TickType_t ) 0;
              xReturn = pdTRUE;
          }
      }
      taskEXIT_CRITICAL();
  
      return xReturn;
  }
  /*-----------------------------------------------------------*/
  
  void vTaskMissedYield( void )
  {
      /* Must be called from within a critical section */
      xYieldPendings[ portGET_CORE_ID() ] = pdTRUE;
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
      {
          UBaseType_t uxReturn;
          TCB_t const * pxTCB;
  
          if( xTask != NULL )
          {
              pxTCB = xTask;
              uxReturn = pxTCB->uxTaskNumber;
          }
          else
          {
              uxReturn = 0U;
          }
  
          return uxReturn;
      }
  
  #endif /* configUSE_TRACE_FACILITY */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      void vTaskSetTaskNumber( TaskHandle_t xTask,
                               const UBaseType_t uxHandle )
      {
          TCB_t * pxTCB;
  
          if( xTask != NULL )
          {
              pxTCB = xTask;
              pxTCB->uxTaskNumber = uxHandle;
          }
      }
  
  #endif /* configUSE_TRACE_FACILITY */
  
  /*
   * -----------------------------------------------------------
   * The MinimalIdle task.
   * ----------------------------------------------------------
   *
   * The minimal idle task is used for all the additional Cores in a SMP system.
   * There must be only 1 idle task and the rest are minimal idle tasks.
   *
   * @todo additional conditional compiles to remove this function.
   */
  
  #if ( configNUM_CORES > 1 )
      static portTASK_FUNCTION( prvMinimalIdleTask, pvParameters )
      {
          taskYIELD();
  
          for( ; ; )
          {
              #if ( configUSE_PREEMPTION == 0 )
                  {
                      /* If we are not using preemption we keep forcing a task switch to
                       * see if any other task has become available.  If we are using
                       * preemption we don't need to do this as any task becoming available
                       * will automatically get the processor anyway. */
                      taskYIELD();
                  }
              #endif /* configUSE_PREEMPTION */
  
              #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
                  {
                      /* When using preemption tasks of equal priority will be
                       * timesliced.  If a task that is sharing the idle priority is ready
                       * to run then the idle task should yield before the end of the
                       * timeslice.
                       *
                       * A critical region is not required here as we are just reading from
                       * the list, and an occasional incorrect value will not matter.  If
                       * the ready list at the idle priority contains one more task than the
                       * number of idle tasks, which is equal to the configured numbers of cores
                       * then a task other than the idle task is ready to execute. */
                      if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES )
                      {
                          taskYIELD();
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
              #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
  
              #if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
                  {
                      extern void vApplicationMinimalIdleHook( void );
  
                      /* Call the user defined function from within the idle task.  This
                       * allows the application designer to add background functionality
                       * without the overhead of a separate task.
                       *
                       * This hook is intended to manage core activity such as disabling cores that go idle.
                       *
                       * NOTE: vApplicationMinimalIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                       * CALL A FUNCTION THAT MIGHT BLOCK. */
                      vApplicationMinimalIdleHook();
                  }
              #endif /* configUSE_MINIMAL_IDLE_HOOK */
          }
      }
  #endif /* if ( configNUM_CORES > 1 ) */
  
  /*
   * -----------------------------------------------------------
   * The Idle task.
   * ----------------------------------------------------------
   *
   *
   */
  static portTASK_FUNCTION( prvIdleTask, pvParameters )
  {
      /* Stop warnings. */
      ( void ) pvParameters;
  
      /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
       * SCHEDULER IS STARTED. **/
  
      /* In case a task that has a secure context deletes itself, in which case
       * the idle task is responsible for deleting the task's secure context, if
       * any. */
      portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
  
      /* All cores start up in the idle task. This initial yield gets the application
       * tasks started. */
      taskYIELD();
  
      for( ; ; )
      {
          /* See if any tasks have deleted themselves - if so then the idle task
           * is responsible for freeing the deleted task's TCB and stack. */
          prvCheckTasksWaitingTermination();
  
          #if ( configUSE_PREEMPTION == 0 )
              {
                  /* If we are not using preemption we keep forcing a task switch to
                   * see if any other task has become available.  If we are using
                   * preemption we don't need to do this as any task becoming available
                   * will automatically get the processor anyway. */
                  taskYIELD();
              }
          #endif /* configUSE_PREEMPTION */
  
          #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
              {
                  /* When using preemption tasks of equal priority will be
                   * timesliced.  If a task that is sharing the idle priority is ready
                   * to run then the idle task should yield before the end of the
                   * timeslice.
                   *
                   * A critical region is not required here as we are just reading from
                   * the list, and an occasional incorrect value will not matter.  If
                   * the ready list at the idle priority contains one more task than the
                   * number of idle tasks, which is equal to the configured numbers of cores
                   * then a task other than the idle task is ready to execute. */
                  if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) configNUM_CORES )
                  {
                      taskYIELD();
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
          #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
  
          #if ( configUSE_IDLE_HOOK == 1 )
              {
                  extern void vApplicationIdleHook( void );
  
                  /* Call the user defined function from within the idle task.  This
                   * allows the application designer to add background functionality
                   * without the overhead of a separate task.
                   *
                   * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                   * CALL A FUNCTION THAT MIGHT BLOCK. */
                  vApplicationIdleHook();
              }
          #endif /* configUSE_IDLE_HOOK */
  
          /* This conditional compilation should use inequality to 0, not equality
           * to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
           * user defined low power mode  implementations require
           * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
          #if ( configUSE_TICKLESS_IDLE != 0 )
              {
                  TickType_t xExpectedIdleTime;
  
                  /* It is not desirable to suspend then resume the scheduler on
                   * each iteration of the idle task.  Therefore, a preliminary
                   * test of the expected idle time is performed without the
                   * scheduler suspended.  The result here is not necessarily
                   * valid. */
                  xExpectedIdleTime = prvGetExpectedIdleTime();
  
                  if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                  {
                      vTaskSuspendAll();
                      {
                          /* Now the scheduler is suspended, the expected idle
                           * time can be sampled again, and this time its value can
                           * be used. */
                          configASSERT( xNextTaskUnblockTime >= xTickCount );
                          xExpectedIdleTime = prvGetExpectedIdleTime();
  
                          /* Define the following macro to set xExpectedIdleTime to 0
                           * if the application does not want
                           * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
                          configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
  
                          if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                          {
                              traceLOW_POWER_IDLE_BEGIN();
                              portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
                              traceLOW_POWER_IDLE_END();
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
                      }
                      ( void ) xTaskResumeAll();
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
          #endif /* configUSE_TICKLESS_IDLE */
  
          #if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
              {
                  extern void vApplicationMinimalIdleHook( void );
  
                  /* Call the user defined function from within the idle task.  This
                   * allows the application designer to add background functionality
                   * without the overhead of a separate task.
                   *
                   * This hook is intended to manage core activity such as disabling cores that go idle.
                   *
                   * NOTE: vApplicationMinimalIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                   * CALL A FUNCTION THAT MIGHT BLOCK. */
                  vApplicationMinimalIdleHook();
              }
          #endif /* configUSE_MINIMAL_IDLE_HOOK */
      }
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TICKLESS_IDLE != 0 )
  
      eSleepModeStatus eTaskConfirmSleepModeStatus( void )
      {
          /* The idle task exists in addition to the application tasks. */
          const UBaseType_t uxNonApplicationTasks = 1;
          eSleepModeStatus eReturn = eStandardSleep;
  
          /* This function must be called from a critical section. */
  
          if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
          {
              /* A task was made ready while the scheduler was suspended. */
              eReturn = eAbortSleep;
          }
          else if( xYieldPending != pdFALSE )
          {
              /* A yield was pended while the scheduler was suspended. */
              eReturn = eAbortSleep;
          }
          else if( xPendedTicks != 0 )
          {
              /* A tick interrupt has already occurred but was held pending
               * because the scheduler is suspended. */
              eReturn = eAbortSleep;
          }
          else
          {
              /* If all the tasks are in the suspended list (which might mean they
               * have an infinite block time rather than actually being suspended)
               * then it is safe to turn all clocks off and just wait for external
               * interrupts. */
              if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
              {
                  eReturn = eNoTasksWaitingTimeout;
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
  
          return eReturn;
      }
  
  #endif /* configUSE_TICKLESS_IDLE */
  /*-----------------------------------------------------------*/
  
  #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
  
      void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
                                              BaseType_t xIndex,
                                              void * pvValue )
      {
          TCB_t * pxTCB;
  
          if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
          {
              pxTCB = prvGetTCBFromHandle( xTaskToSet );
              configASSERT( pxTCB != NULL );
              pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
          }
      }
  
  #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
  /*-----------------------------------------------------------*/
  
  #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
  
      void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
                                                 BaseType_t xIndex )
      {
          void * pvReturn = NULL;
          TCB_t * pxTCB;
  
          if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
          {
              pxTCB = prvGetTCBFromHandle( xTaskToQuery );
              pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
          }
          else
          {
              pvReturn = NULL;
          }
  
          return pvReturn;
      }
  
  #endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
  /*-----------------------------------------------------------*/
  
  #if ( portUSING_MPU_WRAPPERS == 1 )
  
      void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
                                    const MemoryRegion_t * const xRegions )
      {
          TCB_t * pxTCB;
  
          /* If null is passed in here then we are modifying the MPU settings of
           * the calling task. */
          pxTCB = prvGetTCBFromHandle( xTaskToModify );
  
          vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
      }
  
  #endif /* portUSING_MPU_WRAPPERS */
  /*-----------------------------------------------------------*/
  
  static void prvInitialiseTaskLists( void )
  {
      UBaseType_t uxPriority;
  
      for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
      {
          vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
      }
  
      vListInitialise( &xDelayedTaskList1 );
      vListInitialise( &xDelayedTaskList2 );
      vListInitialise( &xPendingReadyList );
  
      #if ( INCLUDE_vTaskDelete == 1 )
          {
              vListInitialise( &xTasksWaitingTermination );
          }
      #endif /* INCLUDE_vTaskDelete */
  
      #if ( INCLUDE_vTaskSuspend == 1 )
          {
              vListInitialise( &xSuspendedTaskList );
          }
      #endif /* INCLUDE_vTaskSuspend */
  
      /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
       * using list2. */
      pxDelayedTaskList = &xDelayedTaskList1;
      pxOverflowDelayedTaskList = &xDelayedTaskList2;
  }
  /*-----------------------------------------------------------*/
  
  static void prvCheckTasksWaitingTermination( void )
  {
      /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
  
      #if ( INCLUDE_vTaskDelete == 1 )
          {
              TCB_t * pxTCB;
  
              /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
               * being called too often in the idle task. */
              while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
              {
                  taskENTER_CRITICAL();
                  {
                      /* Since we are SMP, multiple idles can be running simultaneously
                       * and we need to check that other idles did not cleanup while we were
                       * waiting to enter the critical section */
                      if( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
                      {
                          pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
  
                          if( pxTCB->xTaskRunState == taskTASK_NOT_RUNNING )
                          {
                              ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                              --uxCurrentNumberOfTasks;
                              --uxDeletedTasksWaitingCleanUp;
                              prvDeleteTCB( pxTCB );
                          }
                          else
                          {
                              /* The TCB to be deleted still has not yet been switched out
                               * by the scheduler, so we will just exit this loop early and
                               * try again next time. */
                              taskEXIT_CRITICAL();
                              break;
                          }
                      }
                  }
                  taskEXIT_CRITICAL();
              }
          }
      #endif /* INCLUDE_vTaskDelete */
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      void vTaskGetInfo( TaskHandle_t xTask,
                         TaskStatus_t * pxTaskStatus,
                         BaseType_t xGetFreeStackSpace,
                         eTaskState eState )
      {
          TCB_t * pxTCB;
  
          /* xTask is NULL then get the state of the calling task. */
          pxTCB = prvGetTCBFromHandle( xTask );
  
          pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
          pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
          pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
          pxTaskStatus->pxStackBase = pxTCB->pxStack;
          pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
  
          #if ( configUSE_MUTEXES == 1 )
              {
                  pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
              }
          #else
              {
                  pxTaskStatus->uxBasePriority = 0;
              }
          #endif
  
          #if ( configGENERATE_RUN_TIME_STATS == 1 )
              {
                  pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
              }
          #else
              {
                  pxTaskStatus->ulRunTimeCounter = 0;
              }
          #endif
  
          /* Obtaining the task state is a little fiddly, so is only done if the
           * value of eState passed into this function is eInvalid - otherwise the
           * state is just set to whatever is passed in. */
          if( eState != eInvalid )
          {
              if( taskTASK_IS_RUNNING( pxTCB->xTaskRunState ) )
              {
                  pxTaskStatus->eCurrentState = eRunning;
              }
              else
              {
                  pxTaskStatus->eCurrentState = eState;
  
                  #if ( INCLUDE_vTaskSuspend == 1 )
                      {
                          /* If the task is in the suspended list then there is a
                           *  chance it is actually just blocked indefinitely - so really
                           *  it should be reported as being in the Blocked state. */
                          if( eState == eSuspended )
                          {
                              vTaskSuspendAll();
                              {
                                  if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                  {
                                      pxTaskStatus->eCurrentState = eBlocked;
                                  }
                              }
                              ( void ) xTaskResumeAll();
                          }
                      }
                  #endif /* INCLUDE_vTaskSuspend */
              }
          }
          else
          {
              pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
          }
  
          /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
           * parameter is provided to allow it to be skipped. */
          if( xGetFreeStackSpace != pdFALSE )
          {
              #if ( portSTACK_GROWTH > 0 )
                  {
                      pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
                  }
              #else
                  {
                      pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
                  }
              #endif
          }
          else
          {
              pxTaskStatus->usStackHighWaterMark = 0;
          }
      }
  
  #endif /* configUSE_TRACE_FACILITY */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TRACE_FACILITY == 1 )
  
      static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                       List_t * pxList,
                                                       eTaskState eState )
      {
          configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB;
          UBaseType_t uxTask = 0;
  
          if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
          {
              listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
  
              /* Populate an TaskStatus_t structure within the
               * pxTaskStatusArray array for each task that is referenced from
               * pxList.  See the definition of TaskStatus_t in task.h for the
               * meaning of each TaskStatus_t structure member. */
              do
              {
                  listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                  vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
                  uxTask++;
              } while( pxNextTCB != pxFirstTCB );
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return uxTask;
      }
  
  #endif /* configUSE_TRACE_FACILITY */
  /*-----------------------------------------------------------*/
  
  #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
  
      static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
      {
          uint32_t ulCount = 0U;
  
          while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
          {
              pucStackByte -= portSTACK_GROWTH;
              ulCount++;
          }
  
          ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
  
          return ( configSTACK_DEPTH_TYPE ) ulCount;
      }
  
  #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
  
  /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
   * same except for their return type.  Using configSTACK_DEPTH_TYPE allows the
   * user to determine the return type.  It gets around the problem of the value
   * overflowing on 8-bit types without breaking backward compatibility for
   * applications that expect an 8-bit return type. */
      configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
          uint8_t * pucEndOfStack;
          configSTACK_DEPTH_TYPE uxReturn;
  
          /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
           * the same except for their return type.  Using configSTACK_DEPTH_TYPE
           * allows the user to determine the return type.  It gets around the
           * problem of the value overflowing on 8-bit types without breaking
           * backward compatibility for applications that expect an 8-bit return
           * type. */
  
          pxTCB = prvGetTCBFromHandle( xTask );
  
          #if portSTACK_GROWTH < 0
              {
                  pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
              }
          #else
              {
                  pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
              }
          #endif
  
          uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
  
          return uxReturn;
      }
  
  #endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
  
      UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
      {
          TCB_t * pxTCB;
          uint8_t * pucEndOfStack;
          UBaseType_t uxReturn;
  
          pxTCB = prvGetTCBFromHandle( xTask );
  
          #if portSTACK_GROWTH < 0
              {
                  pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
              }
          #else
              {
                  pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
              }
          #endif
  
          uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
  
          return uxReturn;
      }
  
  #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
  /*-----------------------------------------------------------*/
  
  #if ( INCLUDE_vTaskDelete == 1 )
  
      static void prvDeleteTCB( TCB_t * pxTCB )
      {
          /* This call is required specifically for the TriCore port.  It must be
           * above the vPortFree() calls.  The call is also used by ports/demos that
           * want to allocate and clean RAM statically. */
          portCLEAN_UP_TCB( pxTCB );
  
          /* Free up the memory allocated by the scheduler for the task.  It is up
           * to the task to free any memory allocated at the application level.
           * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
           * for additional information. */
          #if ( configUSE_NEWLIB_REENTRANT == 1 )
              {
                  _reclaim_reent( &( pxTCB->xNewLib_reent ) );
              }
          #endif /* configUSE_NEWLIB_REENTRANT */
  
          #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
              {
                  /* The task can only have been allocated dynamically - free both
                   * the stack and TCB. */
                  vPortFreeStack( pxTCB->pxStack );
                  vPortFree( pxTCB );
              }
          #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
              {
                  /* The task could have been allocated statically or dynamically, so
                   * check what was statically allocated before trying to free the
                   * memory. */
                  if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
                  {
                      /* Both the stack and TCB were allocated dynamically, so both
                       * must be freed. */
                      vPortFreeStack( pxTCB->pxStack );
                      vPortFree( pxTCB );
                  }
                  else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
                  {
                      /* Only the stack was statically allocated, so the TCB is the
                       * only memory that must be freed. */
                      vPortFree( pxTCB );
                  }
                  else
                  {
                      /* Neither the stack nor the TCB were allocated dynamically, so
                       * nothing needs to be freed. */
                      configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
          #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
      }
  
  #endif /* INCLUDE_vTaskDelete */
  /*-----------------------------------------------------------*/
  
  static void prvResetNextTaskUnblockTime( void )
  {
      if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
      {
          /* The new current delayed list is empty.  Set xNextTaskUnblockTime to
           * the maximum possible value so it is  extremely unlikely that the
           * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
           * there is an item in the delayed list. */
          xNextTaskUnblockTime = portMAX_DELAY;
      }
      else
      {
          /* The new current delayed list is not empty, get the value of
           * the item at the head of the delayed list.  This is the time at
           * which the task at the head of the delayed list should be removed
           * from the Blocked state. */
          xNextTaskUnblockTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxDelayedTaskList );
      }
  }
  /*-----------------------------------------------------------*/
  
  #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
  
      TaskHandle_t xTaskGetCurrentTaskHandle( void )
      {
          TaskHandle_t xReturn;
          uint32_t ulState;
  
          ulState = portDISABLE_INTERRUPTS();
          xReturn = pxCurrentTCBs[ portGET_CORE_ID() ];
          portRESTORE_INTERRUPTS( ulState );
  
          return xReturn;
      }
  
      TaskHandle_t xTaskGetCurrentTaskHandleCPU( UBaseType_t xCoreID )
      {
          TaskHandle_t xReturn = NULL;
  
          if( taskVALID_CORE_ID( xCoreID ) != pdFALSE )
          {
              xReturn = pxCurrentTCBs[ xCoreID ];
          }
  
          return xReturn;
      }
  
  #endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
  
      BaseType_t xTaskGetSchedulerState( void )
      {
          BaseType_t xReturn;
  
          if( xSchedulerRunning == pdFALSE )
          {
              xReturn = taskSCHEDULER_NOT_STARTED;
          }
          else
          {
              taskENTER_CRITICAL();
              {
                  if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                  {
                      xReturn = taskSCHEDULER_RUNNING;
                  }
                  else
                  {
                      xReturn = taskSCHEDULER_SUSPENDED;
                  }
              }
              taskEXIT_CRITICAL();
          }
  
          return xReturn;
      }
  
  #endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_MUTEXES == 1 )
  
      BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
      {
          TCB_t * const pxMutexHolderTCB = pxMutexHolder;
          BaseType_t xReturn = pdFALSE;
  
          /* If the mutex was given back by an interrupt while the queue was
           * locked then the mutex holder might now be NULL.  _RB_ Is this still
           * needed as interrupts can no longer use mutexes? */
          if( pxMutexHolder != NULL )
          {
              /* If the holder of the mutex has a priority below the priority of
               * the task attempting to obtain the mutex then it will temporarily
               * inherit the priority of the task attempting to obtain the mutex. */
              if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
              {
                  /* Adjust the mutex holder state to account for its new
                   * priority.  Only reset the event list item value if the value is
                   * not being used for anything else. */
                  if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                  {
                      listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
  
                  /* If the task being modified is in the ready state it will need
                   * to be moved into a new list. */
                  if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
                  {
                      if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                      {
                          /* It is known that the task is in its ready list so
                           * there is no need to check again and the port level
                           * reset macro can be called directly. */
                          portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      /* Inherit the priority before being moved into the new list. */
                      pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
                      prvAddTaskToReadyList( pxMutexHolderTCB );
                  }
                  else
                  {
                      /* Just inherit the priority. */
                      pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
                  }
  
                  traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
  
                  /* Inheritance occurred. */
                  xReturn = pdTRUE;
              }
              else
              {
                  if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
                  {
                      /* The base priority of the mutex holder is lower than the
                       * priority of the task attempting to take the mutex, but the
                       * current priority of the mutex holder is not lower than the
                       * priority of the task attempting to take the mutex.
                       * Therefore the mutex holder must have already inherited a
                       * priority, but inheritance would have occurred if that had
                       * not been the case. */
                      xReturn = pdTRUE;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return xReturn;
      }
  
  #endif /* configUSE_MUTEXES */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_MUTEXES == 1 )
  
      BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
      {
          TCB_t * const pxTCB = pxMutexHolder;
          BaseType_t xReturn = pdFALSE;
  
          if( pxMutexHolder != NULL )
          {
              /* A task can only have an inherited priority if it holds the mutex.
               * If the mutex is held by a task then it cannot be given from an
               * interrupt, and if a mutex is given by the holding task then it must
               * be the running state task. */
              configASSERT( pxTCB == pxCurrentTCB );
              configASSERT( pxTCB->uxMutexesHeld );
              ( pxTCB->uxMutexesHeld )--;
  
              /* Has the holder of the mutex inherited the priority of another
               * task? */
              if( pxTCB->uxPriority != pxTCB->uxBasePriority )
              {
                  /* Only disinherit if no other mutexes are held. */
                  if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
                  {
                      /* A task can only have an inherited priority if it holds
                       * the mutex.  If the mutex is held by a task then it cannot be
                       * given from an interrupt, and if a mutex is given by the
                       * holding task then it must be the running state task.  Remove
                       * the holding task from the ready list. */
                      if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                      {
                          portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      /* Disinherit the priority before adding the task into the
                       * new  ready list. */
                      traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
                      pxTCB->uxPriority = pxTCB->uxBasePriority;
  
                      /* Reset the event list item value.  It cannot be in use for
                       * any other purpose if this task is running, and it must be
                       * running to give back the mutex. */
                      listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                      prvAddTaskToReadyList( pxTCB );
  
                      /* Return true to indicate that a context switch is required.
                       * This is only actually required in the corner case whereby
                       * multiple mutexes were held and the mutexes were given back
                       * in an order different to that in which they were taken.
                       * If a context switch did not occur when the first mutex was
                       * returned, even if a task was waiting on it, then a context
                       * switch should occur when the last mutex is returned whether
                       * a task is waiting on it or not. */
                      xReturn = pdTRUE;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
  
          return xReturn;
      }
  
  #endif /* configUSE_MUTEXES */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_MUTEXES == 1 )
  
      void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
                                                UBaseType_t uxHighestPriorityWaitingTask )
      {
          TCB_t * const pxTCB = pxMutexHolder;
          UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
          const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
  
          if( pxMutexHolder != NULL )
          {
              /* If pxMutexHolder is not NULL then the holder must hold at least
               * one mutex. */
              configASSERT( pxTCB->uxMutexesHeld );
  
              /* Determine the priority to which the priority of the task that
               * holds the mutex should be set.  This will be the greater of the
               * holding task's base priority and the priority of the highest
               * priority task that is waiting to obtain the mutex. */
              if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
              {
                  uxPriorityToUse = uxHighestPriorityWaitingTask;
              }
              else
              {
                  uxPriorityToUse = pxTCB->uxBasePriority;
              }
  
              /* Does the priority need to change? */
              if( pxTCB->uxPriority != uxPriorityToUse )
              {
                  /* Only disinherit if no other mutexes are held.  This is a
                   * simplification in the priority inheritance implementation.  If
                   * the task that holds the mutex is also holding other mutexes then
                   * the other mutexes may have caused the priority inheritance. */
                  if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
                  {
                      /* If a task has timed out because it already holds the
                       * mutex it was trying to obtain then it cannot of inherited
                       * its own priority. */
                      configASSERT( pxTCB != pxCurrentTCB );
  
                      /* Disinherit the priority, remembering the previous
                       * priority to facilitate determining the subject task's
                       * state. */
                      traceTASK_PRIORITY_DISINHERIT( pxTCB, uxPriorityToUse );
                      uxPriorityUsedOnEntry = pxTCB->uxPriority;
                      pxTCB->uxPriority = uxPriorityToUse;
  
                      /* Only reset the event list item value if the value is not
                       * being used for anything else. */
                      if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                      {
                          listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
  
                      /* If the running task is not the task that holds the mutex
                       * then the task that holds the mutex could be in either the
                       * Ready, Blocked or Suspended states.  Only remove the task
                       * from its current state list if it is in the Ready state as
                       * the task's priority is going to change and there is one
                       * Ready list per priority. */
                      if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                      {
                          if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                          {
                              /* It is known that the task is in its ready list so
                               * there is no need to check again and the port level
                               * reset macro can be called directly. */
                              portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
                          }
                          else
                          {
                              mtCOVERAGE_TEST_MARKER();
                          }
  
                          prvAddTaskToReadyList( pxTCB );
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* configUSE_MUTEXES */
  /*-----------------------------------------------------------*/
  
  /*
   * If not in a critical section then yield immediately.
   * Otherwise set xYieldPending to true to wait to
   * yield until exiting the critical section.
   */
  void vTaskYieldWithinAPI( void )
  {
      if( pxCurrentTCB->uxCriticalNesting == 0U )
      {
          portYIELD();
      }
      else
      {
          xYieldPendings[ portGET_CORE_ID() ] = pdTRUE;
      }
  }
  /*-----------------------------------------------------------*/
  
  #if ( portCRITICAL_NESTING_IN_TCB == 1 )
  
      void vTaskEnterCritical( void )
      {
          portDISABLE_INTERRUPTS();
  
          if( xSchedulerRunning != pdFALSE )
          {
              if( pxCurrentTCB->uxCriticalNesting == 0U )
              {
                  if( portCHECK_IF_IN_ISR() == pdFALSE )
                  {
                      portGET_TASK_LOCK();
                  }
  
                  portGET_ISR_LOCK();
              }
  
              ( pxCurrentTCB->uxCriticalNesting )++;
  
              /* This should now be interrupt safe. The only time there would be
               * a problem is if this is called before a context switch and
               * vTaskExitCritical() is called after pxCurrentTCB changes. Therefore
               * this should not be used within vTaskSwitchContext(). */
  
              if( ( uxSchedulerSuspended == 0U ) && ( pxCurrentTCB->uxCriticalNesting == 1U ) )
              {
                  prvCheckForRunStateChange();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* portCRITICAL_NESTING_IN_TCB */
  /*-----------------------------------------------------------*/
  
  #if ( portCRITICAL_NESTING_IN_TCB == 1 )
  
      void vTaskExitCritical( void )
      {
          if( xSchedulerRunning != pdFALSE )
          {
              /* If pxCurrentTCB->uxCriticalNesting is zero then this function
               * does not match a previous call to vTaskEnterCritical(). */
              configASSERT( pxCurrentTCB->uxCriticalNesting > 0U );
  
              if( pxCurrentTCB->uxCriticalNesting > 0U )
              {
                  ( pxCurrentTCB->uxCriticalNesting )--;
  
                  if( pxCurrentTCB->uxCriticalNesting == 0U )
                  {
                      portRELEASE_ISR_LOCK();
  
                      if( portCHECK_IF_IN_ISR() == pdFALSE )
                      {
                          portRELEASE_TASK_LOCK();
                          portENABLE_INTERRUPTS();
  
                          /* When a task yields in a critical section it just sets
                           * xYieldPending to true. So now that we have exited the
                           * critical section check if xYieldPending is true, and
                           * if so yield. */
                          if( xYieldPending != pdFALSE )
                          {
                              portYIELD();
                          }
                      }
                      else
                      {
                          /* In an ISR we don't hold the task lock and don't
                           * need to yield. Yield will happen if necessary when
                           * the application ISR calls portEND_SWITCHING_ISR() */
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* portCRITICAL_NESTING_IN_TCB */
  /*-----------------------------------------------------------*/
  
  #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
  
      static char * prvWriteNameToBuffer( char * pcBuffer,
                                          const char * pcTaskName )
      {
          size_t x;
  
          /* Start by copying the entire string. */
          strcpy( pcBuffer, pcTaskName );
  
          /* Pad the end of the string with spaces to ensure columns line up when
           * printed out. */
          for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
          {
              pcBuffer[ x ] = ' ';
          }
  
          /* Terminate. */
          pcBuffer[ x ] = ( char ) 0x00;
  
          /* Return the new end of string. */
          return &( pcBuffer[ x ] );
      }
  
  #endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
  /*-----------------------------------------------------------*/
  
  #if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
  
      void vTaskList( char * pcWriteBuffer )
      {
          TaskStatus_t * pxTaskStatusArray;
          UBaseType_t uxArraySize, x;
          char cStatus;
  
          /*
           * PLEASE NOTE:
           *
           * This function is provided for convenience only, and is used by many
           * of the demo applications.  Do not consider it to be part of the
           * scheduler.
           *
           * vTaskList() calls uxTaskGetSystemState(), then formats part of the
           * uxTaskGetSystemState() output into a human readable table that
           * displays task: names, states, priority, stack usage and task number.
           * Stack usage specified as the number of unused StackType_t words stack can hold
           * on top of stack - not the number of bytes.
           *
           * vTaskList() has a dependency on the sprintf() C library function that
           * might bloat the code size, use a lot of stack, and provide different
           * results on different platforms.  An alternative, tiny, third party,
           * and limited functionality implementation of sprintf() is provided in
           * many of the FreeRTOS/Demo sub-directories in a file called
           * printf-stdarg.c (note printf-stdarg.c does not provide a full
           * snprintf() implementation!).
           *
           * It is recommended that production systems call uxTaskGetSystemState()
           * directly to get access to raw stats data, rather than indirectly
           * through a call to vTaskList().
           */
  
  
          /* Make sure the write buffer does not contain a string. */
          *pcWriteBuffer = ( char ) 0x00;
  
          /* Take a snapshot of the number of tasks in case it changes while this
           * function is executing. */
          uxArraySize = uxCurrentNumberOfTasks;
  
          /* Allocate an array index for each task.  NOTE!  if
           * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
           * equate to NULL. */
          pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
  
          if( pxTaskStatusArray != NULL )
          {
              /* Generate the (binary) data. */
              uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
  
              /* Create a human readable table from the binary data. */
              for( x = 0; x < uxArraySize; x++ )
              {
                  switch( pxTaskStatusArray[ x ].eCurrentState )
                  {
                      case eRunning:
                          cStatus = tskRUNNING_CHAR;
                          break;
  
                      case eReady:
                          cStatus = tskREADY_CHAR;
                          break;
  
                      case eBlocked:
                          cStatus = tskBLOCKED_CHAR;
                          break;
  
                      case eSuspended:
                          cStatus = tskSUSPENDED_CHAR;
                          break;
  
                      case eDeleted:
                          cStatus = tskDELETED_CHAR;
                          break;
  
                      case eInvalid: /* Fall through. */
                      default:       /* Should not get here, but it is included
                                      * to prevent static checking errors. */
                          cStatus = ( char ) 0x00;
                          break;
                  }
  
                  /* Write the task name to the string, padding with spaces so it
                   * can be printed in tabular form more easily. */
                  pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
  
                  /* Write the rest of the string. */
                  sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                  pcWriteBuffer += strlen( pcWriteBuffer );                                                                                                                                                                                                /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
              }
  
              /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
               * is 0 then vPortFree() will be #defined to nothing. */
              vPortFree( pxTaskStatusArray );
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
  /*----------------------------------------------------------*/
  
  #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
  
      void vTaskGetRunTimeStats( char * pcWriteBuffer )
      {
          TaskStatus_t * pxTaskStatusArray;
          UBaseType_t uxArraySize, x;
          uint32_t ulTotalTime, ulStatsAsPercentage;
  
          #if ( configUSE_TRACE_FACILITY != 1 )
              {
                  #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
              }
          #endif
  
          /*
           * PLEASE NOTE:
           *
           * This function is provided for convenience only, and is used by many
           * of the demo applications.  Do not consider it to be part of the
           * scheduler.
           *
           * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
           * of the uxTaskGetSystemState() output into a human readable table that
           * displays the amount of time each task has spent in the Running state
           * in both absolute and percentage terms.
           *
           * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
           * function that might bloat the code size, use a lot of stack, and
           * provide different results on different platforms.  An alternative,
           * tiny, third party, and limited functionality implementation of
           * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
           * a file called printf-stdarg.c (note printf-stdarg.c does not provide
           * a full snprintf() implementation!).
           *
           * It is recommended that production systems call uxTaskGetSystemState()
           * directly to get access to raw stats data, rather than indirectly
           * through a call to vTaskGetRunTimeStats().
           */
  
          /* Make sure the write buffer does not contain a string. */
          *pcWriteBuffer = ( char ) 0x00;
  
          /* Take a snapshot of the number of tasks in case it changes while this
           * function is executing. */
          uxArraySize = uxCurrentNumberOfTasks;
  
          /* Allocate an array index for each task.  NOTE!  If
           * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
           * equate to NULL. */
          pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
  
          if( pxTaskStatusArray != NULL )
          {
              /* Generate the (binary) data. */
              uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
  
              /* For percentage calculations. */
              ulTotalTime /= 100UL;
  
              /* Avoid divide by zero errors. */
              if( ulTotalTime > 0UL )
              {
                  /* Create a human readable table from the binary data. */
                  for( x = 0; x < uxArraySize; x++ )
                  {
                      /* What percentage of the total run time has the task used?
                       * This will always be rounded down to the nearest integer.
                       * ulTotalRunTimeDiv100 has already been divided by 100. */
                      ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
  
                      /* Write the task name to the string, padding with
                       * spaces so it can be printed in tabular form more
                       * easily. */
                      pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
  
                      if( ulStatsAsPercentage > 0UL )
                      {
                          #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                              {
                                  sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
                              }
                          #else
                              {
                                  /* sizeof( int ) == sizeof( long ) so a smaller
                                   * printf() library can be used. */
                                  sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                              }
                          #endif
                      }
                      else
                      {
                          /* If the percentage is zero here then the task has
                           * consumed less than 1% of the total run time. */
                          #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                              {
                                  sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
                              }
                          #else
                              {
                                  /* sizeof( int ) == sizeof( long ) so a smaller
                                   * printf() library can be used. */
                                  sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                              }
                          #endif
                      }
  
                      pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
               * is 0 then vPortFree() will be #defined to nothing. */
              vPortFree( pxTaskStatusArray );
          }
          else
          {
              mtCOVERAGE_TEST_MARKER();
          }
      }
  
  #endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  TickType_t uxTaskResetEventItemValue( void )
  {
      TickType_t uxReturn;
  
      uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
  
      /* Reset the event list item to its normal value - so it can be used with
       * queues and semaphores. */
      listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
  
      return uxReturn;
  }
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_MUTEXES == 1 )
  
      TaskHandle_t pvTaskIncrementMutexHeldCount( void )
      {
          /* If xSemaphoreCreateMutex() is called before any tasks have been created
           * then pxCurrentTCB will be NULL. */
          if( pxCurrentTCB != NULL )
          {
              ( pxCurrentTCB->uxMutexesHeld )++;
          }
  
          return pxCurrentTCB;
      }
  
  #endif /* configUSE_MUTEXES */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
                                        BaseType_t xClearCountOnExit,
                                        TickType_t xTicksToWait )
      {
          uint32_t ulReturn;
  
          configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
  
          taskENTER_CRITICAL();
          {
              /* Only block if the notification count is not already non-zero. */
              if( pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] == 0UL )
              {
                  /* Mark this task as waiting for a notification. */
                  pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
  
                  if( xTicksToWait > ( TickType_t ) 0 )
                  {
                      prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                      traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );
  
                      /* All ports are written to allow a yield in a critical
                       * section (some will yield immediately, others wait until the
                       * critical section exits) - but it is not something that
                       * application code should ever do. */
                      vTaskYieldWithinAPI();
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          taskEXIT_CRITICAL();
  
          taskENTER_CRITICAL();
          {
              traceTASK_NOTIFY_TAKE( uxIndexToWait );
              ulReturn = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
  
              if( ulReturn != 0UL )
              {
                  if( xClearCountOnExit != pdFALSE )
                  {
                      pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = 0UL;
                  }
                  else
                  {
                      pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
  
              pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
          }
          taskEXIT_CRITICAL();
  
          return ulReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
                                         uint32_t ulBitsToClearOnEntry,
                                         uint32_t ulBitsToClearOnExit,
                                         uint32_t * pulNotificationValue,
                                         TickType_t xTicksToWait )
      {
          BaseType_t xReturn;
  
          configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );
  
          taskENTER_CRITICAL();
          {
              /* Only block if a notification is not already pending. */
              if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
              {
                  /* Clear bits in the task's notification value as bits may get
                   * set  by the notifying task or interrupt.  This can be used to
                   * clear the value to zero. */
                  pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;
  
                  /* Mark this task as waiting for a notification. */
                  pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;
  
                  if( xTicksToWait > ( TickType_t ) 0 )
                  {
                      prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                      traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );
  
                      /* All ports are written to allow a yield in a critical
                       * section (some will yield immediately, others wait until the
                       * critical section exits) - but it is not something that
                       * application code should ever do. */
                      vTaskYieldWithinAPI();
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          taskEXIT_CRITICAL();
  
          taskENTER_CRITICAL();
          {
              traceTASK_NOTIFY_WAIT( uxIndexToWait );
  
              if( pulNotificationValue != NULL )
              {
                  /* Output the current notification value, which may or may not
                   * have changed. */
                  *pulNotificationValue = pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ];
              }
  
              /* If ucNotifyValue is set then either the task never entered the
               * blocked state (because a notification was already pending) or the
               * task unblocked because of a notification.  Otherwise the task
               * unblocked because of a timeout. */
              if( pxCurrentTCB->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
              {
                  /* A notification was not received. */
                  xReturn = pdFALSE;
              }
              else
              {
                  /* A notification was already pending or a notification was
                   * received while the task was waiting. */
                  pxCurrentTCB->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
                  xReturn = pdTRUE;
              }
  
              pxCurrentTCB->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
          }
          taskEXIT_CRITICAL();
  
          return xReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
                                     UBaseType_t uxIndexToNotify,
                                     uint32_t ulValue,
                                     eNotifyAction eAction,
                                     uint32_t * pulPreviousNotificationValue )
      {
          TCB_t * pxTCB;
          BaseType_t xReturn = pdPASS;
          uint8_t ucOriginalNotifyState;
  
          configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
          configASSERT( xTaskToNotify );
          pxTCB = xTaskToNotify;
  
          taskENTER_CRITICAL();
          {
              if( pulPreviousNotificationValue != NULL )
              {
                  *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
              }
  
              ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
  
              pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
  
              switch( eAction )
              {
                  case eSetBits:
                      pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                      break;
  
                  case eIncrement:
                      ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                      break;
  
                  case eSetValueWithOverwrite:
                      pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                      break;
  
                  case eSetValueWithoutOverwrite:
  
                      if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                      {
                          pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                      }
                      else
                      {
                          /* The value could not be written to the task. */
                          xReturn = pdFAIL;
                      }
  
                      break;
  
                  case eNoAction:
  
                      /* The task is being notified without its notify value being
                       * updated. */
                      break;
  
                  default:
  
                      /* Should not get here if all enums are handled.
                       * Artificially force an assert by testing a value the
                       * compiler can't assume is const. */
                      configASSERT( xTickCount == ( TickType_t ) 0 );
  
                      break;
              }
  
              traceTASK_NOTIFY( uxIndexToNotify );
  
              /* If the task is in the blocked state specifically to wait for a
               * notification then unblock it now. */
              if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
              {
                  ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                  prvAddTaskToReadyList( pxTCB );
  
                  /* The task should not have been on an event list. */
                  configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
  
                  #if ( configUSE_TICKLESS_IDLE != 0 )
                      {
                          /* If a task is blocked waiting for a notification then
                           * xNextTaskUnblockTime might be set to the blocked task's time
                           * out time.  If the task is unblocked for a reason other than
                           * a timeout xNextTaskUnblockTime is normally left unchanged,
                           * because it will automatically get reset to a new value when
                           * the tick count equals xNextTaskUnblockTime.  However if
                           * tickless idling is used it might be more important to enter
                           * sleep mode at the earliest possible time - so reset
                           * xNextTaskUnblockTime here to ensure it is updated at the
                           * earliest possible time. */
                          prvResetNextTaskUnblockTime();
                      }
                  #endif
  
                  #if ( configUSE_PREEMPTION == 1 )
                      {
                          prvYieldForTask( pxTCB, pdFALSE );
                      }
                  #endif
              }
              else
              {
                  mtCOVERAGE_TEST_MARKER();
              }
          }
          taskEXIT_CRITICAL();
  
          return xReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
                                            UBaseType_t uxIndexToNotify,
                                            uint32_t ulValue,
                                            eNotifyAction eAction,
                                            uint32_t * pulPreviousNotificationValue,
                                            BaseType_t * pxHigherPriorityTaskWoken )
      {
          TCB_t * pxTCB;
          uint8_t ucOriginalNotifyState;
          BaseType_t xReturn = pdPASS;
          UBaseType_t uxSavedInterruptStatus;
  
          configASSERT( xTaskToNotify );
          configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
  
          /* RTOS ports that support interrupt nesting have the concept of a
           * maximum  system call (or maximum API call) interrupt priority.
           * Interrupts that are  above the maximum system call priority are keep
           * permanently enabled, even when the RTOS kernel is in a critical section,
           * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
           * is defined in FreeRTOSConfig.h then
           * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
           * failure if a FreeRTOS API function is called from an interrupt that has
           * been assigned a priority above the configured maximum system call
           * priority.  Only FreeRTOS functions that end in FromISR can be called
           * from interrupts  that have been assigned a priority at or (logically)
           * below the maximum system call interrupt priority.  FreeRTOS maintains a
           * separate interrupt safe API to ensure interrupt entry is as fast and as
           * simple as possible.  More information (albeit Cortex-M specific) is
           * provided on the following link:
           * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
          portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
  
          pxTCB = xTaskToNotify;
  
          uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
          {
              if( pulPreviousNotificationValue != NULL )
              {
                  *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
              }
  
              ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
              pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
  
              switch( eAction )
              {
                  case eSetBits:
                      pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                      break;
  
                  case eIncrement:
                      ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                      break;
  
                  case eSetValueWithOverwrite:
                      pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                      break;
  
                  case eSetValueWithoutOverwrite:
  
                      if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                      {
                          pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                      }
                      else
                      {
                          /* The value could not be written to the task. */
                          xReturn = pdFAIL;
                      }
  
                      break;
  
                  case eNoAction:
  
                      /* The task is being notified without its notify value being
                       * updated. */
                      break;
  
                  default:
  
                      /* Should not get here if all enums are handled.
                       * Artificially force an assert by testing a value the
                       * compiler can't assume is const. */
                      configASSERT( xTickCount == ( TickType_t ) 0 );
                      break;
              }
  
              traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );
  
              /* If the task is in the blocked state specifically to wait for a
               * notification then unblock it now. */
              if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
              {
                  /* The task should not have been on an event list. */
                  configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
  
                  if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                  {
                      ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                      prvAddTaskToReadyList( pxTCB );
                  }
                  else
                  {
                      /* The delayed and ready lists cannot be accessed, so hold
                       * this task pending until the scheduler is resumed. */
                      vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                  }
  
                  #if ( configUSE_PREEMPTION == 1 )
                      prvYieldForTask( pxTCB, pdFALSE );
  
                      if( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE )
                      {
                          if( pxHigherPriorityTaskWoken != NULL )
                          {
                              *pxHigherPriorityTaskWoken = pdTRUE;
                          }
                      }
                  #endif
              }
          }
          portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
  
          return xReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
                                          UBaseType_t uxIndexToNotify,
                                          BaseType_t * pxHigherPriorityTaskWoken )
      {
          TCB_t * pxTCB;
          uint8_t ucOriginalNotifyState;
          UBaseType_t uxSavedInterruptStatus;
  
          configASSERT( xTaskToNotify );
          configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
  
          /* RTOS ports that support interrupt nesting have the concept of a
           * maximum  system call (or maximum API call) interrupt priority.
           * Interrupts that are  above the maximum system call priority are keep
           * permanently enabled, even when the RTOS kernel is in a critical section,
           * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
           * is defined in FreeRTOSConfig.h then
           * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
           * failure if a FreeRTOS API function is called from an interrupt that has
           * been assigned a priority above the configured maximum system call
           * priority.  Only FreeRTOS functions that end in FromISR can be called
           * from interrupts  that have been assigned a priority at or (logically)
           * below the maximum system call interrupt priority.  FreeRTOS maintains a
           * separate interrupt safe API to ensure interrupt entry is as fast and as
           * simple as possible.  More information (albeit Cortex-M specific) is
           * provided on the following link:
           * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
          portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
  
          pxTCB = xTaskToNotify;
  
          uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
          {
              ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
              pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;
  
              /* 'Giving' is equivalent to incrementing a count in a counting
               * semaphore. */
              ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
  
              traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );
  
              /* If the task is in the blocked state specifically to wait for a
               * notification then unblock it now. */
              if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
              {
                  /* The task should not have been on an event list. */
                  configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
  
                  if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
                  {
                      ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                      prvAddTaskToReadyList( pxTCB );
                  }
                  else
                  {
                      /* The delayed and ready lists cannot be accessed, so hold
                       * this task pending until the scheduler is resumed. */
                      vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
                  }
  
                  #if ( configUSE_PREEMPTION == 1 )
                      prvYieldForTask( pxTCB, pdFALSE );
  
                      if( xYieldPendings[ portGET_CORE_ID() ] == pdTRUE )
                      {
                          if( pxHigherPriorityTaskWoken != NULL )
                          {
                              *pxHigherPriorityTaskWoken = pdTRUE;
                          }
                      }
                  #endif
              }
          }
          portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
                                               UBaseType_t uxIndexToClear )
      {
          TCB_t * pxTCB;
          BaseType_t xReturn;
  
          configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );
  
          /* If null is passed in here then it is the calling task that is having
           * its notification state cleared. */
          pxTCB = prvGetTCBFromHandle( xTask );
  
          taskENTER_CRITICAL();
          {
              if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
              {
                  pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
                  xReturn = pdPASS;
              }
              else
              {
                  xReturn = pdFAIL;
              }
          }
          taskEXIT_CRITICAL();
  
          return xReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( configUSE_TASK_NOTIFICATIONS == 1 )
  
      uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
                                              UBaseType_t uxIndexToClear,
                                              uint32_t ulBitsToClear )
      {
          TCB_t * pxTCB;
          uint32_t ulReturn;
  
          /* If null is passed in here then it is the calling task that is having
           * its notification state cleared. */
          pxTCB = prvGetTCBFromHandle( xTask );
  
          taskENTER_CRITICAL();
          {
              /* Return the notification as it was before the bits were cleared,
               * then clear the bit mask. */
              ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
              pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
          }
          taskEXIT_CRITICAL();
  
          return ulReturn;
      }
  
  #endif /* configUSE_TASK_NOTIFICATIONS */
  /*-----------------------------------------------------------*/
  
  #if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
  
      uint32_t ulTaskGetIdleRunTimeCounter( void )
      {
          uint32_t ulReturn = 0;
  
          for( BaseType_t i = 0; i < configNUM_CORES; i++ )
          {
              ulReturn += xIdleTaskHandle[ i ]->ulRunTimeCounter;
          }
  
          return ulReturn;
      }
  
  #endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
  /*-----------------------------------------------------------*/
  
  static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                              const BaseType_t xCanBlockIndefinitely )
  {
      TickType_t xTimeToWake;
      const TickType_t xConstTickCount = xTickCount;
  
      #if ( INCLUDE_xTaskAbortDelay == 1 )
          {
              /* About to enter a delayed list, so ensure the ucDelayAborted flag is
               * reset to pdFALSE so it can be detected as having been set to pdTRUE
               * when the task leaves the Blocked state. */
              pxCurrentTCB->ucDelayAborted = pdFALSE;
          }
      #endif
  
      /* Remove the task from the ready list before adding it to the blocked list
       * as the same list item is used for both lists. */
      if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
      {
          /* The current task must be in a ready list, so there is no need to
           * check, and the port reset macro can be called directly. */
          portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task.  pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
      }
      else
      {
          mtCOVERAGE_TEST_MARKER();
      }
  
      #if ( INCLUDE_vTaskSuspend == 1 )
          {
              if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
              {
                  /* Add the task to the suspended task list instead of a delayed task
                   * list to ensure it is not woken by a timing event.  It will block
                   * indefinitely. */
                  vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
              }
              else
              {
                  /* Calculate the time at which the task should be woken if the event
                   * does not occur.  This may overflow but this doesn't matter, the
                   * kernel will manage it correctly. */
                  xTimeToWake = xConstTickCount + xTicksToWait;
  
                  /* The list item will be inserted in wake time order. */
                  listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
  
                  if( xTimeToWake < xConstTickCount )
                  {
                      /* Wake time has overflowed.  Place this item in the overflow
                       * list. */
                      vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
                  }
                  else
                  {
                      /* The wake time has not overflowed, so the current block list
                       * is used. */
                      vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
  
                      /* If the task entering the blocked state was placed at the
                       * head of the list of blocked tasks then xNextTaskUnblockTime
                       * needs to be updated too. */
                      if( xTimeToWake < xNextTaskUnblockTime )
                      {
                          xNextTaskUnblockTime = xTimeToWake;
                      }
                      else
                      {
                          mtCOVERAGE_TEST_MARKER();
                      }
                  }
              }
          }
      #else /* INCLUDE_vTaskSuspend */
          {
              /* Calculate the time at which the task should be woken if the event
               * does not occur.  This may overflow but this doesn't matter, the kernel
               * will manage it correctly. */
              xTimeToWake = xConstTickCount + xTicksToWait;
  
              /* The list item will be inserted in wake time order. */
              listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
  
              if( xTimeToWake < xConstTickCount )
              {
                  /* Wake time has overflowed.  Place this item in the overflow list. */
                  vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
              }
              else
              {
                  /* The wake time has not overflowed, so the current block list is used. */
                  vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
  
                  /* If the task entering the blocked state was placed at the head of the
                   * list of blocked tasks then xNextTaskUnblockTime needs to be updated
                   * too. */
                  if( xTimeToWake < xNextTaskUnblockTime )
                  {
                      xNextTaskUnblockTime = xTimeToWake;
                  }
                  else
                  {
                      mtCOVERAGE_TEST_MARKER();
                  }
              }
  
              /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
              ( void ) xCanBlockIndefinitely;
          }
      #endif /* INCLUDE_vTaskSuspend */
  }
  
  /* Code below here allows additional code to be inserted into this source file,
   * especially where access to file scope functions and data is needed (for example
   * when performing module tests). */
  
  #ifdef FREERTOS_MODULE_TEST
      #include "tasks_test_access_functions.h"
  #endif
  
  
  #if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
  
      #include "freertos_tasks_c_additions.h"
  
      #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
          static void freertos_tasks_c_additions_init( void )
          {
              FREERTOS_TASKS_C_ADDITIONS_INIT();
          }
      #endif
  
  #endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */
  