text: /*
   * FreeRTOS V202104.00
   * 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
   *
   */
  
  /*
   *******************************************************************************
   * NOTE 1: The POSIX port is a simulation (or is that emulation?) only!  Do not
   * expect to get real time behaviour from the POSIX port or this demo
   * application.  It is provided as a convenient development and demonstration
   * test bed only.
   *
   * Linux will not be running the FreeRTOS simulator threads continuously, so
   * the timing information in the FreeRTOS+Trace logs have no meaningful units.
   * See the documentation page for the Linux simulator for an explanation of
   * the slow timing:
   * https://www.freertos.org/FreeRTOS-simulator-for-Linux.html
   * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
   *
   * NOTE 2:  This project provides two demo applications.  A simple blinky style
   * project, and a more comprehensive test and demo application.  The
   * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
   * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
   * in main.c.  This file implements the comprehensive test and demo version.
   *
   * NOTE 3:  This file only contains the source code that is specific to the
   * full demo.  Generic functions, such FreeRTOS hook functions, are defined in
   * main.c.
   *******************************************************************************
   *
   * main() creates all the demo application tasks, then starts the scheduler.
   * The web documentation provides more details of the standard demo application
   * tasks, which provide no particular functionality but do provide a good
   * example of how to use the FreeRTOS API.
   *
   * In addition to the standard demo tasks, the following tasks and tests are
   * defined and/or created within this file:
   *
   * "Check" task - This only executes every five seconds but has a high priority
   * to ensure it gets processor time.  Its main function is to check that all the
   * standard demo tasks are still operational.  While no errors have been
   * discovered the check task will print out "OK" and the current simulated tick
   * time.  If an error is discovered in the execution of a task then the check
   * task will print out an appropriate error message.
   *
   */
  
  
  /* Standard includes. */
  #include <stdlib.h>
  #include <string.h>
  #include <time.h>
  #include <stdio.h>
  
  /* Kernel includes. */
  #include <FreeRTOS.h>
  #include <task.h>
  #include <queue.h>
  #include <timers.h>
  #include <semphr.h>
  
  /* Standard demo includes. */
  #include "BlockQ.h"
  #include "integer.h"
  #include "semtest.h"
  #include "PollQ.h"
  #include "GenQTest.h"
  #include "QPeek.h"
  #include "recmutex.h"
  #include "flop.h"
  #include "TimerDemo.h"
  #include "countsem.h"
  #include "death.h"
  #include "dynamic.h"
  #include "QueueSet.h"
  #include "QueueOverwrite.h"
  #include "EventGroupsDemo.h"
  #include "IntSemTest.h"
  #include "TaskNotify.h"
  #include "QueueSetPolling.h"
  #include "StaticAllocation.h"
  #include "blocktim.h"
  #include "AbortDelay.h"
  #include "MessageBufferDemo.h"
  #include "StreamBufferDemo.h"
  #include "StreamBufferInterrupt.h"
  #include "MessageBufferAMP.h"
  #include "console.h"
  
  /* Priorities at which the tasks are created. */
  #define mainCHECK_TASK_PRIORITY			( configMAX_PRIORITIES - 2 )
  #define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 1 )
  #define mainSEM_TEST_PRIORITY			( tskIDLE_PRIORITY + 1 )
  #define mainBLOCK_Q_PRIORITY			( tskIDLE_PRIORITY + 2 )
  #define mainCREATOR_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
  #define mainFLASH_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
  #define mainINTEGER_TASK_PRIORITY		( tskIDLE_PRIORITY )
  #define mainGEN_QUEUE_TASK_PRIORITY		( tskIDLE_PRIORITY )
  #define mainFLOP_TASK_PRIORITY			( tskIDLE_PRIORITY )
  #define mainQUEUE_OVERWRITE_PRIORITY	( tskIDLE_PRIORITY )
  
  #define mainTIMER_TEST_PERIOD			( 50 )
  
  /*
   * Exercises code that is not otherwise covered by the standard demo/test
   * tasks.
   */
  extern BaseType_t xRunCodeCoverageTestAdditions( void );
  
  /* Task function prototypes. */
  static void prvCheckTask( void *pvParameters );
  
  /* A task that is created from the idle task to test the functionality of
  eTaskStateGet(). */
  static void prvTestTask( void *pvParameters );
  
  /*
   * Called from the idle task hook function to demonstrate a few utility
   * functions that are not demonstrated by any of the standard demo tasks.
   */
  static void prvDemonstrateTaskStateAndHandleGetFunctions( void );
  
  /*
   * Called from the idle task hook function to demonstrate the use of
   * xTimerPendFunctionCall() as xTimerPendFunctionCall() is not demonstrated by
   * any of the standard demo tasks.
   */
  static void prvDemonstratePendingFunctionCall( void );
  
  /*
   * The function that is pended by prvDemonstratePendingFunctionCall().
   */
  static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 );
  
  /*
   * prvDemonstrateTimerQueryFunctions() is called from the idle task hook
   * function to demonstrate the use of functions that query information about a
   * software timer.  prvTestTimerCallback() is the callback function for the
   * timer being queried.
   */
  static void prvDemonstrateTimerQueryFunctions( void );
  static void prvTestTimerCallback( TimerHandle_t xTimer );
  
  /*
   * A task to demonstrate the use of the xQueueSpacesAvailable() function.
   */
  static void prvDemoQueueSpaceFunctions( void *pvParameters );
  
  /*
   * Tasks that ensure indefinite delays are truly indefinite.
   */
  static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters );
  static void prvPermanentlyBlockingNotificationTask( void *pvParameters );
  
  /*
   * The test function and callback function used when exercising the timer AP
   * function that changes the timer's auto-reload mode.
   */
  static void prvDemonstrateChangingTimerReloadMode( void *pvParameters );
  static void prvReloadModeTestTimerCallback( TimerHandle_t xTimer );
  
  /*-----------------------------------------------------------*/
  
  /* The variable into which error messages are latched. */
  static char *pcStatusMessage = "OK: No errors";
  
  /* This semaphore is created purely to test using the vSemaphoreDelete() and
  semaphore tracing API functions.  It has no other purpose. */
  static SemaphoreHandle_t xMutexToDelete = NULL;
  
  /*-----------------------------------------------------------*/
  
  int main_full( void )
  {
  	/* Start the check task as described at the top of this file. */
  	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
  
  	/* Create the standard demo tasks. */
  	vStartTaskNotifyTask();
  	// vStartTaskNotifyArrayTask();
  	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
  	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
  	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
  	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
  	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
  	vStartQueuePeekTasks();
  	vStartMathTasks( mainFLOP_TASK_PRIORITY );
  	vStartRecursiveMutexTasks();
  	vStartCountingSemaphoreTasks();
  	vStartDynamicPriorityTasks();
  	vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
  	vStartEventGroupTasks();
  	vStartInterruptSemaphoreTasks();
  	vCreateBlockTimeTasks();
  	vCreateAbortDelayTasks();
  	xTaskCreate( prvDemoQueueSpaceFunctions, "QSpace", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
  	xTaskCreate( prvPermanentlyBlockingSemaphoreTask, "BlockSem", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
  	xTaskCreate( prvPermanentlyBlockingNotificationTask, "BlockNoti", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
  
  	vStartMessageBufferTasks( configMINIMAL_STACK_SIZE );
  	vStartStreamBufferTasks();
  	vStartStreamBufferInterruptDemo();
  	vStartMessageBufferAMPTasks( configMINIMAL_STACK_SIZE );
  
  	#if( configUSE_QUEUE_SETS == 1 )
  	{
  		vStartQueueSetTasks();
  		vStartQueueSetPollingTask();
  	}
  	#endif
  
  	#if( configSUPPORT_STATIC_ALLOCATION == 1 )
  	{
  		vStartStaticallyAllocatedTasks();
  	}
  	#endif
  
  	#if( configUSE_PREEMPTION != 0  )
  	{
  		/* Don't expect these tasks to pass when preemption is not used. */
  		vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
  	}
  	#endif
  
  	/* The suicide tasks must be created last as they need to know how many
  	tasks were running prior to their creation.  This then allows them to
  	ascertain whether or not the correct/expected number of tasks are running at
  	any given time. */
  	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
  
  	/* Create the semaphore that will be deleted in the idle task hook.  This
  	is done purely to test the use of vSemaphoreDelete(). */
  	xMutexToDelete = xSemaphoreCreateMutex();
  
  	/* Start the scheduler itself. */
  	vTaskStartScheduler();
  
  	/* Should never get here unless there was not enough heap space to create
  	the idle and other system tasks. */
  	return 0;
  }
  /*-----------------------------------------------------------*/
  
  static void prvCheckTask( void *pvParameters )
  {
  TickType_t xNextWakeTime;
  const TickType_t xCycleFrequency = pdMS_TO_TICKS( 10000UL );
  HeapStats_t xHeapStats;
  
  	/* Just to remove compiler warning. */
  	( void ) pvParameters;
  
  	/* Initialise xNextWakeTime - this only needs to be done once. */
  	xNextWakeTime = xTaskGetTickCount();
  
  	for( ;; )
  	{
  		/* Place this task in the blocked state until it is time to run again. */
  		vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );
  
  		/* Check the standard demo tasks are running without error. */
  		#if( configUSE_PREEMPTION != 0 )
  		{
  			/* These tasks are only created when preemption is used. */
  			if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
  			{
  				pcStatusMessage = "Error: TimerDemo";
  			}
  		}
  		#endif
  
  		if( xAreStreamBufferTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error:  StreamBuffer";
  		}
  		else if( xAreMessageBufferTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error:  MessageBuffer";
  		}
  		else if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error:  Notification";
  		}
  		// else if( xAreTaskNotificationArrayTasksStillRunning() != pdTRUE )
  		// {
  		// 	pcStatusMessage = "Error:  NotificationArray";
  		// }
  		else if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: IntSem";
  		}
  		else if( xAreEventGroupTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: EventGroup";
  		}
  		else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: IntMath";
  		}
  		else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: GenQueue";
  		}
  		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: QueuePeek";
  		}
  		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: BlockQueue";
  		}
  		else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: SemTest";
  		}
  		else if( xArePollingQueuesStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: PollQueue";
  		}
  		else if( xAreMathsTaskStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Flop";
  		}
  		else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: RecMutex";
  		}
  		else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: CountSem";
  		}
  		else if( xIsCreateTaskStillRunning() != pdTRUE )
  		{
  			pcStatusMessage = "Error: Death";
  		}
  		else if( xAreDynamicPriorityTasksStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Dynamic";
  		}
  		else if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Queue overwrite";
  		}
  		else if( xAreBlockTimeTestTasksStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Block time";
  		}
  		else if( xAreAbortDelayTestTasksStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Abort delay";
  		}
  		else if( xIsInterruptStreamBufferDemoStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Stream buffer interrupt";
  		}
  		else if( xAreMessageBufferAMPTasksStillRunning() != pdPASS )
  		{
  			pcStatusMessage = "Error: Message buffer AMP";
  		}
  
  		#if( configUSE_QUEUE_SETS == 1 )
  			else if( xAreQueueSetTasksStillRunning() != pdPASS )
  			{
  				pcStatusMessage = "Error: Queue set";
  			}
  			else if( xAreQueueSetPollTasksStillRunning() != pdPASS )
  			{
  				pcStatusMessage = "Error: Queue set polling";
  			}
  		#endif
  
  		#if( configSUPPORT_STATIC_ALLOCATION == 1 )
  			else if( xAreStaticAllocationTasksStillRunning() != pdPASS )
  			{
  				pcStatusMessage = "Error: Static allocation";
  			}
  		#endif /* configSUPPORT_STATIC_ALLOCATION */
  
  		printf( "%s - tick count %u \r\n",
  					pcStatusMessage,
  					xTaskGetTickCount() );
  
  		// Reset the error condition
  		pcStatusMessage = "OK: No errors";
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvTestTask( void *pvParameters )
  {
  const unsigned long ulMSToSleep = 5;
  
  	/* Just to remove compiler warnings. */
  	( void ) pvParameters;
  
  	/* This task is just used to test the eTaskStateGet() function.  It
  	does not have anything to do. */
  	for( ;; )
  	{
  		/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
  		tasks waiting to be terminated by the idle task. */
                  vTaskDelay( pdMS_TO_TICKS( ulMSToSleep ) );
  	}
  }
  /*-----------------------------------------------------------*/
  
  /* Called from vApplicationIdleHook(), which is defined in main.c. */
  void vFullDemoIdleFunction( void )
  {
  const unsigned long ulMSToSleep = 15;
  void *pvAllocated;
  
  	/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
  	tasks waiting to be terminated by the idle task. */
          vTaskDelay( pdMS_TO_TICKS( ulMSToSleep ) );
  
  	/* Demonstrate a few utility functions that are not demonstrated by any of
  	the standard demo tasks. */
  	prvDemonstrateTaskStateAndHandleGetFunctions();
  
  	/* Demonstrate the use of xTimerPendFunctionCall(), which is not
  	demonstrated by any of the standard demo tasks. */
  	prvDemonstratePendingFunctionCall();
  
  	/* Demonstrate the use of functions that query information about a software
  	timer. */
  	prvDemonstrateTimerQueryFunctions();
  
  	/* If xMutexToDelete has not already been deleted, then delete it now.
  	This is done purely to demonstrate the use of, and test, the
  	vSemaphoreDelete() macro.  Care must be taken not to delete a semaphore
  	that has tasks blocked on it. */
  	if( xMutexToDelete != NULL )
  	{
  		/* For test purposes, add the mutex to the registry, then remove it
  		again, before it is deleted - checking its name is as expected before
  		and after the assertion into the registry and its removal from the
  		registry. */
  		configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
  		vQueueAddToRegistry( xMutexToDelete, "Test_Mutex" );
  		configASSERT( strcmp( pcQueueGetName( xMutexToDelete ), "Test_Mutex" ) == 0 );
  		vQueueUnregisterQueue( xMutexToDelete );
  		configASSERT( pcQueueGetName( xMutexToDelete ) == NULL );
  
  		vSemaphoreDelete( xMutexToDelete );
  		xMutexToDelete = NULL;
  	}
  
  	/* Exercise heap_5 a bit.  The malloc failed hook will trap failed
  	allocations so there is no need to test here. */
  	pvAllocated = pvPortMalloc( ( rand() % 500 ) + 1 );
  	vPortFree( pvAllocated );
  
  	/* Exit after a fixed time so code coverage results are written to the
  	disk. */
  	#if( projCOVERAGE_TEST == 1 )
  	{
  		const TickType_t xMaxRunTime = pdMS_TO_TICKS( 30000UL );
  
  		/* Exercise code not otherwise executed by standard demo/test tasks. */
  		if( xRunCodeCoverageTestAdditions() != pdPASS )
  		{
  			pcStatusMessage = "Code coverage additions failed.\r\n";
  		}
  
  		if( ( xTaskGetTickCount() - configINITIAL_TICK_COUNT ) >= xMaxRunTime )
  		{
  			vTaskEndScheduler();
  		}
  	}
  	#endif
  }
  /*-----------------------------------------------------------*/
  
  /* Called by vApplicationTickHook(), which is defined in main.c. */
  void vFullDemoTickHookFunction( void )
  {
  TaskHandle_t xTimerTask;
  
  	/* Call the periodic timer test, which tests the timer API functions that
  	can be called from an ISR. */
  	#if( configUSE_PREEMPTION != 0 )
  	{
  		/* Only created when preemption is used. */
  		vTimerPeriodicISRTests();
  	}
  	#endif
  
  	/* Call the periodic queue overwrite from ISR demo. */
  	vQueueOverwritePeriodicISRDemo();
  
  	#if( configUSE_QUEUE_SETS == 1 ) /* Remove the tests if queue sets are not defined. */
  	{
  		/* Write to a queue that is in use as part of the queue set demo to
  		demonstrate using queue sets from an ISR. */
  		vQueueSetAccessQueueSetFromISR();
  		vQueueSetPollingInterruptAccess();
  	}
  	#endif
  
  	/* Exercise event groups from interrupts. */
  	vPeriodicEventGroupsProcessing();
  
  	/* Exercise giving mutexes from an interrupt. */
  	vInterruptSemaphorePeriodicTest();
  
  	/* Exercise using task notifications from an interrupt. */
  	xNotifyTaskFromISR();
  	// xNotifyArrayTaskFromISR();
  
  	/* Writes to stream buffer byte by byte to test the stream buffer trigger
  	level functionality. */
  	vPeriodicStreamBufferProcessing();
  
  	/* Writes a string to a string buffer four bytes at a time to demonstrate
  	a stream being sent from an interrupt to a task. */
  	vBasicStreamBufferSendFromISR();
  
  	/* For code coverage purposes. */
  	xTimerTask = xTimerGetTimerDaemonTaskHandle();
  	configASSERT( uxTaskPriorityGetFromISR( xTimerTask ) == configTIMER_TASK_PRIORITY );
  }
  /*-----------------------------------------------------------*/
  
  static void prvPendedFunction( void *pvParameter1, uint32_t ulParameter2 )
  {
  static intptr_t ulLastParameter1 = 1000UL, ulLastParameter2 = 0UL;
  intptr_t ulParameter1;
  
  	ulParameter1 = ( intptr_t ) pvParameter1;
  
  	/* Ensure the parameters are as expected. */
  	configASSERT( ulParameter1 == ( ulLastParameter1 + 1 ) );
  	configASSERT( ulParameter2 == ( ulLastParameter2 + 1 ) );
  
  	/* Remember the parameters for the next time the function is called. */
  	ulLastParameter1 = ulParameter1;
  	ulLastParameter2 = ulParameter2;
  
  	/* Remove compiler warnings in case configASSERT() is not defined. */
  	( void ) ulLastParameter1;
  	( void ) ulLastParameter2;
  }
  /*-----------------------------------------------------------*/
  
  static void prvTestTimerCallback( TimerHandle_t xTimer )
  {
  	/* This is the callback function for the timer accessed by
  	prvDemonstrateTimerQueryFunctions().  The callback does not do anything. */
  	( void ) xTimer;
  }
  /*-----------------------------------------------------------*/
  
  static void prvDemonstrateTimerQueryFunctions( void )
  {
  static TimerHandle_t xTimer = NULL;
  const char *pcTimerName = "TestTimer";
  volatile TickType_t xExpiryTime;
  const TickType_t xDontBlock = 0;
  
  	if( xTimer == NULL )
  	{
  		xTimer = xTimerCreate( pcTimerName, portMAX_DELAY, pdTRUE, NULL, prvTestTimerCallback );
  
  		if( xTimer != NULL )
  		{
  			/* Called from the idle task so a block time must not be
  			specified. */
  			xTimerStart( xTimer, xDontBlock );
  		}
  	}
  
  	if( xTimer != NULL )
  	{
  		/* Demonstrate querying a timer's name. */
  		configASSERT( strcmp( pcTimerGetName( xTimer ), pcTimerName ) == 0 );
  
  		/* Demonstrate querying a timer's period. */
  		configASSERT( xTimerGetPeriod( xTimer ) == portMAX_DELAY );
  
  		/* Demonstrate querying a timer's next expiry time, although nothing is
  		done with the returned value.  Note if the expiry time is less than the
  		maximum tick count then the expiry time has overflowed from the current
  		time.  In this case the expiry time was set to portMAX_DELAY, so it is
  		expected to be less than the current time until the current time has
  		itself overflowed. */
  		xExpiryTime = xTimerGetExpiryTime( xTimer );
  		( void ) xExpiryTime;
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvDemonstratePendingFunctionCall( void )
  {
  static intptr_t ulParameter1 = 1000UL, ulParameter2 = 0UL;
  const TickType_t xDontBlock = 0; /* This is called from the idle task so must *not* attempt to block. */
  
  	/* prvPendedFunction() just expects the parameters to be incremented by one
  	each time it is called. */
  	ulParameter1++;
  	ulParameter2++;
  
  	/* Pend the function call, sending the parameters. */
  	xTimerPendFunctionCall( prvPendedFunction, ( void * ) ulParameter1, ulParameter2, xDontBlock );
  }
  /*-----------------------------------------------------------*/
  
  static void prvDemonstrateTaskStateAndHandleGetFunctions( void )
  {
  TaskHandle_t xIdleTaskHandle, xTimerTaskHandle;
  char *pcTaskName;
  static portBASE_TYPE xPerformedOneShotTests = pdFALSE;
  TaskHandle_t xTestTask;
  TaskStatus_t xTaskInfo;
  extern StackType_t uxTimerTaskStack[];
  
  	/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and
  	xTaskGetIdleTaskHandle() functions.  Also try using the function that sets
  	the task number. */
  	xIdleTaskHandle = xTaskGetIdleTaskHandle();
  	xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();
  
  	/* This is the idle hook, so the current task handle should equal the
  	returned idle task handle. */
  	if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
  	{
  		pcStatusMessage = "Error:  Returned idle task handle was incorrect";
  	}
  
  	/* Check the same handle is obtained using the idle task's name.  First try
  	with the wrong name, then the right name. */
  	if( xTaskGetHandle( "Idle" ) == xIdleTaskHandle )
  	{
  		pcStatusMessage = "Error:  Returned handle for name Idle was incorrect";
  	}
  
  	if( xTaskGetHandle( "IDLE" ) != xIdleTaskHandle )
  	{
  		pcStatusMessage = "Error:  Returned handle for name Idle was incorrect";
  	}
  
  	/* Check the timer task handle was returned correctly. */
  	pcTaskName = pcTaskGetName( xTimerTaskHandle );
  	if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
  	{
  		pcStatusMessage = "Error:  Returned timer task handle was incorrect";
  	}
  
  	if( xTaskGetHandle( "Tmr Svc" ) != xTimerTaskHandle )
  	{
  		pcStatusMessage = "Error:  Returned handle for name Tmr Svc was incorrect";
  	}
  
  	/* This task is running, make sure it's state is returned as running. */
  	if( eTaskStateGet( xIdleTaskHandle ) != eRunning )
  	{
  		pcStatusMessage = "Error:  Returned idle task state was incorrect";
  	}
  
  	/* If this task is running, then the timer task must be blocked. */
  	if( eTaskStateGet( xTimerTaskHandle ) != eBlocked )
  	{
  		pcStatusMessage = "Error:  Returned timer task state was incorrect";
  	}
  
  	/* Also with the vTaskGetInfo() function. */
  	vTaskGetInfo( xTimerTaskHandle, /* The task being queried. */
  					  &xTaskInfo,		/* The structure into which information on the task will be written. */
  					  pdTRUE,			/* Include the task's high watermark in the structure. */
  					  eInvalid );		/* Include the task state in the structure. */
  
  	/* Check the information returned by vTaskGetInfo() is as expected. */
  	if( ( xTaskInfo.eCurrentState != eBlocked )						 ||
  		( strcmp( xTaskInfo.pcTaskName, "Tmr Svc" ) != 0 )			 ||
  		( xTaskInfo.uxCurrentPriority != configTIMER_TASK_PRIORITY ) ||
  		( xTaskInfo.pxStackBase != uxTimerTaskStack )				 ||
  		( xTaskInfo.xHandle != xTimerTaskHandle ) )
  	{
  		pcStatusMessage = "Error:  vTaskGetInfo() returned incorrect information about the timer task";
  	}
  
  	/* Other tests that should only be performed once follow.  The test task
  	is not created on each iteration because to do so would cause the death
  	task to report an error (too many tasks running). */
  	if( xPerformedOneShotTests == pdFALSE )
  	{
  		/* Don't run this part of the test again. */
  		xPerformedOneShotTests = pdTRUE;
  
  		/* Create a test task to use to test other eTaskStateGet() return values. */
  		if( xTaskCreate( prvTestTask, "Test", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTestTask ) == pdPASS )
  		{
  			/* If this task is running, the test task must be in the ready state. */
  			if( eTaskStateGet( xTestTask ) != eReady )
  			{
  				pcStatusMessage = "Error: Returned test task state was incorrect 1";
  			}
  
  			/* Now suspend the test task and check its state is reported correctly. */
  			vTaskSuspend( xTestTask );
  			if( eTaskStateGet( xTestTask ) != eSuspended )
  			{
  				pcStatusMessage = "Error: Returned test task state was incorrect 2";
  			}
  
  			/* Now delete the task and check its state is reported correctly. */
  			vTaskDelete( xTestTask );
  			if( eTaskStateGet( xTestTask ) != eDeleted )
  			{
  				pcStatusMessage = "Error: Returned test task state was incorrect 3";
  			}
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvDemoQueueSpaceFunctions( void *pvParameters )
  {
  QueueHandle_t xQueue = NULL;
  const unsigned portBASE_TYPE uxQueueLength = 10;
  unsigned portBASE_TYPE uxReturn, x;
  
  	/* Remove compiler warnings. */
  	( void ) pvParameters;
  
  	/* Create the queue that will be used.  Nothing is actually going to be
  	sent or received so the queue item size is set to 0. */
  	xQueue = xQueueCreate( uxQueueLength, 0 );
  	configASSERT( xQueue );
  
  	for( ;; )
  	{
  		for( x = 0; x < uxQueueLength; x++ )
  		{
  			/* Ask how many messages are available... */
  			uxReturn = uxQueueMessagesWaiting( xQueue );
  
  			/* Check the number of messages being reported as being available
  			is as expected, and force an assert if not. */
  			if( uxReturn != x )
  			{
  				/* xQueue cannot be NULL so this is deliberately causing an
  				assert to be triggered as there is an error. */
  				configASSERT( xQueue == NULL );
  			}
  
  			/* Ask how many spaces remain in the queue... */
  			uxReturn = uxQueueSpacesAvailable( xQueue );
  
  			/* Check the number of spaces being reported as being available
  			is as expected, and force an assert if not. */
  			if( uxReturn != ( uxQueueLength - x ) )
  			{
  				/* xQueue cannot be NULL so this is deliberately causing an
  				assert to be triggered as there is an error. */
  				configASSERT( xQueue == NULL );
  			}
  
  			/* Fill one more space in the queue. */
  			xQueueSendToBack( xQueue, NULL, 0 );
  		}
  
  		/* Perform the same check while the queue is full. */
  		uxReturn = uxQueueMessagesWaiting( xQueue );
  		if( uxReturn != uxQueueLength )
  		{
  			configASSERT( xQueue == NULL );
  		}
  
  		uxReturn = uxQueueSpacesAvailable( xQueue );
  
  		if( uxReturn != 0 )
  		{
  			configASSERT( xQueue == NULL );
  		}
  
  		/* The queue is full, start again. */
  		xQueueReset( xQueue );
  
  		#if( configUSE_PREEMPTION == 0 )
  			taskYIELD();
  		#endif
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvPermanentlyBlockingSemaphoreTask( void *pvParameters )
  {
  SemaphoreHandle_t xSemaphore;
  
  	/* Prevent compiler warning about unused parameter in the case that
  	configASSERT() is not defined. */
  	( void ) pvParameters;
  
  	/* This task should block on a semaphore, and never return. */
  	xSemaphore = xSemaphoreCreateBinary();
  	configASSERT( xSemaphore );
  
  	xSemaphoreTake( xSemaphore, portMAX_DELAY );
  
  	/* The above xSemaphoreTake() call should never return, force an assert if
  	it does. */
  	configASSERT( pvParameters != NULL );
  	vTaskDelete( NULL );
  }
  /*-----------------------------------------------------------*/
  
  static void prvPermanentlyBlockingNotificationTask( void *pvParameters )
  {
  	/* Prevent compiler warning about unused parameter in the case that
  	configASSERT() is not defined. */
  	( void ) pvParameters;
  
  	/* This task should block on a task notification, and never return. */
  	ulTaskNotifyTake( pdTRUE, portMAX_DELAY );
  
  	/* The above ulTaskNotifyTake() call should never return, force an assert
  	if it does. */
  	configASSERT( pvParameters != NULL );
  	vTaskDelete( NULL );
  }
  /*-----------------------------------------------------------*/
  
  static void prvReloadModeTestTimerCallback( TimerHandle_t xTimer )
  {
  intptr_t ulTimerID;
  
  	/* Increment the timer's ID to show the callback has executed. */
  	ulTimerID = ( intptr_t ) pvTimerGetTimerID( xTimer );
  	ulTimerID++;
  	vTimerSetTimerID( xTimer, ( void * ) ulTimerID );
  }
  /*-----------------------------------------------------------*/
  
  static void prvDemonstrateChangingTimerReloadMode( void *pvParameters )
  {
  TimerHandle_t xTimer;
  const char * const pcTimerName = "TestTimer";
  const TickType_t x100ms = pdMS_TO_TICKS( 100UL );
  
  	/* Avoid compiler warnings about unused parameter. */
  	( void ) pvParameters;
  
  	xTimer = xTimerCreate( 	pcTimerName,
  							x100ms,
  							pdFALSE, /* Created as a one-shot timer. */
  							0,
  							prvReloadModeTestTimerCallback );
  	configASSERT( xTimer );
  	configASSERT( xTimerIsTimerActive( xTimer ) == pdFALSE );
  	configASSERT( xTimerGetTimerDaemonTaskHandle() != NULL );
  	configASSERT( strcmp( pcTimerName, pcTimerGetName( xTimer ) ) == 0 );
  	configASSERT( xTimerGetPeriod( xTimer ) == x100ms );
  
  	/* Timer was created as a one-shot timer.  Its callback just increments the
  	timer's ID - so set the ID to 0, let the timer run for a number of timeout
  	periods, then check the timer has only executed once. */
  	vTimerSetTimerID( xTimer, ( void * ) 0 );
  	xTimerStart( xTimer, portMAX_DELAY );
  	vTaskDelay( 3UL * x100ms );
  	configASSERT( ( ( uintptr_t ) ( pvTimerGetTimerID( xTimer ) ) ) == 1UL );
  
  	/* Now change the timer to be an auto-reload timer and check it executes
  	the expected number of times. */
  	vTimerSetReloadMode( xTimer, pdTRUE );
  	vTimerSetTimerID( xTimer, ( void * ) 0 );
  	xTimerStart( xTimer, 0 );
  	vTaskDelay( ( 3UL * x100ms ) + ( x100ms / 2UL ) ); /* Three full periods. */
  	configASSERT( ( uintptr_t ) ( pvTimerGetTimerID( xTimer ) ) == 3UL );
  	configASSERT( xTimerStop( xTimer, 0 ) != pdFAIL );
  
  	/* Now change the timer back to be a one-shot timer and check it only
  	executes once. */
  	vTimerSetReloadMode( xTimer, pdFALSE );
  	vTimerSetTimerID( xTimer, ( void * ) 0 );
  	xTimerStart( xTimer, 0 );
  	vTaskDelay( 3UL * x100ms );
  	configASSERT( xTimerStop( xTimer, 0 ) != pdFAIL );
  	configASSERT( ( uintptr_t ) ( pvTimerGetTimerID( xTimer ) ) == 1UL );
  
  	/* Clean up at the end. */
  	xTimerDelete( xTimer, portMAX_DELAY );
  	vTaskDelete( NULL );
  }
  