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croutine.c /

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************

FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html

***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.

http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.

http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.

1 tab == 4 spaces!
*/

#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"

/* Remove the whole file is co-routines are not being used. */
#if( configUSE_CO_ROUTINES != 0 )

/*
* Some kernel aware debuggers require data to be viewed to be global, rather
* than file scope.
*/
#ifdef portREMOVE_STATIC_QUALIFIER
#define static
#endif

/* Lists for ready and blocked co-routines. --------------------*/
static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ];   /*< Prioritised ready co-routines. */
static List_t xDelayedCoRoutineList1;                                   /*< Delayed co-routines. */
static List_t xDelayedCoRoutineList2;                                   /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
static List_t * pxDelayedCoRoutineList;                                   /*< Points to the delayed co-routine list currently being used. */
static List_t * pxOverflowDelayedCoRoutineList;                           /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
static List_t xPendingReadyCoRoutineList;                               /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */

/* Other file private variables. --------------------------------*/
CRCB_t * pxCurrentCoRoutine = NULL;
static UBaseType_t uxTopCoRoutineReadyPriority = 0;
static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;

/* The initial state of the co-routine when it is created. */
#define corINITIAL_STATE ( 0 )

/*
* Place the co-routine represented by pxCRCB into the appropriate ready queue
* for the priority. It is inserted at the end of the list.
*
* This macro accesses the co-routine ready lists and therefore must not be
* used from within an ISR.
*/
#define prvAddCoRoutineToReadyQueue( pxCRCB )                                                                       \
{                                                                                                                   \
   if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority )                                                           \
   {                                                                                                               \
       uxTopCoRoutineReadyPriority = pxCRCB->uxPriority;                                                           \
   }                                                                                                               \
   vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) );   \
}

/*
* Utility to ready all the lists used by the scheduler. This is called
* automatically upon the creation of the first co-routine.
*/
static void prvInitialiseCoRoutineLists( void );

/*
* Co-routines that are readied by an interrupt cannot be placed directly into
* the ready lists (there is no mutual exclusion). Instead they are placed in
* in the pending ready list in order that they can later be moved to the ready
* list by the co-routine scheduler.
*/
static void prvCheckPendingReadyList( void );

/*
* Macro that looks at the list of co-routines that are currently delayed to
* see if any require waking.
*
* Co-routines are stored in the queue in the order of their wake time -
* meaning once one co-routine has been found whose timer has not expired
* we need not look any further down the list.
*/
static void prvCheckDelayedList( void );

/*-----------------------------------------------------------*/

BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
{
BaseType_t xReturn;
CRCB_t *pxCoRoutine;

   /* Allocate the memory that will store the co-routine control block. */
   pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
   if( pxCoRoutine )
   {
       /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
       be created and the co-routine data structures need initialising. */
       if( pxCurrentCoRoutine == NULL )
       {
           pxCurrentCoRoutine = pxCoRoutine;
           prvInitialiseCoRoutineLists();
       }

       /* Check the priority is within limits. */
       if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
       {
           uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
       }

       /* Fill out the co-routine control block from the function parameters. */
       pxCoRoutine->uxState = corINITIAL_STATE;
       pxCoRoutine->uxPriority = uxPriority;
       pxCoRoutine->uxIndex = uxIndex;
       pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;

       /* Initialise all the other co-routine control block parameters. */
       vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
       vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );

       /* Set the co-routine control block as a link back from the ListItem_t.
       This is so we can get back to the containing CRCB from a generic item
       in a list. */
       listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
       listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );

/* Event lists are always in priority order. */
listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );

       /* Now the co-routine has been initialised it can be added to the ready
       list at the correct priority. */
       prvAddCoRoutineToReadyQueue( pxCoRoutine );

       xReturn = pdPASS;
   }
   else
   {
       xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
   }

return xReturn;
}
/*-----------------------------------------------------------*/

void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
{
TickType_t xTimeToWake;

   /* Calculate the time to wake - this may overflow but this is
   not a problem. */
   xTimeToWake = xCoRoutineTickCount + xTicksToDelay;

   /* We must remove ourselves from the ready list before adding
   ourselves to the blocked list as the same list item is used for
   both lists. */
   ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );

/* The list item will be inserted in wake time order. */
listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );

   if( xTimeToWake < xCoRoutineTickCount )
   {
       /* Wake time has overflowed. Place this item in the
       overflow list. */
       vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
   }
   else
   {
       /* The wake time has not overflowed, so we can use the
       current block list. */
       vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
   }

   if( pxEventList )
   {
       /* Also add the co-routine to an event list. If this is done then the
       function must be called with interrupts disabled. */
       vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
   }
}
/*-----------------------------------------------------------*/

static void prvCheckPendingReadyList( void )
{
   /* Are there any co-routines waiting to get moved to the ready list? These
   are co-routines that have been readied by an ISR. The ISR cannot access
   the   ready lists itself. */
   while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
   {
       CRCB_t *pxUnblockedCRCB;

       /* The pending ready list can be accessed by an ISR. */
       portDISABLE_INTERRUPTS();
       {
           pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
           ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
       }
       portENABLE_INTERRUPTS();

       ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
       prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
   }
}
/*-----------------------------------------------------------*/

static void prvCheckDelayedList( void )
{
CRCB_t *pxCRCB;

   xPassedTicks = xTaskGetTickCount() - xLastTickCount;
   while( xPassedTicks )
   {
       xCoRoutineTickCount++;
       xPassedTicks--;

       /* If the tick count has overflowed we need to swap the ready lists. */
       if( xCoRoutineTickCount == 0 )
       {
           List_t * pxTemp;

           /* Tick count has overflowed so we need to swap the delay lists. If there are
           any items in pxDelayedCoRoutineList here then there is an error! */
           pxTemp = pxDelayedCoRoutineList;
           pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
           pxOverflowDelayedCoRoutineList = pxTemp;
       }

       /* See if this tick has made a timeout expire. */
       while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
       {
           pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );

           if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
           {
               /* Timeout not yet expired. */
               break;
           }

           portDISABLE_INTERRUPTS();
           {
               /* The event could have occurred just before this critical
               section. If this is the case then the generic list item will
               have been moved to the pending ready list and the following
               line is still valid. Also the pvContainer parameter will have
               been set to NULL so the following lines are also valid. */
               ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );

               /* Is the co-routine waiting on an event also? */
               if( pxCRCB->xEventListItem.pvContainer )
               {
                   ( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
               }
           }
           portENABLE_INTERRUPTS();

           prvAddCoRoutineToReadyQueue( pxCRCB );
       }
   }

xLastTickCount = xCoRoutineTickCount;
}
/*-----------------------------------------------------------*/

void vCoRoutineSchedule( void )
{
/* See if any co-routines readied by events need moving to the ready lists. */
prvCheckPendingReadyList();

/* See if any delayed co-routines have timed out. */
prvCheckDelayedList();

   /* Find the highest priority queue that contains ready co-routines. */
   while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
   {
       if( uxTopCoRoutineReadyPriority == 0 )
       {
           /* No more co-routines to check. */
           return;
       }
       --uxTopCoRoutineReadyPriority;
   }

   /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
   of the   same priority get an equal share of the processor time. */
   listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );

/* Call the co-routine. */
( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );

return;
}
/*-----------------------------------------------------------*/

static void prvInitialiseCoRoutineLists( void )
{
UBaseType_t uxPriority;

   for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
   {
       vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
   }

   vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
   vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
   vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );

   /* Start with pxDelayedCoRoutineList using list1 and the
   pxOverflowDelayedCoRoutineList using list2. */
   pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
   pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
}
/*-----------------------------------------------------------*/

BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
{
CRCB_t *pxUnblockedCRCB;
BaseType_t xReturn;

   /* This function is called from within an interrupt. It can only access
   event lists and the pending ready list. This function assumes that a
   check has already been made to ensure pxEventList is not empty. */
   pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
   ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
   vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );

   if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
   {
       xReturn = pdTRUE;
   }
   else
   {
       xReturn = pdFALSE;
   }

return xReturn;
}

#endif /* configUSE_CO_ROUTINES == 0 */

event_groups.c //

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

1 tab == 4 spaces!
*/

/* Standard includes. */
#include <stdlib.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 "event_groups.h"

/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
header files above, but not in this file, in order to generate the correct
privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */

/* The following bit fields convey control information in a task's event list
item value. It is important they don't clash with the
taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
#if configUSE_16_BIT_TICKS == 1
   #define eventCLEAR_EVENTS_ON_EXIT_BIT   0x0100U
   #define eventUNBLOCKED_DUE_TO_BIT_SET   0x0200U
   #define eventWAIT_FOR_ALL_BITS           0x0400U
   #define eventEVENT_BITS_CONTROL_BYTES   0xff00U
#else
   #define eventCLEAR_EVENTS_ON_EXIT_BIT   0x01000000UL
   #define eventUNBLOCKED_DUE_TO_BIT_SET   0x02000000UL
   #define eventWAIT_FOR_ALL_BITS           0x04000000UL
   #define eventEVENT_BITS_CONTROL_BYTES   0xff000000UL
#endif

typedef struct xEventGroupDefinition
{
EventBits_t uxEventBits;
List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */

   #if( configUSE_TRACE_FACILITY == 1 )
       UBaseType_t uxEventGroupNumber;
   #endif

   #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
       uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
   #endif
} EventGroup_t;

/*-----------------------------------------------------------*/

/*
* Test the bits set in uxCurrentEventBits to see if the wait condition is met.
* The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is
* pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor
* are also set in uxCurrentEventBits. If xWaitForAllBits is pdFALSE then the
* wait condition is met if any of the bits set in uxBitsToWait for are also set
* in uxCurrentEventBits.
*/
static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION;

/*-----------------------------------------------------------*/

#if( configSUPPORT_STATIC_ALLOCATION == 1 )

   EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer )
   {
   EventGroup_t *pxEventBits;

/* A StaticEventGroup_t object must be provided. */
configASSERT( pxEventGroupBuffer );

/* The user has provided a statically allocated event group - use it. */
pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 EventGroup_t and StaticEventGroup_t are guaranteed to have the same size and alignment requirement - checked by configASSERT(). */

       if( pxEventBits != NULL )
       {
           pxEventBits->uxEventBits = 0;
           vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );

           #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
           {
               /* Both static and dynamic allocation can be used, so note that
               this event group was created statically in case the event group
               is later deleted. */
               pxEventBits->ucStaticallyAllocated = pdTRUE;
           }
           #endif /* configSUPPORT_DYNAMIC_ALLOCATION */

           traceEVENT_GROUP_CREATE( pxEventBits );
       }
       else
       {
           traceEVENT_GROUP_CREATE_FAILED();
       }

return ( EventGroupHandle_t ) pxEventBits;
}

#endif /* configSUPPORT_STATIC_ALLOCATION */
/*-----------------------------------------------------------*/

#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

   EventGroupHandle_t xEventGroupCreate( void )
   {
   EventGroup_t *pxEventBits;

/* Allocate the event group. */
pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) );

       if( pxEventBits != NULL )
       {
           pxEventBits->uxEventBits = 0;
           vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );

           #if( configSUPPORT_STATIC_ALLOCATION == 1 )
           {
               /* Both static and dynamic allocation can be used, so note this
               event group was allocated statically in case the event group is
               later deleted. */
               pxEventBits->ucStaticallyAllocated = pdFALSE;
           }
           #endif /* configSUPPORT_STATIC_ALLOCATION */

           traceEVENT_GROUP_CREATE( pxEventBits );
       }
       else
       {
           traceEVENT_GROUP_CREATE_FAILED();
       }

return ( EventGroupHandle_t ) pxEventBits;
}

#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
/*-----------------------------------------------------------*/

EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )
{
EventBits_t uxOriginalBitValue, uxReturn;
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
BaseType_t xAlreadyYielded;
BaseType_t xTimeoutOccurred = pdFALSE;

   configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
   configASSERT( uxBitsToWaitFor != 0 );
   #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
   {
       configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
   }
   #endif

   vTaskSuspendAll();
   {
       uxOriginalBitValue = pxEventBits->uxEventBits;

( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet );

       if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor )
       {
           /* All the rendezvous bits are now set - no need to block. */
           uxReturn = ( uxOriginalBitValue | uxBitsToSet );

           /* Rendezvous always clear the bits. They will have been cleared
           already unless this is the only task in the rendezvous. */
           pxEventBits->uxEventBits &= ~uxBitsToWaitFor;

           xTicksToWait = 0;
       }
       else
       {
           if( xTicksToWait != ( TickType_t ) 0 )
           {
               traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor );

               /* Store the bits that the calling task is waiting for in the
               task's event list item so the kernel knows when a match is
               found. Then enter the blocked state. */
               vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait );

               /* This assignment is obsolete as uxReturn will get set after
               the task unblocks, but some compilers mistakenly generate a
               warning about uxReturn being returned without being set if the
               assignment is omitted. */
               uxReturn = 0;
           }
           else
           {
               /* The rendezvous bits were not set, but no block time was
               specified - just return the current event bit value. */
               uxReturn = pxEventBits->uxEventBits;
           }
       }
   }
   xAlreadyYielded = xTaskResumeAll();

   if( xTicksToWait != ( TickType_t ) 0 )
   {
       if( xAlreadyYielded == pdFALSE )
       {
           portYIELD_WITHIN_API();
       }
       else
       {
           mtCOVERAGE_TEST_MARKER();
       }

       /* The task blocked to wait for its required bits to be set - at this
       point either the required bits were set or the block time expired. If
       the required bits were set they will have been stored in the task's
       event list item, and they should now be retrieved then cleared. */
       uxReturn = uxTaskResetEventItemValue();

       if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
       {
           /* The task timed out, just return the current event bit value. */
           taskENTER_CRITICAL();
           {
               uxReturn = pxEventBits->uxEventBits;

               /* Although the task got here because it timed out before the
               bits it was waiting for were set, it is possible that since it
               unblocked another task has set the bits. If this is the case
               then it needs to clear the bits before exiting. */
               if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor )
               {
                   pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
               }
               else
               {
                   mtCOVERAGE_TEST_MARKER();
               }
           }
           taskEXIT_CRITICAL();

           xTimeoutOccurred = pdTRUE;
       }
       else
       {
           /* The task unblocked because the bits were set. */
       }

       /* Control bits might be set as the task had blocked should not be
       returned. */
       uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
   }

traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred );

return uxReturn;
}
/*-----------------------------------------------------------*/

EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait )
{
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
EventBits_t uxReturn, uxControlBits = 0;
BaseType_t xWaitConditionMet, xAlreadyYielded;
BaseType_t xTimeoutOccurred = pdFALSE;

   /* Check the user is not attempting to wait on the bits used by the kernel
   itself, and that at least one bit is being requested. */
   configASSERT( xEventGroup );
   configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
   configASSERT( uxBitsToWaitFor != 0 );
   #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
   {
       configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
   }
   #endif

   vTaskSuspendAll();
   {
       const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;

/* Check to see if the wait condition is already met or not. */
xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits );

       if( xWaitConditionMet != pdFALSE )
       {
           /* The wait condition has already been met so there is no need to
           block. */
           uxReturn = uxCurrentEventBits;
           xTicksToWait = ( TickType_t ) 0;

           /* Clear the wait bits if requested to do so. */
           if( xClearOnExit != pdFALSE )
           {
               pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
           }
           else
           {
               mtCOVERAGE_TEST_MARKER();
           }
       }
       else if( xTicksToWait == ( TickType_t ) 0 )
       {
           /* The wait condition has not been met, but no block time was
           specified, so just return the current value. */
           uxReturn = uxCurrentEventBits;
       }
       else
       {
           /* The task is going to block to wait for its required bits to be
           set. uxControlBits are used to remember the specified behaviour of
           this call to xEventGroupWaitBits() - for use when the event bits
           unblock the task. */
           if( xClearOnExit != pdFALSE )
           {
               uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT;
           }
           else
           {
               mtCOVERAGE_TEST_MARKER();
           }

           if( xWaitForAllBits != pdFALSE )
           {
               uxControlBits |= eventWAIT_FOR_ALL_BITS;
           }
           else
           {
               mtCOVERAGE_TEST_MARKER();
           }

           /* Store the bits that the calling task is waiting for in the
           task's event list item so the kernel knows when a match is
           found. Then enter the blocked state. */
           vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait );

           /* This is obsolete as it will get set after the task unblocks, but
           some compilers mistakenly generate a warning about the variable
           being returned without being set if it is not done. */
           uxReturn = 0;

           traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
       }
   }
   xAlreadyYielded = xTaskResumeAll();

       if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
       {
           taskENTER_CRITICAL();
           {
               /* The task timed out, just return the current event bit value. */
               uxReturn = pxEventBits->uxEventBits;

               /* It is possible that the event bits were updated between this
               task leaving the Blocked state and running again. */
               if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE )
               {
                   if( xClearOnExit != pdFALSE )
                   {
                       pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
                   }
                   else
                   {
                       mtCOVERAGE_TEST_MARKER();
                   }
               }
               else
               {
                   mtCOVERAGE_TEST_MARKER();
               }
           }
           taskEXIT_CRITICAL();

           /* Prevent compiler warnings when trace macros are not used. */
           xTimeoutOccurred = pdFALSE;
       }
       else
       {
           /* The task unblocked because the bits were set. */
       }

       /* The task blocked so control bits may have been set. */
       uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
   }
   traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred );

return uxReturn;
}
/*-----------------------------------------------------------*/

EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
{
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
EventBits_t uxReturn;

   /* Check the user is not attempting to clear the bits used by the kernel
   itself. */
   configASSERT( xEventGroup );
   configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );

   taskENTER_CRITICAL();
   {
       traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );

       /* The value returned is the event group value prior to the bits being
       cleared. */
       uxReturn = pxEventBits->uxEventBits;

       /* Clear the bits. */
       pxEventBits->uxEventBits &= ~uxBitsToClear;
   }
   taskEXIT_CRITICAL();

return uxReturn;
}
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )

   BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
   {
       BaseType_t xReturn;

traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear );
xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL );

return xReturn;
}

#endif
/*-----------------------------------------------------------*/

EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
{
UBaseType_t uxSavedInterruptStatus;
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
EventBits_t uxReturn;

   uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
   {
       uxReturn = pxEventBits->uxEventBits;
   }
   portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );

return uxReturn;
}
/*-----------------------------------------------------------*/

EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )
{
ListItem_t *pxListItem, *pxNext;
ListItem_t const *pxListEnd;
List_t *pxList;
EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits;
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
BaseType_t xMatchFound = pdFALSE;

   /* Check the user is not attempting to set the bits used by the kernel
   itself. */
   configASSERT( xEventGroup );
   configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );

   pxList = &( pxEventBits->xTasksWaitingForBits );
   pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
   vTaskSuspendAll();
   {
       traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );

pxListItem = listGET_HEAD_ENTRY( pxList );

/* Set the bits. */
pxEventBits->uxEventBits |= uxBitsToSet;

       /* See if the new bit value should unblock any tasks. */
       while( pxListItem != pxListEnd )
       {
           pxNext = listGET_NEXT( pxListItem );
           uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem );
           xMatchFound = pdFALSE;

           /* Split the bits waited for from the control bits. */
           uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES;
           uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES;

           if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 )
           {
               /* Just looking for single bit being set. */
               if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 )
               {
                   xMatchFound = pdTRUE;
               }
               else
               {
                   mtCOVERAGE_TEST_MARKER();
               }
           }
           else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor )
           {
               /* All bits are set. */
               xMatchFound = pdTRUE;
           }
           else
           {
               /* Need all bits to be set, but not all the bits were set. */
           }

           if( xMatchFound != pdFALSE )
           {
               /* The bits match. Should the bits be cleared on exit? */
               if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 )
               {
                   uxBitsToClear |= uxBitsWaitedFor;
               }
               else
               {
                   mtCOVERAGE_TEST_MARKER();
               }

               /* Store the actual event flag value in the task's event list
               item before removing the task from the event list. The
               eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows
               that is was unblocked due to its required bits matching, rather
               than because it timed out. */
               ( void ) xTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET );
           }

           /* Move onto the next list item. Note pxListItem->pxNext is not
           used here as the list item may have been removed from the event list
           and inserted into the ready/pending reading list. */
           pxListItem = pxNext;
       }

       /* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT
       bit was set in the control word. */
       pxEventBits->uxEventBits &= ~uxBitsToClear;
   }
   ( void ) xTaskResumeAll();

return pxEventBits->uxEventBits;
}
/*-----------------------------------------------------------*/

void vEventGroupDelete( EventGroupHandle_t xEventGroup )
{
EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;
const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );

   vTaskSuspendAll();
   {
       traceEVENT_GROUP_DELETE( xEventGroup );

       while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
       {
           /* Unblock the task, returning 0 as the event list is being deleted
           and   cannot therefore have any bits set. */
           configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
           ( void ) xTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
       }

       #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
       {
           /* The event group can only have been allocated dynamically - free
           it again. */
           vPortFree( pxEventBits );
       }
       #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
       {
           /* The event group could have been allocated statically or
           dynamically, so check before attempting to free the memory. */
           if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
           {
               vPortFree( pxEventBits );
           }
           else
           {
               mtCOVERAGE_TEST_MARKER();
           }
       }
       #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
   }
   ( void ) xTaskResumeAll();
}
/*-----------------------------------------------------------*/

/* For internal use only - execute a 'set bits' command that was pended from
an interrupt. */
void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet )
{
( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet );
}
/*-----------------------------------------------------------*/

/* For internal use only - execute a 'clear bits' command that was pended from
an interrupt. */
void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear )
{
( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear );
}
/*-----------------------------------------------------------*/

static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits )
{
BaseType_t xWaitConditionMet = pdFALSE;

   if( xWaitForAllBits == pdFALSE )
   {
       /* Task only has to wait for one bit within uxBitsToWaitFor to be
       set. Is one already set? */
       if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 )
       {
           xWaitConditionMet = pdTRUE;
       }
       else
       {
           mtCOVERAGE_TEST_MARKER();
       }
   }
   else
   {
       /* Task has to wait for all the bits in uxBitsToWaitFor to be set.
       Are they set already? */
       if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor )
       {
           xWaitConditionMet = pdTRUE;
       }
       else
       {
           mtCOVERAGE_TEST_MARKER();
       }
   }

return xWaitConditionMet;
}
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )

   BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken )
   {
   BaseType_t xReturn;

traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet );
xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken );

return xReturn;
}

#endif
/*-----------------------------------------------------------*/

#if (configUSE_TRACE_FACILITY == 1)

   UBaseType_t uxEventGroupGetNumber( void* xEventGroup )
   {
   UBaseType_t xReturn;
   EventGroup_t *pxEventBits = ( EventGroup_t * ) xEventGroup;

       if( xEventGroup == NULL )
       {
           xReturn = 0;
       }
       else
       {
           xReturn = pxEventBits->uxEventGroupNumber;
       }

return xReturn;
}

#endif

FreeRTOSCommonHooks.c ///

/*
File Name : FreeRTOSCommonHooks.c
Author : Yichip
Version : V1.0
Date : 2021/8/16
Description : FreeRTOS Common Hooks encapsulation.
*/
#include "FreeRTOS.h"
#include "task.h"
#include "system.h"

void vApplicationIdleHook( void )
{
   /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
   to 1 in FreeRTOSConfig.h. It will be called on each iteration of the idle
   task. It is essential that code added to this hook function never attempts
   to block in any way (for example, call xQueueReceive() with a block time
   specified, or call vTaskDelay()). If the application makes use of the
   vTaskDelete() API function (as this demo application does) then it is also
   important that vApplicationIdleHook() is permitted to return to its calling
   function, because it is the responsibility of the idle task to clean up
   memory allocated by the kernel to any task that has since been deleted. */

asm("wfi");
}

__attribute__((noreturn)) void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName )
{
( void ) pcTaskName;
( void ) pxTask;

   /* Run time stack overflow checking is performed if
   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook
   function is called if a stack overflow is detected. */
   taskDISABLE_INTERRUPTS();

   MyPrintf("*********************\n");
   MyPrintf("* Stack Overflow *\n");
   MyPrintf("*********************\n");
   MyPrintf("* *\n");
   MyPrintf("* Task Name: *\n");
   MyPrintf("* %-17s *\n", pcTaskName);
   MyPrintf("* *\n");
   MyPrintf("*********************\n");

while (1)
;
}

__attribute__((noreturn)) void vApplicationMallocFailedHook( size_t xWantedSize )
{
   /* Called if a call to pvPortMalloc() fails because there is insufficient
   free memory available in the FreeRTOS heap. pvPortMalloc() is called
   internally by FreeRTOS API functions that create tasks, queues, software
   timers, and semaphores. The size of the FreeRTOS heap is set by the
   configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
   taskDISABLE_INTERRUPTS();

MyPrintf("*********************\n");
MyPrintf("* Malloc failed *\n");
MyPrintf("*********************\n");
MyPrintf("* *\n");
MyPrintf("* Size: %-10d *\n", xWantedSize);
MyPrintf("* *\n");
MyPrintf("*********************\n");

while (1)
;
}

void vApplicationTickHook( void )
{
   /* This function will be called by each tick interrupt if
   configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h. User code can be
   added here, but the tick hook is called from an interrupt context, so
   code must not attempt to block, and only the interrupt safe FreeRTOS API
   functions can be used (those that end in FromISR()). */
}

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
used by the Idle task. */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
/* If the buffers to be provided to the Idle task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];

/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
state will be stored. */
*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

/* Pass out the array that will be used as the Idle task's stack. */
*ppxIdleTaskStackBuffer = uxIdleTaskStack;

/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
Note that, as the array is necessarily of type StackType_t,
configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}

/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
{
/* If the buffers to be provided to the Timer task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

/* Pass out a pointer to the StaticTask_t structure in which the Timer
task's state will be stored. */
*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

/* Pass out the array that will be used as the Timer task's stack. */
*ppxTimerTaskStackBuffer = uxTimerTaskStack;

/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
Note that, as the array is necessarily of type StackType_t,
configMINIMAL_STACK_SIZE is specified in words, not bytes. */
*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}
#endif

FreeRTOSConfig.h /

/*
* FreeRTOS Kernel V10.0.1
* Copyright (C) 2017 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.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "yc3121.h"
#include "platform.h"

/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION                   1
#define configUSE_IDLE_HOOK                       1
#define configUSE_TICK_HOOK                       0
#define configCPU_CLOCK_HZ                       ( CPU_MHZ )
#define configTICK_RATE_HZ                       ( ( TickType_t ) TICK_RATE_HZ )
#define configMAX_PRIORITIES                   ( 5 )
#define configMINIMAL_STACK_SIZE               ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE                   ( ( size_t ) ( 15 * 1024 ) )
#define configMAX_TASK_NAME_LEN                   ( 8 )
#define configUSE_TRACE_FACILITY               0
#define configUSE_16_BIT_TICKS                   0
#define configIDLE_SHOULD_YIELD                   1

#define configUSE_MUTEXES                       1
#define configCHECK_FOR_STACK_OVERFLOW               1
#define configGENERATE_RUN_TIME_STATS                   0
#define configUSE_RECURSIVE_MUTEXES                       1
#define configQUEUE_REGISTRY_SIZE                   0
#define configUSE_COUNTING_SEMAPHORES                   0
#define configUSE_MALLOC_FAILED_HOOK                   1
#define configUSE_APPLICATION_TASK_TAG                   0
#define configUSE_PORT_OPTIMISED_TASK_SELECTION           0
#define configUSE_TASK_EXTENSION         0

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES (2)

/* Software timer definitions. */
#define configUSE_TIMERS                           1
#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH                       5
#define configTIMER_TASK_STACK_DEPTH           ( configMINIMAL_STACK_SIZE * 5 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet                       1
#define INCLUDE_uxTaskPriorityGet                       1
#define INCLUDE_vTaskDelete                               1
#define INCLUDE_vTaskCleanUpResources                   0
#define INCLUDE_vTaskSuspend                           1
#define INCLUDE_vTaskDelayUntil                           1
#define INCLUDE_vTaskDelay                               1

/* This demo makes use of one or more example stats formatting functions. These
format the raw data provided by the uxTaskGetSystemState() function in to human
readable ASCII form. See the notes in the implementation of vTaskList() within
FreeRTOS/Source/tasks.c for limitations. */
#define configUSE_STATS_FORMATTING_FUNCTIONS 0

/*
enable queue sets
*/
#define configUSE_QUEUE_SETS 1

#endif /* FREERTOS_CONFIG_H */

list.c

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

1 tab == 4 spaces!
*/

#include <stdlib.h>
#include "FreeRTOS.h"
#include "list.h"

/*-----------------------------------------------------------
* PUBLIC LIST API documented in list.h
*----------------------------------------------------------*/

void vListInitialise( List_t * const pxList )
{
   /* The list structure contains a list item which is used to mark the
   end of the list. To initialise the list the list end is inserted
   as the only list entry. */
   pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd );           /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */

   /* The list end value is the highest possible value in the list to
   ensure it remains at the end of the list. */
   pxList->xListEnd.xItemValue = portMAX_DELAY;

   /* The list end next and previous pointers point to itself so we know
   when the list is empty. */
   pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd );   /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
   pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */

pxList->uxNumberOfItems = ( UBaseType_t ) 0U;

   /* Write known values into the list if
   configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
   listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
   listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
}
/*-----------------------------------------------------------*/

void vListInitialiseItem( ListItem_t * const pxItem )
{
/* Make sure the list item is not recorded as being on a list. */
pxItem->pvContainer = NULL;

   /* Write known values into the list item if
   configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
   listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
   listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
}
/*-----------------------------------------------------------*/

void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
{
ListItem_t * const pxIndex = pxList->pxIndex;

   /* Only effective when configASSERT() is also defined, these tests may catch
   the list data structures being overwritten in memory. They will not catch
   data errors caused by incorrect configuration or use of FreeRTOS. */
   listTEST_LIST_INTEGRITY( pxList );
   listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );

   /* Insert a new list item into pxList, but rather than sort the list,
   makes the new list item the last item to be removed by a call to
   listGET_OWNER_OF_NEXT_ENTRY(). */
   pxNewListItem->pxNext = pxIndex;
   pxNewListItem->pxPrevious = pxIndex->pxPrevious;

/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();

pxIndex->pxPrevious->pxNext = pxNewListItem;
pxIndex->pxPrevious = pxNewListItem;

/* Remember which list the item is in. */
pxNewListItem->pvContainer = ( void * ) pxList;

( pxList->uxNumberOfItems )++;
}
/*-----------------------------------------------------------*/

void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
{
ListItem_t *pxIterator;
const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;

/* Insert the new list item into the list, sorted in xItemValue order.

   If the list already contains a list item with the same item value then the
   new list item should be placed after it. This ensures that TCB's which are
   stored in ready lists (all of which have the same xItemValue value) get a
   share of the CPU. However, if the xItemValue is the same as the back marker
   the iteration loop below will not end. Therefore the value is checked
   first, and the algorithm slightly modified if necessary. */
   if( xValueOfInsertion == portMAX_DELAY )
   {
       pxIterator = pxList->xListEnd.pxPrevious;
   }
   else
   {
       /* *** NOTE ***********************************************************
       If you find your application is crashing here then likely causes are
       listed below. In addition see http://www.freertos.org/FAQHelp.html for
       more tips, and ensure configASSERT() is defined!
       http://www.freertos.org/a00110.html#configASSERT

           1) Stack overflow -
           see http://www.freertos.org/Stacks-and-stack-overflow-checking.html
           2) Incorrect interrupt priority assignment, especially on Cortex-M
           parts where numerically high priority values denote low actual
           interrupt priorities, which can seem counter intuitive. See
           http://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
           of configMAX_SYSCALL_INTERRUPT_PRIORITY on
           http://www.freertos.org/a00110.html
           3) Calling an API function from within a critical section or when
           the scheduler is suspended, or calling an API function that does
           not end in "FromISR" from an interrupt.
           4) Using a queue or semaphore before it has been initialised or
           before the scheduler has been started (are interrupts firing
           before vTaskStartScheduler() has been called?).
       **********************************************************************/

       for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM. This is checked and valid. */
       {
           /* There is nothing to do here, just iterating to the wanted
           insertion position. */
       }
   }

   pxNewListItem->pxNext = pxIterator->pxNext;
   pxNewListItem->pxNext->pxPrevious = pxNewListItem;
   pxNewListItem->pxPrevious = pxIterator;
   pxIterator->pxNext = pxNewListItem;

   /* Remember which list the item is in. This allows fast removal of the
   item later. */
   pxNewListItem->pvContainer = ( void * ) pxList;

( pxList->uxNumberOfItems )++;
}
/*-----------------------------------------------------------*/

UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
{
/* The list item knows which list it is in. Obtain the list from the list
item. */
List_t * const pxList = ( List_t * ) pxItemToRemove->pvContainer;

pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;

/* Only used during decision coverage testing. */
mtCOVERAGE_TEST_DELAY();

   /* Make sure the index is left pointing to a valid item. */
   if( pxList->pxIndex == pxItemToRemove )
   {
       pxList->pxIndex = pxItemToRemove->pxPrevious;
   }
   else
   {
       mtCOVERAGE_TEST_MARKER();
   }

pxItemToRemove->pvContainer = NULL;
( pxList->uxNumberOfItems )--;

return pxList->uxNumberOfItems;
}
/*-----------------------------------------------------------*/

platform.h

#ifndef __PLATFORM_H__
#define __PLATFORM_H__

#define TICK_RATE_HZ (1000)
#define TICK_PERIOD_MS (1000 / TICK_RATE_HZ)
#define HZ TICK_RATE_HZ

#endif