Save local changes (4 yrs later)

.cproject

@@ -19,13 +19,13 @@
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.532628310" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.652511941" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.1135102548" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" useByScannerDiscovery="false" value="7-2018-q2-update" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.600661023" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F407VETx" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.600661023" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F407VETx" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.613077227" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.613077227" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1956238722" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1956238722" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.1705263492" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.1475171026" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.190661663" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1164886640" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy || ../ ||  || USE_HAL_DRIVER | USE_FULL_LL_DRIVER | STM32F407xx ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1164886640" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Core/Inc || ../ ||  || USE_HAL_DRIVER | USE_FULL_LL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1035939565" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/F407_test}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.1825032861" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.1085634518" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -33,7 +33,7 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.1727002756" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" valueType="includePath">
 									<listOptionValue builtIn="false" value="../"/>
 								</option>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1852778643" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1852778643" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.372114373" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
@@ -48,7 +48,6 @@
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.1950099691" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
@@ -59,6 +58,7 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1241302501" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -66,7 +66,6 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.255026093" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.1414906794" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.310754502" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
@@ -77,6 +76,7 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1413855680" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -112,12 +112,11 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Startup"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Src"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry excluding="test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="platforms"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="components"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="components"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>
@@ -142,13 +141,13 @@
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.1251221725" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.417538228" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.version.1941725420" name="Internal Toolchain Version" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.version" useByScannerDiscovery="false" value="7-2018-q2-update" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.389674656" name="Mcu" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F407VETx" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu.389674656" name="MCU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_mcu" useByScannerDiscovery="true" value="STM32F407VETx" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.129373496" name="CpuId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.129373496" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1772175990" name="CpuCoreId" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.1772175990" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.190418178" name="Floating-point unit" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.fpu.value.fpv4-sp-d16" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.477944895" name="Floating-point ABI" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi" useByScannerDiscovery="true" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.floatabi.value.hard" valueType="enumerated"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.1490958290" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1454046747" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Inc | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy || ../ ||  || USE_HAL_DRIVER | USE_FULL_LL_DRIVER | STM32F407xx ||  || Drivers | Src | Startup ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.1454046747" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F407VETx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Middlewares/Third_Party/FreeRTOS/Source/include | ../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F | ../Drivers/CMSIS/Include | ../Drivers/STM32F4xx_HAL_Driver/Inc | ../Drivers/CMSIS/Device/ST/STM32F4xx/Include | ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 | ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy | ../Core/Inc || ../ ||  || USE_HAL_DRIVER | USE_FULL_LL_DRIVER | STM32F407xx ||  || Drivers | Core/Startup | Middlewares | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F407VETX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.572225395" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/F407_test}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.152384211" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.403368501" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -168,7 +167,6 @@
 									<listOptionValue builtIn="false" value="STM32F407xx"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.871297842" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
@@ -179,6 +177,7 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.2118994447" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
 							</tool>
@@ -186,7 +185,6 @@
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.1023736404" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.777129193" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.optimization.level.value.o3" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths.1813982806" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
-									<listOptionValue builtIn="false" value="../Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Include"/>
 									<listOptionValue builtIn="false" value="../Drivers/STM32F4xx_HAL_Driver/Inc"/>
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F4xx/Include"/>
@@ -197,6 +195,7 @@
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/include"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2"/>
 									<listOptionValue builtIn="false" value="../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F"/>
+									<listOptionValue builtIn="false" value="../Core/Inc"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols.1891229407" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.cpp.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
@@ -232,12 +231,11 @@
 						</toolChain>
 					</folderInfo>
 					<sourceEntries>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Startup"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="App"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Src"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Core"/>
 						<entry excluding="test" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="platforms"/>
-						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="components"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Middlewares"/>
+						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="components"/>
 						<entry flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="Drivers"/>
 					</sourceEntries>
 				</configuration>

Core/Inc/FreeRTOSConfig.h

@@ -52,6 +52,10 @@
   #include <stdint.h>
   extern uint32_t SystemCoreClock;
 #endif
+#ifndef CMSIS_device_header
+#define CMSIS_device_header "stm32f4xx.h"
+#endif /* CMSIS_device_header */
+
 #define configENABLE_FPU                         0
 #define configENABLE_MPU                         0
 
@@ -89,6 +93,17 @@
 #define configTIMER_QUEUE_LENGTH                 10
 #define configTIMER_TASK_STACK_DEPTH             256
 
+/* The following flag must be enabled only when using newlib */
+#define configUSE_NEWLIB_REENTRANT          1
+
+/* CMSIS-RTOS V2 flags */
+#define configUSE_OS2_THREAD_SUSPEND_RESUME  1
+#define configUSE_OS2_THREAD_ENUMERATE       1
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR    1
+#define configUSE_OS2_THREAD_FLAGS           1
+#define configUSE_OS2_TIMER                  1
+#define configUSE_OS2_MUTEX                  1
+
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet             1
@@ -102,6 +117,7 @@ to exclude the API function. */
 #define INCLUDE_xTimerPendFunctionCall       1
 #define INCLUDE_xQueueGetMutexHolder         1
 #define INCLUDE_uxTaskGetStackHighWaterMark  1
+#define INCLUDE_xTaskGetCurrentTaskHandle    1
 #define INCLUDE_eTaskGetState                1
 
 /*
@@ -146,10 +162,9 @@ standard names. */
 #define vPortSVCHandler    SVC_Handler
 #define xPortPendSVHandler PendSV_Handler
 
-/* IMPORTANT: This define is commented when used with STM32Cube firmware, when the timebase source is SysTick,
+/* IMPORTANT: After 10.3.1 update, Systick_Handler comes from NVIC (if SYS timebase = systick), otherwise from cmsis_os2.c */
-              to prevent overwriting SysTick_Handler defined within STM32Cube HAL */
 
-#define xPortSysTickHandler SysTick_Handler
+#define USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION 0
 
 /* USER CODE BEGIN Defines */
 /* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

Core/Src/dma.c

@@ -82,13 +82,13 @@ void MX_DMA_Init(void)
 
   /* DMA interrupt init */
   /* DMA2_Stream2_IRQn interrupt configuration */
-  NVIC_SetPriority(DMA2_Stream2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_SetPriority(DMA2_Stream2_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),5, 0));
   NVIC_EnableIRQ(DMA2_Stream2_IRQn);
   /* DMA2_Stream4_IRQn interrupt configuration */
-  NVIC_SetPriority(DMA2_Stream4_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_SetPriority(DMA2_Stream4_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),5, 0));
   NVIC_EnableIRQ(DMA2_Stream4_IRQn);
   /* DMA2_Stream7_IRQn interrupt configuration */
-  NVIC_SetPriority(DMA2_Stream7_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_SetPriority(DMA2_Stream7_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),5, 0));
   NVIC_EnableIRQ(DMA2_Stream7_IRQn);
 
 }

Core/Src/freertos.c

@@ -53,8 +53,8 @@
 osThreadId_t defaultTaskHandle;
 const osThreadAttr_t defaultTask_attributes = {
   .name = "defaultTask",
+  .stack_size = 384 * 4,
   .priority = (osPriority_t) osPriorityNormal,
-  .stack_size = 384 * 4
 };
 
 /* Private function prototypes -----------------------------------------------*/
@@ -100,6 +100,10 @@ void MX_FREERTOS_Init(void) {
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
 
+  /* USER CODE BEGIN RTOS_EVENTS */
+  /* add events, ... */
+  /* USER CODE END RTOS_EVENTS */
+
 }
 
 /* USER CODE BEGIN Header_StartDefaultTask */

Core/Src/main.c

@@ -100,9 +100,10 @@ int main(void)
   MX_CRC_Init();
   MX_SPI2_Init();
   /* USER CODE BEGIN 2 */
-  /* USER CODE END 2 */
   MainLoop();
 
+  /* USER CODE END 2 */
+
   /* Init scheduler */
   osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
   MX_FREERTOS_Init();

Core/Src/stm32f4xx_hal_msp.c

@@ -71,6 +71,8 @@ void HAL_MspInit(void)
   __HAL_RCC_PWR_CLK_ENABLE();
 
   /* System interrupt init*/
+  /* PendSV_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
 
   /* USER CODE BEGIN MspInit 1 */
 

Core/Src/stm32f4xx_hal_timebase_tim.c

@@ -50,6 +50,7 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
   /* Enable the TIM6 global Interrupt */
   HAL_NVIC_EnableIRQ(TIM6_DAC_IRQn);
+
   /* Enable TIM6 clock */
   __HAL_RCC_TIM6_CLK_ENABLE();
 
@@ -58,9 +59,8 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
 
   /* Compute TIM6 clock */
   uwTimclock = 2*HAL_RCC_GetPCLK1Freq();
-
   /* Compute the prescaler value to have TIM6 counter clock equal to 1MHz */
-  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000) - 1);
+  uwPrescalerValue = (uint32_t) ((uwTimclock / 1000000U) - 1U);
 
   /* Initialize TIM6 */
   htim6.Instance = TIM6;
@@ -71,10 +71,11 @@ HAL_StatusTypeDef HAL_InitTick(uint32_t TickPriority)
   + ClockDivision = 0
   + Counter direction = Up
   */
-  htim6.Init.Period = (1000000 / 1000) - 1;
+  htim6.Init.Period = (1000000U / 1000U) - 1U;
   htim6.Init.Prescaler = uwPrescalerValue;
   htim6.Init.ClockDivision = 0;
   htim6.Init.CounterMode = TIM_COUNTERMODE_UP;
+
   if(HAL_TIM_Base_Init(&htim6) == HAL_OK)
   {
     /* Start the TIM time Base generation in interrupt mode */

Core/Src/usart.c

@@ -94,7 +94,7 @@ void MX_USART1_UART_Init(void)
   LL_DMA_DisableFifoMode(DMA2, LL_DMA_STREAM_7);
 
   /* USART1 interrupt Init */
-  NVIC_SetPriority(USART1_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),0, 0));
+  NVIC_SetPriority(USART1_IRQn, NVIC_EncodePriority(NVIC_GetPriorityGrouping(),5, 0));
   NVIC_EnableIRQ(USART1_IRQn);
 
   /* USER CODE BEGIN USART1_Init 1 */

F407_test.ioc

@@ -37,9 +37,10 @@ Dma.USART1_TX.2.PeriphInc=DMA_PINC_DISABLE
 Dma.USART1_TX.2.Priority=DMA_PRIORITY_LOW
 Dma.USART1_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
 FREERTOS.FootprintOK=true
-FREERTOS.IPParameters=Tasks01,configMINIMAL_STACK_SIZE,FootprintOK
+FREERTOS.IPParameters=Tasks01,configMINIMAL_STACK_SIZE,FootprintOK,configUSE_NEWLIB_REENTRANT
 FREERTOS.Tasks01=defaultTask,24,384,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
 FREERTOS.configMINIMAL_STACK_SIZE=128
+FREERTOS.configUSE_NEWLIB_REENTRANT=1
 FSMC.AddressSetupTime1=1
 FSMC.BusTurnAroundDuration1=0
 FSMC.DataSetupTime1=4
@@ -107,25 +108,25 @@ Mcu.UserName=STM32F407VETx
 MxCube.Version=6.3.0
 MxDb.Version=DB.6.0.30
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.DMA2_Stream2_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.DMA2_Stream2_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true
-NVIC.DMA2_Stream4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DMA2_Stream4_IRQn=true\:5\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA2_Stream7_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
+NVIC.DMA2_Stream7_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.PendSV_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
+NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:false\:false\:false
 NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
 NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
 NVIC.SavedPendsvIrqHandlerGenerated=true
 NVIC.SavedSvcallIrqHandlerGenerated=true
 NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false
+NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:false\:false\:false
 NVIC.TIM6_DAC_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:true
 NVIC.TimeBase=TIM6_DAC_IRQn
 NVIC.TimeBaseIP=TIM6
-NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:false\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA10.Mode=Asynchronous
 PA10.Signal=USART1_RX
@@ -236,7 +237,7 @@ ProjectManager.HeapSize=0x200
 ProjectManager.KeepUserCode=true
 ProjectManager.LastFirmware=true
 ProjectManager.LibraryCopy=1
-ProjectManager.MainLocation=Src
+ProjectManager.MainLocation=Core/Src
 ProjectManager.NoMain=false
 ProjectManager.PreviousToolchain=
 ProjectManager.ProjectBuild=false

Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c

@@ -1,6 +1,5 @@
 /* --------------------------------------------------------------------------
- * Portions Copyright © 2019 STMicroelectronics International N.V. All rights reserved.
+ * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
- * Copyright (c) 2013-2019 Arm Limited. All rights reserved.
  *
  * SPDX-License-Identifier: Apache-2.0
  *
@@ -24,13 +23,16 @@
 #include <string.h>
 
 #include "cmsis_os2.h"                  // ::CMSIS:RTOS2
-#include "cmsis_compiler.h"
+#include "cmsis_compiler.h"             // Compiler agnostic definitions
 
 #include "FreeRTOS.h"                   // ARM.FreeRTOS::RTOS:Core
 #include "task.h"                       // ARM.FreeRTOS::RTOS:Core
 #include "event_groups.h"               // ARM.FreeRTOS::RTOS:Event Groups
 #include "semphr.h"                     // ARM.FreeRTOS::RTOS:Core
 
+#include "freertos_mpool.h"             // osMemoryPool definitions
+#include "freertos_os2.h"               // Configuration check and setup
+
 /*---------------------------------------------------------------------------*/
 #ifndef __ARM_ARCH_6M__
   #define __ARM_ARCH_6M__         0
@@ -73,7 +75,9 @@
 #define IS_IRQ_MODE()             (__get_IPSR() != 0U)
 #endif
 
-#define IS_IRQ()                  (IS_IRQ_MODE() || (IS_IRQ_MASKED() && (KernelState == osKernelRunning)))
+#define IS_IRQ()                  IS_IRQ_MODE()
+
+#define SVCall_IRQ_NBR            (IRQn_Type) -5	/* SVCall_IRQ_NBR added as SV_Call handler name is not the same for CM0 and for all other CMx */
 
 /* Limits */
 #define MAX_BITS_TASK_NOTIFY      31U
@@ -108,7 +112,7 @@ static osKernelState_t KernelState = osKernelInactive;
   definition configHEAP_5_REGIONS as parameter. Overriding configHEAP_5_REGIONS
   is possible by defining it globally or in FreeRTOSConfig.h.
 */
-#if defined(USE_FREERTOS_HEAP_5)
+#if defined(USE_FreeRTOS_HEAP_5)
 #if (configAPPLICATION_ALLOCATED_HEAP == 0)
   /*
     FreeRTOS heap is not defined by the application.
@@ -138,7 +142,7 @@ static osKernelState_t KernelState = osKernelInactive;
   */
   #define HEAP_5_REGION_SETUP   0
 #endif /* configAPPLICATION_ALLOCATED_HEAP */
-#endif /* USE_FREERTOS_HEAP_5 */
+#endif /* USE_FreeRTOS_HEAP_5 */
 
 #if defined(SysTick)
 #undef SysTick_Handler
@@ -151,6 +155,7 @@ extern void xPortSysTickHandler (void);
 /*
   SysTick handler implementation that also clears overflow flag.
 */
+#if (USE_CUSTOM_SYSTICK_HANDLER_IMPLEMENTATION == 0)
 void SysTick_Handler (void) {
   /* Clear overflow flag */
   SysTick->CTRL;
@@ -160,6 +165,7 @@ void SysTick_Handler (void) {
     xPortSysTickHandler();
   }
 }
+#endif
 #endif /* SysTick */
 
 /*
@@ -170,16 +176,23 @@ __STATIC_INLINE void SVC_Setup (void) {
   /* Service Call interrupt might be configured before kernel start     */
   /* and when its priority is lower or equal to BASEPRI, svc intruction */
   /* causes a Hard Fault.                                               */
-
+  NVIC_SetPriority (SVCall_IRQ_NBR, 0U);
- /* 
-  * the call below has introduced a regression compared to revious release
-  * The issue was logged under:https://github.com/ARM-software/CMSIS-FreeRTOS/issues/35
-  * until it is correctly fixed, the code below is commented
-  */
-/*    NVIC_SetPriority (SVCall_IRQn, 0U); */
 #endif
 }
 
+/*
+  Function macro used to retrieve semaphore count from ISR
+*/
+#ifndef uxSemaphoreGetCountFromISR
+#define uxSemaphoreGetCountFromISR( xSemaphore ) uxQueueMessagesWaitingFromISR( ( QueueHandle_t ) ( xSemaphore ) )
+#endif
+
+/* Get OS Tick count value */
+static uint32_t OS_Tick_GetCount (void);
+/* Get OS Tick overflow status */
+static uint32_t OS_Tick_GetOverflow (void);
+/* Get OS Tick interval */
+static uint32_t OS_Tick_GetInterval (void);
 /*---------------------------------------------------------------------------*/
 
 osStatus_t osKernelInitialize (void) {
@@ -190,7 +203,10 @@ osStatus_t osKernelInitialize (void) {
   }
   else {
     if (KernelState == osKernelInactive) {
-      #if defined(USE_FREERTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1)
+      #if defined(USE_TRACE_EVENT_RECORDER)
+        EvrFreeRTOSSetup(0U);
+      #endif
+      #if defined(USE_FreeRTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1)
         vPortDefineHeapRegions (configHEAP_5_REGIONS);
       #endif
       KernelState = osKernelReady;
@@ -380,6 +396,22 @@ uint32_t osKernelGetTickFreq (void) {
   return (configTICK_RATE_HZ);
 }
 
+/* Get OS Tick count value */
+static uint32_t OS_Tick_GetCount (void) {
+  uint32_t load = SysTick->LOAD;
+  return  (load - SysTick->VAL);
+}
+
+/* Get OS Tick overflow status */
+static uint32_t OS_Tick_GetOverflow (void) {
+  return ((SysTick->CTRL >> 16) & 1U);
+}
+
+/* Get OS Tick interval */
+static uint32_t OS_Tick_GetInterval (void) {
+  return (SysTick->LOAD + 1U);
+}
+
 uint32_t osKernelGetSysTimerCount (void) {
   uint32_t irqmask = IS_IRQ_MASKED();
   TickType_t ticks;
@@ -388,8 +420,14 @@ uint32_t osKernelGetSysTimerCount (void) {
   __disable_irq();
 
   ticks = xTaskGetTickCount();
+  val   = OS_Tick_GetCount();
+
+  if (OS_Tick_GetOverflow() != 0U) {
+    val = OS_Tick_GetCount();
+    ticks++;
+  }
+  val += ticks * OS_Tick_GetInterval();
 
-  val = ticks * ( configCPU_CLOCK_HZ / configTICK_RATE_HZ );
   if (irqmask == 0U) {
     __enable_irq();
   }
@@ -452,14 +490,18 @@ osThreadId_t osThreadNew (osThreadFunc_t func, void *argument, const osThreadAtt
     }
 
     if (mem == 1) {
-      hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t  *)attr->stack_mem,
+      #if (configSUPPORT_STATIC_ALLOCATION == 1)
-                                                                                    (StaticTask_t *)attr->cb_mem);
+        hTask = xTaskCreateStatic ((TaskFunction_t)func, name, stack, argument, prio, (StackType_t  *)attr->stack_mem,
+                                                                                      (StaticTask_t *)attr->cb_mem);
+      #endif
     }
     else {
       if (mem == 0) {
-        if (xTaskCreate ((TaskFunction_t)func, name, (uint16_t)stack, argument, prio, &hTask) != pdPASS) {
+        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-          hTask = NULL;
+          if (xTaskCreate ((TaskFunction_t)func, name, (uint16_t)stack, argument, prio, &hTask) != pdPASS) {
-        }
+            hTask = NULL;
+          }
+        #endif
       }
     }
   }
@@ -517,7 +559,7 @@ uint32_t osThreadGetStackSpace (osThreadId_t thread_id) {
   if (IS_IRQ() || (hTask == NULL)) {
     sz = 0U;
   } else {
-    sz = (uint32_t)uxTaskGetStackHighWaterMark (hTask);
+    sz = (uint32_t)(uxTaskGetStackHighWaterMark(hTask) * sizeof(StackType_t));
   }
 
   return (sz);
@@ -548,7 +590,7 @@ osPriority_t osThreadGetPriority (osThreadId_t thread_id) {
   if (IS_IRQ() || (hTask == NULL)) {
     prio = osPriorityError;
   } else {
-    prio = (osPriority_t)uxTaskPriorityGet (hTask);
+    prio = (osPriority_t)((int32_t)uxTaskPriorityGet (hTask));
   }
 
   return (prio);
@@ -567,6 +609,7 @@ osStatus_t osThreadYield (void) {
   return (stat);
 }
 
+#if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1)
 osStatus_t osThreadSuspend (osThreadId_t thread_id) {
   TaskHandle_t hTask = (TaskHandle_t)thread_id;
   osStatus_t stat;
@@ -602,6 +645,7 @@ osStatus_t osThreadResume (osThreadId_t thread_id) {
 
   return (stat);
 }
+#endif /* (configUSE_OS2_THREAD_SUSPEND_RESUME == 1) */
 
 __NO_RETURN void osThreadExit (void) {
 #ifndef USE_FreeRTOS_HEAP_1
@@ -651,6 +695,7 @@ uint32_t osThreadGetCount (void) {
   return (count);
 }
 
+#if (configUSE_OS2_THREAD_ENUMERATE == 1)
 uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
   uint32_t i, count;
   TaskStatus_t *task;
@@ -678,7 +723,9 @@ uint32_t osThreadEnumerate (osThreadId_t *thread_array, uint32_t array_items) {
 
   return (count);
 }
+#endif /* (configUSE_OS2_THREAD_ENUMERATE == 1) */
 
+#if (configUSE_OS2_THREAD_FLAGS == 1)
 uint32_t osThreadFlagsSet (osThreadId_t thread_id, uint32_t flags) {
   TaskHandle_t hTask = (TaskHandle_t)thread_id;
   uint32_t rflags;
@@ -829,6 +876,7 @@ uint32_t osThreadFlagsWait (uint32_t flags, uint32_t options, uint32_t timeout)
   /* Return flags before clearing */
   return (rflags);
 }
+#endif /* (configUSE_OS2_THREAD_FLAGS == 1) */
 
 osStatus_t osDelay (uint32_t ticks) {
   osStatus_t stat;
@@ -876,6 +924,7 @@ osStatus_t osDelayUntil (uint32_t ticks) {
 }
 
 /*---------------------------------------------------------------------------*/
+#if (configUSE_OS2_TIMER == 1)
 
 static void TimerCallback (TimerHandle_t hTimer) {
   TimerCallback_t *callb;
@@ -932,13 +981,21 @@ osTimerId_t osTimerNew (osTimerFunc_t func, osTimerType_t type, void *argument,
       }
 
       if (mem == 1) {
-        hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem);
+        #if (configSUPPORT_STATIC_ALLOCATION == 1)
+          hTimer = xTimerCreateStatic (name, 1, reload, callb, TimerCallback, (StaticTimer_t *)attr->cb_mem);
+        #endif
       }
       else {
         if (mem == 0) {
-          hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback);
+          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+            hTimer = xTimerCreate (name, 1, reload, callb, TimerCallback);
+          #endif
         }
       }
+
+      if ((hTimer == NULL) && (callb != NULL)) {
+        vPortFree (callb);
+      }
     }
   }
 
@@ -1046,6 +1103,7 @@ osStatus_t osTimerDelete (osTimerId_t timer_id) {
 
   return (stat);
 }
+#endif /* (configUSE_OS2_TIMER == 1) */
 
 /*---------------------------------------------------------------------------*/
 
@@ -1073,11 +1131,15 @@ osEventFlagsId_t osEventFlagsNew (const osEventFlagsAttr_t *attr) {
     }
 
     if (mem == 1) {
+      #if (configSUPPORT_STATIC_ALLOCATION == 1)
       hEventGroup = xEventGroupCreateStatic (attr->cb_mem);
+      #endif
     }
     else {
       if (mem == 0) {
-        hEventGroup = xEventGroupCreate();
+        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+          hEventGroup = xEventGroupCreate();
+        #endif
       }
     }
   }
@@ -1094,6 +1156,11 @@ uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) {
     rflags = (uint32_t)osErrorParameter;
   }
   else if (IS_IRQ()) {
+  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0)
+    (void)yield;
+    /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */
+    rflags = (uint32_t)osErrorResource;
+  #else
     yield = pdFALSE;
 
     if (xEventGroupSetBitsFromISR (hEventGroup, (EventBits_t)flags, &yield) == pdFAIL) {
@@ -1102,6 +1169,7 @@ uint32_t osEventFlagsSet (osEventFlagsId_t ef_id, uint32_t flags) {
       rflags = flags;
       portYIELD_FROM_ISR (yield);
     }
+  #endif
   }
   else {
     rflags = xEventGroupSetBits (hEventGroup, (EventBits_t)flags);
@@ -1118,11 +1186,16 @@ uint32_t osEventFlagsClear (osEventFlagsId_t ef_id, uint32_t flags) {
     rflags = (uint32_t)osErrorParameter;
   }
   else if (IS_IRQ()) {
+  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 0)
+    /* Enable timers and xTimerPendFunctionCall function to support osEventFlagsSet from ISR */
+    rflags = (uint32_t)osErrorResource;
+  #else
     rflags = xEventGroupGetBitsFromISR (hEventGroup);
 
     if (xEventGroupClearBitsFromISR (hEventGroup, (EventBits_t)flags) == pdFAIL) {
       rflags = (uint32_t)osErrorResource;
     }
+  #endif
   }
   else {
     rflags = xEventGroupClearBits (hEventGroup, (EventBits_t)flags);
@@ -1176,7 +1249,7 @@ uint32_t osEventFlagsWait (osEventFlagsId_t ef_id, uint32_t flags, uint32_t opti
     rflags = xEventGroupWaitBits (hEventGroup, (EventBits_t)flags, exit_clr, wait_all, (TickType_t)timeout);
 
     if (options & osFlagsWaitAll) {
-      if (flags != rflags) {
+      if ((flags & rflags) != flags) {
         if (timeout > 0U) {
           rflags = (uint32_t)osErrorTimeout;
         } else {
@@ -1221,6 +1294,7 @@ osStatus_t osEventFlagsDelete (osEventFlagsId_t ef_id) {
 }
 
 /*---------------------------------------------------------------------------*/
+#if (configUSE_OS2_MUTEX == 1)
 
 osMutexId_t osMutexNew (const osMutexAttr_t *attr) {
   SemaphoreHandle_t hMutex;
@@ -1264,20 +1338,28 @@ osMutexId_t osMutexNew (const osMutexAttr_t *attr) {
       }
 
       if (mem == 1) {
-        if (rmtx != 0U) {
+        #if (configSUPPORT_STATIC_ALLOCATION == 1)
-          hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
+          if (rmtx != 0U) {
-        }
+            #if (configUSE_RECURSIVE_MUTEXES == 1)
-        else {
+            hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
-          hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
+            #endif
-        }
+          }
+          else {
+            hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
+          }
+        #endif
       }
       else {
         if (mem == 0) {
-          if (rmtx != 0U) {
+          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
-            hMutex = xSemaphoreCreateRecursiveMutex ();
+            if (rmtx != 0U) {
-          } else {
+              #if (configUSE_RECURSIVE_MUTEXES == 1)
-            hMutex = xSemaphoreCreateMutex ();
+              hMutex = xSemaphoreCreateRecursiveMutex ();
-          }
+              #endif
+            } else {
+              hMutex = xSemaphoreCreateMutex ();
+            }
+          #endif
         }
       }
 
@@ -1320,6 +1402,7 @@ osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) {
   }
   else {
     if (rmtx != 0U) {
+      #if (configUSE_RECURSIVE_MUTEXES == 1)
       if (xSemaphoreTakeRecursive (hMutex, timeout) != pdPASS) {
         if (timeout != 0U) {
           stat = osErrorTimeout;
@@ -1327,6 +1410,7 @@ osStatus_t osMutexAcquire (osMutexId_t mutex_id, uint32_t timeout) {
           stat = osErrorResource;
         }
       }
+      #endif
     }
     else {
       if (xSemaphoreTake (hMutex, timeout) != pdPASS) {
@@ -1361,9 +1445,11 @@ osStatus_t osMutexRelease (osMutexId_t mutex_id) {
   }
   else {
     if (rmtx != 0U) {
+      #if (configUSE_RECURSIVE_MUTEXES == 1)
       if (xSemaphoreGiveRecursive (hMutex) != pdPASS) {
         stat = osErrorResource;
       }
+      #endif
     }
     else {
       if (xSemaphoreGive (hMutex) != pdPASS) {
@@ -1416,6 +1502,7 @@ osStatus_t osMutexDelete (osMutexId_t mutex_id) {
 
   return (stat);
 }
+#endif /* (configUSE_OS2_MUTEX == 1) */
 
 /*---------------------------------------------------------------------------*/
 
@@ -1448,10 +1535,14 @@ osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, cons
     if (mem != -1) {
       if (max_count == 1U) {
         if (mem == 1) {
-          hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem);
+          #if (configSUPPORT_STATIC_ALLOCATION == 1)
+            hSemaphore = xSemaphoreCreateBinaryStatic ((StaticSemaphore_t *)attr->cb_mem);
+          #endif
         }
         else {
-          hSemaphore = xSemaphoreCreateBinary();
+          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+            hSemaphore = xSemaphoreCreateBinary();
+          #endif
         }
 
         if ((hSemaphore != NULL) && (initial_count != 0U)) {
@@ -1463,10 +1554,14 @@ osSemaphoreId_t osSemaphoreNew (uint32_t max_count, uint32_t initial_count, cons
       }
       else {
         if (mem == 1) {
-          hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem);
+          #if (configSUPPORT_STATIC_ALLOCATION == 1)
+            hSemaphore = xSemaphoreCreateCountingStatic (max_count, initial_count, (StaticSemaphore_t *)attr->cb_mem);
+          #endif
         }
         else {
-          hSemaphore = xSemaphoreCreateCounting (max_count, initial_count);
+          #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+            hSemaphore = xSemaphoreCreateCounting (max_count, initial_count);
+          #endif
         }
       }
       
@@ -1624,11 +1719,15 @@ osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, con
     }
 
     if (mem == 1) {
-      hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
+      #if (configSUPPORT_STATIC_ALLOCATION == 1)
+        hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
+      #endif
     }
     else {
       if (mem == 0) {
-        hQueue = xQueueCreate (msg_count, msg_size);
+        #if (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+          hQueue = xQueueCreate (msg_count, msg_size);
+        #endif
       }
     }
 
@@ -1842,6 +1941,463 @@ osStatus_t osMessageQueueDelete (osMessageQueueId_t mq_id) {
   return (stat);
 }
 
+/*---------------------------------------------------------------------------*/
+#ifdef FREERTOS_MPOOL_H_
+
+/* Static memory pool functions */
+static void  FreeBlock   (MemPool_t *mp, void *block);
+static void *AllocBlock  (MemPool_t *mp);
+static void *CreateBlock (MemPool_t *mp);
+
+osMemoryPoolId_t osMemoryPoolNew (uint32_t block_count, uint32_t block_size, const osMemoryPoolAttr_t *attr) {
+  MemPool_t *mp;
+  const char *name;
+  int32_t mem_cb, mem_mp;
+  uint32_t sz;
+
+  if (IS_IRQ()) {
+    mp = NULL;
+  }
+  else if ((block_count == 0U) || (block_size == 0U)) {
+    mp = NULL;
+  }
+  else {
+    mp = NULL;
+    sz = MEMPOOL_ARR_SIZE (block_count, block_size);
+
+    name = NULL;
+    mem_cb = -1;
+    mem_mp = -1;
+
+    if (attr != NULL) {
+      if (attr->name != NULL) {
+        name = attr->name;
+      }
+
+      if ((attr->cb_mem != NULL) && (attr->cb_size >= sizeof(MemPool_t))) {
+        /* Static control block is provided */
+        mem_cb = 1;
+      }
+      else if ((attr->cb_mem == NULL) && (attr->cb_size == 0U)) {
+        /* Allocate control block memory on heap */
+        mem_cb = 0;
+      }
+
+      if ((attr->mp_mem == NULL) && (attr->mp_size == 0U)) {
+        /* Allocate memory array on heap */
+          mem_mp = 0;
+      }
+      else {
+        if (attr->mp_mem != NULL) {
+          /* Check if array is 4-byte aligned */
+          if (((uint32_t)attr->mp_mem & 3U) == 0U) {
+            /* Check if array big enough */
+            if (attr->mp_size >= sz) {
+              /* Static memory pool array is provided */
+              mem_mp = 1;
+            }
+          }
+        }
+      }
+    }
+    else {
+      /* Attributes not provided, allocate memory on heap */
+      mem_cb = 0;
+      mem_mp = 0;
+    }
+
+    if (mem_cb == 0) {
+      mp = pvPortMalloc (sizeof(MemPool_t));
+    } else {
+      mp = attr->cb_mem;
+    }
+
+    if (mp != NULL) {
+      /* Create a semaphore (max count == initial count == block_count) */
+      #if (configSUPPORT_STATIC_ALLOCATION == 1)
+        mp->sem = xSemaphoreCreateCountingStatic (block_count, block_count, &mp->mem_sem);
+      #elif (configSUPPORT_DYNAMIC_ALLOCATION == 1)
+        mp->sem = xSemaphoreCreateCounting (block_count, block_count);
+      #else
+        mp->sem == NULL;
+      #endif
+
+      if (mp->sem != NULL) {
+        /* Setup memory array */
+        if (mem_mp == 0) {
+          mp->mem_arr = pvPortMalloc (sz);
+        } else {
+          mp->mem_arr = attr->mp_mem;
+        }
+      }
+    }
+
+    if ((mp != NULL) && (mp->mem_arr != NULL)) {
+      /* Memory pool can be created */
+      mp->head    = NULL;
+      mp->mem_sz  = sz;
+      mp->name    = name;
+      mp->bl_sz   = block_size;
+      mp->bl_cnt  = block_count;
+      mp->n       = 0U;
+
+      /* Set heap allocated memory flags */
+      mp->status = MPOOL_STATUS;
+
+      if (mem_cb == 0) {
+        /* Control block on heap */
+        mp->status |= 1U;
+      }
+      if (mem_mp == 0) {
+        /* Memory array on heap */
+        mp->status |= 2U;
+      }
+    }
+    else {
+      /* Memory pool cannot be created, release allocated resources */
+      if ((mem_cb == 0) && (mp != NULL)) {
+        /* Free control block memory */
+        vPortFree (mp);
+      }
+      mp = NULL;
+    }
+  }
+
+  return (mp);
+}
+
+const char *osMemoryPoolGetName (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp = (osMemoryPoolId_t)mp_id;
+  const char *p;
+
+  if (IS_IRQ()) {
+    p = NULL;
+  }
+  else if (mp_id == NULL) {
+    p = NULL;
+  }
+  else {
+    p = mp->name;
+  }
+
+  return (p);
+}
+
+void *osMemoryPoolAlloc (osMemoryPoolId_t mp_id, uint32_t timeout) {
+  MemPool_t *mp;
+  void *block;
+  uint32_t isrm;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    block = NULL;
+  }
+  else {
+    block = NULL;
+
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
+      if (IS_IRQ()) {
+        if (timeout == 0U) {
+          if (xSemaphoreTakeFromISR (mp->sem, NULL) == pdTRUE) {
+            if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
+              isrm  = taskENTER_CRITICAL_FROM_ISR();
+
+              /* Get a block from the free-list */
+              block = AllocBlock(mp);
+
+              if (block == NULL) {
+                /* List of free blocks is empty, 'create' new block */
+                block = CreateBlock(mp);
+              }
+
+              taskEXIT_CRITICAL_FROM_ISR(isrm);
+            }
+          }
+        }
+      }
+      else {
+        if (xSemaphoreTake (mp->sem, (TickType_t)timeout) == pdTRUE) {
+          if ((mp->status & MPOOL_STATUS) == MPOOL_STATUS) {
+            taskENTER_CRITICAL();
+
+            /* Get a block from the free-list */
+            block = AllocBlock(mp);
+
+            if (block == NULL) {
+              /* List of free blocks is empty, 'create' new block */
+              block = CreateBlock(mp);
+            }
+
+            taskEXIT_CRITICAL();
+          }
+        }
+      }
+    }
+  }
+
+  return (block);
+}
+
+osStatus_t osMemoryPoolFree (osMemoryPoolId_t mp_id, void *block) {
+  MemPool_t *mp;
+  osStatus_t stat;
+  uint32_t isrm;
+  BaseType_t yield;
+
+  if ((mp_id == NULL) || (block == NULL)) {
+    /* Invalid input parameters */
+    stat = osErrorParameter;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
+      /* Invalid object status */
+      stat = osErrorResource;
+    }
+    else if ((block < (void *)&mp->mem_arr[0]) || (block > (void*)&mp->mem_arr[mp->mem_sz-1])) {
+      /* Block pointer outside of memory array area */
+      stat = osErrorParameter;
+    }
+    else {
+      stat = osOK;
+
+      if (IS_IRQ()) {
+        if (uxSemaphoreGetCountFromISR (mp->sem) == mp->bl_cnt) {
+          stat = osErrorResource;
+        }
+        else {
+          isrm = taskENTER_CRITICAL_FROM_ISR();
+
+          /* Add block to the list of free blocks */
+          FreeBlock(mp, block);
+
+          taskEXIT_CRITICAL_FROM_ISR(isrm);
+
+          yield = pdFALSE;
+          xSemaphoreGiveFromISR (mp->sem, &yield);
+          portYIELD_FROM_ISR (yield);
+        }
+      }
+      else {
+        if (uxSemaphoreGetCount (mp->sem) == mp->bl_cnt) {
+          stat = osErrorResource;
+        }
+        else {
+          taskENTER_CRITICAL();
+
+          /* Add block to the list of free blocks */
+          FreeBlock(mp, block);
+
+          taskEXIT_CRITICAL();
+
+          xSemaphoreGive (mp->sem);
+        }
+      }
+    }
+  }
+
+  return (stat);
+}
+
+uint32_t osMemoryPoolGetCapacity (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp;
+  uint32_t  n;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    n = 0U;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
+      /* Invalid object status */
+      n = 0U;
+    }
+    else {
+      n = mp->bl_cnt;
+    }
+  }
+
+  /* Return maximum number of memory blocks */
+  return (n);
+}
+
+uint32_t osMemoryPoolGetBlockSize (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp;
+  uint32_t  sz;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    sz = 0U;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
+      /* Invalid object status */
+      sz = 0U;
+    }
+    else {
+      sz = mp->bl_sz;
+    }
+  }
+
+  /* Return memory block size in bytes */
+  return (sz);
+}
+
+uint32_t osMemoryPoolGetCount (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp;
+  uint32_t  n;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    n = 0U;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
+      /* Invalid object status */
+      n = 0U;
+    }
+    else {
+      if (IS_IRQ()) {
+        n = uxSemaphoreGetCountFromISR (mp->sem);
+      } else {
+        n = uxSemaphoreGetCount        (mp->sem);
+      }
+
+      n = mp->bl_cnt - n;
+    }
+  }
+
+  /* Return number of memory blocks used */
+  return (n);
+}
+
+uint32_t osMemoryPoolGetSpace (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp;
+  uint32_t  n;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    n = 0U;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    if ((mp->status & MPOOL_STATUS) != MPOOL_STATUS) {
+      /* Invalid object status */
+      n = 0U;
+    }
+    else {
+      if (IS_IRQ()) {
+        n = uxSemaphoreGetCountFromISR (mp->sem);
+      } else {
+        n = uxSemaphoreGetCount        (mp->sem);
+      }
+    }
+  }
+
+  /* Return number of memory blocks available */
+  return (n);
+}
+
+osStatus_t osMemoryPoolDelete (osMemoryPoolId_t mp_id) {
+  MemPool_t *mp;
+  osStatus_t stat;
+
+  if (mp_id == NULL) {
+    /* Invalid input parameters */
+    stat = osErrorParameter;
+  }
+  else if (IS_IRQ()) {
+    stat = osErrorISR;
+  }
+  else {
+    mp = (MemPool_t *)mp_id;
+
+    taskENTER_CRITICAL();
+
+    /* Invalidate control block status */
+    mp->status  = mp->status & 3U;
+
+    /* Wake-up tasks waiting for pool semaphore */
+    while (xSemaphoreGive (mp->sem) == pdTRUE);
+
+    mp->head    = NULL;
+    mp->bl_sz   = 0U;
+    mp->bl_cnt  = 0U;
+
+    if ((mp->status & 2U) != 0U) {
+      /* Memory pool array allocated on heap */
+      vPortFree (mp->mem_arr);
+    }
+    if ((mp->status & 1U) != 0U) {
+      /* Memory pool control block allocated on heap */
+      vPortFree (mp);
+    }
+
+    taskEXIT_CRITICAL();
+
+    stat = osOK;
+  }
+
+  return (stat);
+}
+
+/*
+  Create new block given according to the current block index.
+*/
+static void *CreateBlock (MemPool_t *mp) {
+  MemPoolBlock_t *p = NULL;
+
+  if (mp->n < mp->bl_cnt) {
+    /* Unallocated blocks exist, set pointer to new block */
+    p = (void *)(mp->mem_arr + (mp->bl_sz * mp->n));
+
+    /* Increment block index */
+    mp->n += 1U;
+  }
+
+  return (p);
+}
+
+/*
+  Allocate a block by reading the list of free blocks.
+*/
+static void *AllocBlock (MemPool_t *mp) {
+  MemPoolBlock_t *p = NULL;
+
+  if (mp->head != NULL) {
+    /* List of free block exists, get head block */
+    p = mp->head;
+
+    /* Head block is now next on the list */
+    mp->head = p->next;
+  }
+
+  return (p);
+}
+
+/*
+  Free block by putting it to the list of free blocks.
+*/
+static void FreeBlock (MemPool_t *mp, void *block) {
+  MemPoolBlock_t *p = block;
+
+  /* Store current head into block memory space */
+  p->next = mp->head;
+
+  /* Store current block as new head */
+  mp->head = p;
+}
+#endif /* FREERTOS_MPOOL_H_ */
 /*---------------------------------------------------------------------------*/
 
 /* Callback function prototypes */
@@ -1886,28 +2442,25 @@ __WEAK void vApplicationDaemonTaskStartupHook (void){}
 __WEAK void vApplicationStackOverflowHook (TaskHandle_t xTask, signed char *pcTaskName) {
   (void)xTask;
   (void)pcTaskName;
+  configASSERT(0);
 }
 #endif
 
 /*---------------------------------------------------------------------------*/
-
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
 /* External Idle and Timer task static memory allocation functions */
 extern void vApplicationGetIdleTaskMemory  (StaticTask_t **ppxIdleTaskTCBBuffer,  StackType_t **ppxIdleTaskStackBuffer,  uint32_t *pulIdleTaskStackSize);
 extern void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize);
 
-/* Idle task control block and stack */
-static StaticTask_t Idle_TCB;
-static StackType_t  Idle_Stack[configMINIMAL_STACK_SIZE];
-
-/* Timer task control block and stack */
-static StaticTask_t Timer_TCB;
-static StackType_t  Timer_Stack[configTIMER_TASK_STACK_DEPTH];
-
 /*
   vApplicationGetIdleTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
   equals to 1 and is required for static memory allocation support.
 */
-void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
+__WEAK void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
+  /* Idle task control block and stack */
+  static StaticTask_t Idle_TCB;
+  static StackType_t  Idle_Stack[configMINIMAL_STACK_SIZE];
+
   *ppxIdleTaskTCBBuffer   = &Idle_TCB;
   *ppxIdleTaskStackBuffer = &Idle_Stack[0];
   *pulIdleTaskStackSize   = (uint32_t)configMINIMAL_STACK_SIZE;
@@ -1917,8 +2470,13 @@ void vApplicationGetIdleTaskMemory (StaticTask_t **ppxIdleTaskTCBBuffer, StackTy
   vApplicationGetTimerTaskMemory gets called when configSUPPORT_STATIC_ALLOCATION
   equals to 1 and is required for static memory allocation support.
 */
-void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
+__WEAK void vApplicationGetTimerTaskMemory (StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize) {
+  /* Timer task control block and stack */
+  static StaticTask_t Timer_TCB;
+  static StackType_t  Timer_Stack[configTIMER_TASK_STACK_DEPTH];
+
   *ppxTimerTaskTCBBuffer   = &Timer_TCB;
   *ppxTimerTaskStackBuffer = &Timer_Stack[0];
   *pulTimerTaskStackSize   = (uint32_t)configTIMER_TASK_STACK_DEPTH;
 }
+#endif

Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_mpool.h

@@ -0,0 +1,63 @@
+/* --------------------------------------------------------------------------
+ * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *      Name:    freertos_mpool.h
+ *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
+ *
+ *---------------------------------------------------------------------------*/
+
+#ifndef FREERTOS_MPOOL_H_
+#define FREERTOS_MPOOL_H_
+
+#include <stdint.h>
+#include "FreeRTOS.h"
+#include "semphr.h"
+
+/* Memory Pool implementation definitions */
+#define MPOOL_STATUS              0x5EED0000U
+
+/* Memory Block header */
+typedef struct {
+  void *next;                   /* Pointer to next block  */
+} MemPoolBlock_t;
+
+/* Memory Pool control block */
+typedef struct MemPoolDef_t {
+  MemPoolBlock_t    *head;      /* Pointer to head block   */
+  SemaphoreHandle_t  sem;       /* Pool semaphore handle   */
+  uint8_t           *mem_arr;   /* Pool memory array       */
+  uint32_t           mem_sz;    /* Pool memory array size  */
+  const char        *name;      /* Pointer to name string  */
+  uint32_t           bl_sz;     /* Size of a single block  */
+  uint32_t           bl_cnt;    /* Number of blocks        */
+  uint32_t           n;         /* Block allocation index  */
+  volatile uint32_t  status;    /* Object status flags     */
+#if (configSUPPORT_STATIC_ALLOCATION == 1)
+  StaticSemaphore_t  mem_sem;   /* Semaphore object memory */
+#endif
+} MemPool_t;
+
+/* No need to hide static object type, just align to coding style */
+#define StaticMemPool_t         MemPool_t
+
+/* Define memory pool control block size */
+#define MEMPOOL_CB_SIZE         (sizeof(StaticMemPool_t))
+
+/* Define size of the byte array required to create count of blocks of given size */
+#define MEMPOOL_ARR_SIZE(bl_count, bl_size) (((((bl_size) + (4 - 1)) / 4) * 4)*(bl_count))
+
+#endif /* FREERTOS_MPOOL_H_ */

Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/freertos_os2.h

@@ -0,0 +1,310 @@
+/* --------------------------------------------------------------------------
+ * Copyright (c) 2013-2020 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ *      Name:    freertos_os2.h
+ *      Purpose: CMSIS RTOS2 wrapper for FreeRTOS
+ *
+ *---------------------------------------------------------------------------*/
+
+#ifndef FREERTOS_OS2_H_
+#define FREERTOS_OS2_H_
+
+#include <string.h>
+#include <stdint.h>
+
+#include "FreeRTOS.h"                   // ARM.FreeRTOS::RTOS:Core
+
+#include CMSIS_device_header
+
+/*
+  CMSIS-RTOS2 FreeRTOS image size optimization definitions.
+
+  Note: Definitions configUSE_OS2 can be used to optimize FreeRTOS image size when
+        certain functionality is not required when using CMSIS-RTOS2 API.
+        In general optimization decisions are left to the tool chain but in cases
+        when coding style prevents it to optimize the code following optional
+        definitions can be used.
+*/
+
+/*
+  Option to exclude CMSIS-RTOS2 functions osThreadSuspend and osThreadResume from
+  the application image.
+*/
+#ifndef configUSE_OS2_THREAD_SUSPEND_RESUME
+#define configUSE_OS2_THREAD_SUSPEND_RESUME   1
+#endif
+
+/*
+  Option to exclude CMSIS-RTOS2 function osThreadEnumerate from the application image.
+*/
+#ifndef configUSE_OS2_THREAD_ENUMERATE
+#define configUSE_OS2_THREAD_ENUMERATE        1
+#endif
+
+/*
+  Option to disable CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear
+  operation from ISR.
+*/
+#ifndef configUSE_OS2_EVENTFLAGS_FROM_ISR
+#define configUSE_OS2_EVENTFLAGS_FROM_ISR     1
+#endif
+
+/*
+  Option to exclude CMSIS-RTOS2 Thread Flags API functions from the application image.
+*/
+#ifndef configUSE_OS2_THREAD_FLAGS
+#define configUSE_OS2_THREAD_FLAGS            configUSE_TASK_NOTIFICATIONS
+#endif
+
+/*
+  Option to exclude CMSIS-RTOS2 Timer API functions from the application image.
+*/
+#ifndef configUSE_OS2_TIMER
+#define configUSE_OS2_TIMER                   configUSE_TIMERS
+#endif
+
+/*
+  Option to exclude CMSIS-RTOS2 Mutex API functions from the application image.
+*/
+#ifndef configUSE_OS2_MUTEX
+#define configUSE_OS2_MUTEX                   configUSE_MUTEXES
+#endif
+
+
+/*
+  CMSIS-RTOS2 FreeRTOS configuration check (FreeRTOSConfig.h).
+
+  Note: CMSIS-RTOS API requires functions included by using following definitions.
+        In case if certain API function is not used compiler will optimize it away.
+*/
+#if (INCLUDE_xSemaphoreGetMutexHolder == 0)
+  /*
+    CMSIS-RTOS2 function osMutexGetOwner uses FreeRTOS function xSemaphoreGetMutexHolder. In case if
+    osMutexGetOwner is not used in the application image, compiler will optimize it away.
+    Set #define INCLUDE_xSemaphoreGetMutexHolder 1 to fix this error.
+  */
+  #error "Definition INCLUDE_xSemaphoreGetMutexHolder must equal 1 to implement Mutex Management API."
+#endif
+#if (INCLUDE_vTaskDelay == 0)
+  /*
+    CMSIS-RTOS2 function osDelay uses FreeRTOS function vTaskDelay. In case if
+    osDelay is not used in the application image, compiler will optimize it away.
+    Set #define INCLUDE_vTaskDelay 1 to fix this error.
+  */
+  #error "Definition INCLUDE_vTaskDelay must equal 1 to implement Generic Wait Functions API."
+#endif
+#if (INCLUDE_vTaskDelayUntil == 0)
+  /*
+    CMSIS-RTOS2 function osDelayUntil uses FreeRTOS function vTaskDelayUntil. In case if
+    osDelayUntil is not used in the application image, compiler will optimize it away.
+    Set #define INCLUDE_vTaskDelayUntil 1 to fix this error.
+  */
+  #error "Definition INCLUDE_vTaskDelayUntil must equal 1 to implement Generic Wait Functions API."
+#endif
+#if (INCLUDE_vTaskDelete == 0)
+  /*
+    CMSIS-RTOS2 function osThreadTerminate and osThreadExit uses FreeRTOS function
+    vTaskDelete. In case if they are not used in the application image, compiler
+    will optimize them away.
+    Set #define INCLUDE_vTaskDelete 1 to fix this error.
+  */
+  #error "Definition INCLUDE_vTaskDelete must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_xTaskGetCurrentTaskHandle == 0)
+  /*
+    CMSIS-RTOS2 API uses FreeRTOS function xTaskGetCurrentTaskHandle to implement
+    functions osThreadGetId, osThreadFlagsClear and osThreadFlagsGet. In case if these
+    functions are not used in the application image, compiler will optimize them away.
+    Set #define INCLUDE_xTaskGetCurrentTaskHandle 1 to fix this error.
+  */
+  #error "Definition INCLUDE_xTaskGetCurrentTaskHandle must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_xTaskGetSchedulerState == 0)
+  /*
+    CMSIS-RTOS2 API uses FreeRTOS function xTaskGetSchedulerState to implement Kernel
+    tick handling and therefore it is vital that xTaskGetSchedulerState is included into
+    the application image.
+    Set #define INCLUDE_xTaskGetSchedulerState 1 to fix this error.
+  */
+  #error "Definition INCLUDE_xTaskGetSchedulerState must equal 1 to implement Kernel Information and Control API."
+#endif
+#if (INCLUDE_uxTaskGetStackHighWaterMark == 0)
+  /*
+    CMSIS-RTOS2 function osThreadGetStackSpace uses FreeRTOS function uxTaskGetStackHighWaterMark.
+    In case if osThreadGetStackSpace is not used in the application image, compiler will
+    optimize it away.
+    Set #define INCLUDE_uxTaskGetStackHighWaterMark 1 to fix this error.
+  */
+  #error "Definition INCLUDE_uxTaskGetStackHighWaterMark must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_uxTaskPriorityGet == 0)
+  /*
+    CMSIS-RTOS2 function osThreadGetPriority uses FreeRTOS function uxTaskPriorityGet. In case if
+    osThreadGetPriority is not used in the application image, compiler will optimize it away.
+    Set #define INCLUDE_uxTaskPriorityGet 1 to fix this error.
+  */
+  #error "Definition INCLUDE_uxTaskPriorityGet must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_vTaskPrioritySet == 0)
+  /*
+    CMSIS-RTOS2 function osThreadSetPriority uses FreeRTOS function vTaskPrioritySet. In case if
+    osThreadSetPriority is not used in the application image, compiler will optimize it away.
+    Set #define INCLUDE_vTaskPrioritySet 1 to fix this error.
+  */
+  #error "Definition INCLUDE_vTaskPrioritySet must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_eTaskGetState == 0)
+  /*
+    CMSIS-RTOS2 API uses FreeRTOS function vTaskDelayUntil to implement functions osThreadGetState
+    and osThreadTerminate. In case if these functions are not used in the application image,
+    compiler will optimize them away.
+    Set #define INCLUDE_eTaskGetState 1 to fix this error.
+  */
+  #error "Definition INCLUDE_eTaskGetState must equal 1 to implement Thread Management API."
+#endif
+#if (INCLUDE_vTaskSuspend == 0)
+  /*
+    CMSIS-RTOS2 API uses FreeRTOS functions vTaskSuspend and vTaskResume to implement
+    functions osThreadSuspend and osThreadResume. In case if these functions are not
+    used in the application image, compiler will optimize them away.
+    Set #define INCLUDE_vTaskSuspend 1 to fix this error.
+
+    Alternatively, if the application does not use osThreadSuspend and
+    osThreadResume they can be excluded from the image code by setting:
+    #define configUSE_OS2_THREAD_SUSPEND_RESUME 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_THREAD_SUSPEND_RESUME == 1)
+    #error "Definition INCLUDE_vTaskSuspend must equal 1 to implement Kernel Information and Control API."
+  #endif
+#endif
+#if (INCLUDE_xTimerPendFunctionCall == 0)
+  /*
+    CMSIS-RTOS2 function osEventFlagsSet and osEventFlagsClear, when called from
+    the ISR, call FreeRTOS functions xEventGroupSetBitsFromISR and
+    xEventGroupClearBitsFromISR which are only enabled if timers are operational and
+    xTimerPendFunctionCall in enabled.
+    Set #define INCLUDE_xTimerPendFunctionCall 1 and #define configUSE_TIMERS 1
+    to fix this error.
+
+    Alternatively, if the application does not use osEventFlagsSet and osEventFlagsClear
+    from the ISR their operation from ISR can be restricted by setting:
+    #define configUSE_OS2_EVENTFLAGS_FROM_ISR 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_EVENTFLAGS_FROM_ISR == 1)
+    #error "Definition INCLUDE_xTimerPendFunctionCall must equal 1 to implement Event Flags API."
+  #endif
+#endif
+
+#if (configUSE_TIMERS == 0)
+  /*
+    CMSIS-RTOS2 Timer Management API functions use FreeRTOS timer functions to implement
+    timer management. In case if these functions are not used in the application image,
+    compiler will optimize them away.
+    Set #define configUSE_TIMERS 1 to fix this error.
+
+    Alternatively, if the application does not use timer functions they can be
+    excluded from the image code by setting:
+    #define configUSE_OS2_TIMER 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_TIMER == 1)
+    #error "Definition configUSE_TIMERS must equal 1 to implement Timer Management API."
+  #endif
+#endif
+
+#if (configUSE_MUTEXES == 0)
+  /*
+    CMSIS-RTOS2 Mutex Management API functions use FreeRTOS mutex functions to implement
+    mutex management. In case if these functions are not used in the application image,
+    compiler will optimize them away.
+    Set #define configUSE_MUTEXES 1 to fix this error.
+
+    Alternatively, if the application does not use mutex functions they can be
+    excluded from the image code by setting:
+    #define configUSE_OS2_MUTEX 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_MUTEX == 1)
+    #error "Definition configUSE_MUTEXES must equal 1 to implement Mutex Management API."
+  #endif
+#endif
+
+#if (configUSE_COUNTING_SEMAPHORES == 0)
+  /*
+    CMSIS-RTOS2 Memory Pool functions use FreeRTOS function xSemaphoreCreateCounting
+    to implement memory pools. In case if these functions are not used in the application image,
+    compiler will optimize them away.
+    Set #define configUSE_COUNTING_SEMAPHORES 1 to fix this error.
+  */
+  #error "Definition configUSE_COUNTING_SEMAPHORES must equal 1 to implement Memory Pool API."
+#endif
+#if (configUSE_TASK_NOTIFICATIONS == 0)
+  /*
+    CMSIS-RTOS2 Thread Flags API functions use FreeRTOS Task Notification functions to implement
+    thread flag management. In case if these functions are not used in the application image,
+    compiler will optimize them away.
+    Set #define configUSE_TASK_NOTIFICATIONS 1 to fix this error.
+
+    Alternatively, if the application does not use thread flags functions they can be
+    excluded from the image code by setting:
+    #define configUSE_OS2_THREAD_FLAGS 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_THREAD_FLAGS == 1)
+    #error "Definition configUSE_TASK_NOTIFICATIONS must equal 1 to implement Thread Flags API."
+  #endif
+#endif
+
+#if (configUSE_TRACE_FACILITY == 0)
+  /*
+    CMSIS-RTOS2 function osThreadEnumerate requires FreeRTOS function uxTaskGetSystemState
+    which is only enabled if configUSE_TRACE_FACILITY == 1.
+    Set #define configUSE_TRACE_FACILITY 1 to fix this error.
+
+    Alternatively, if the application does not use osThreadEnumerate it can be
+    excluded from the image code by setting:
+    #define configUSE_OS2_THREAD_ENUMERATE 0 (in FreeRTOSConfig.h)
+  */
+  #if (configUSE_OS2_THREAD_ENUMERATE == 1)
+    #error "Definition configUSE_TRACE_FACILITY must equal 1 to implement osThreadEnumerate."
+  #endif
+#endif
+
+#if (configUSE_16_BIT_TICKS == 1)
+  /*
+    CMSIS-RTOS2 wrapper for FreeRTOS relies on 32-bit tick timer which is also optimal on
+    a 32-bit CPU architectures.
+    Set #define configUSE_16_BIT_TICKS 0 to fix this error.
+  */
+  #error "Definition configUSE_16_BIT_TICKS must be zero to implement CMSIS-RTOS2 API."
+#endif
+
+#if (configMAX_PRIORITIES != 56)
+  /*
+    CMSIS-RTOS2 defines 56 different priorities (see osPriority_t) and portable CMSIS-RTOS2
+    implementation should implement the same number of priorities.
+    Set #define configMAX_PRIORITIES 56 to fix this error.
+  */
+  #error "Definition configMAX_PRIORITIES must equal 56 to implement Thread Management API."
+#endif
+#if (configUSE_PORT_OPTIMISED_TASK_SELECTION != 0)
+  /*
+    CMSIS-RTOS2 requires handling of 56 different priorities (see osPriority_t) while FreeRTOS port
+    optimised selection for Cortex core only handles 32 different priorities.
+    Set #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 to fix this error.
+  */
+  #error "Definition configUSE_PORT_OPTIMISED_TASK_SELECTION must be zero to implement Thread Management API."
+#endif
+
+#endif /* FREERTOS_OS2_H_ */

Middlewares/Third_Party/FreeRTOS/Source/croutine.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/event_groups.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/FreeRTOS.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -241,10 +241,26 @@ extern "C" {
 	#define configASSERT_DEFINED 1
 #endif
 
+/* configPRECONDITION should be defined as configASSERT.
+The CBMC proofs need a way to track assumptions and assertions.
+A configPRECONDITION statement should express an implicit invariant or
+assumption made.  A configASSERT statement should express an invariant that must
+hold explicit before calling the code. */
+#ifndef configPRECONDITION
+	#define configPRECONDITION( X ) configASSERT(X)
+	#define configPRECONDITION_DEFINED 0
+#else
+	#define configPRECONDITION_DEFINED 1
+#endif
+
 #ifndef portMEMORY_BARRIER
 	#define portMEMORY_BARRIER()
 #endif
 
+#ifndef portSOFTWARE_BARRIER
+	#define portSOFTWARE_BARRIER()
+#endif
+
 /* The timers module relies on xTaskGetSchedulerState(). */
 #if configUSE_TIMERS == 1
 
@@ -937,6 +953,7 @@ V8 if desired. */
 	#define pcTimerGetTimerName pcTimerGetName
 	#define pcQueueGetQueueName pcQueueGetName
 	#define vTaskGetTaskInfo vTaskGetInfo
+	#define xTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
 
 	/* Backward compatibility within the scheduler code only - these definitions
 	are not really required but are included for completeness. */

Middlewares/Third_Party/FreeRTOS/Source/include/StackMacros.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/atomic.h

@@ -0,0 +1,414 @@
+/*
+ * FreeRTOS Kernel V10.3.1
+ * 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.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+/**
+ * @file atomic.h
+ * @brief FreeRTOS atomic operation support.
+ *
+ * This file implements atomic functions by disabling interrupts globally.
+ * Implementations with architecture specific atomic instructions can be
+ * provided under each compiler directory.
+ */
+
+#ifndef ATOMIC_H
+#define ATOMIC_H
+
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include atomic.h"
+#endif
+
+/* Standard includes. */
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/*
+ * Port specific definitions -- entering/exiting critical section.
+ * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
+ *
+ * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
+ * ATOMIC_ENTER_CRITICAL().
+ *
+ */
+#if defined( portSET_INTERRUPT_MASK_FROM_ISR )
+
+	/* Nested interrupt scheme is supported in this port. */
+	#define ATOMIC_ENTER_CRITICAL()	 \
+		UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
+
+	#define ATOMIC_EXIT_CRITICAL()	  \
+		portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
+
+#else
+
+	/* Nested interrupt scheme is NOT supported in this port. */
+	#define ATOMIC_ENTER_CRITICAL()	 portENTER_CRITICAL()
+	#define ATOMIC_EXIT_CRITICAL()	  portEXIT_CRITICAL()
+
+#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
+
+/*
+ * Port specific definition -- "always inline".
+ * Inline is compiler specific, and may not always get inlined depending on your
+ * optimization level.  Also, inline is considered as performance optimization
+ * for atomic.  Thus, if portFORCE_INLINE is not provided by portmacro.h,
+ * instead of resulting error, simply define it away.
+ */
+#ifndef portFORCE_INLINE
+	#define portFORCE_INLINE
+#endif
+
+#define ATOMIC_COMPARE_AND_SWAP_SUCCESS	 0x1U		/**< Compare and swap succeeded, swapped. */
+#define ATOMIC_COMPARE_AND_SWAP_FAILURE	 0x0U		/**< Compare and swap failed, did not swap. */
+
+/*----------------------------- Swap && CAS ------------------------------*/
+
+/**
+ * Atomic compare-and-swap
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified values.
+ *
+ * @param[in, out] pulDestination  Pointer to memory location from where value is
+ *                               to be loaded and checked.
+ * @param[in] ulExchange         If condition meets, write this value to memory.
+ * @param[in] ulComparand        Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @note This function only swaps *pulDestination with ulExchange, if previous
+ *       *pulDestination value equals ulComparand.
+ */
+static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
+															uint32_t ulExchange,
+															uint32_t ulComparand )
+{
+uint32_t ulReturnValue;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		if( *pulDestination == ulComparand )
+		{
+			*pulDestination = ulExchange;
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+		}
+		else
+		{
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+		}
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic swap (pointers)
+ *
+ * @brief Atomically sets the address pointed to by *ppvDestination to the value
+ *        of *pvExchange.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and written back to.
+ * @param[in] pvExchange           Pointer value to be written to *ppvDestination.
+ *
+ * @return The initial value of *ppvDestination.
+ */
+static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
+														void * pvExchange )
+{
+void * pReturnValue;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		pReturnValue = *ppvDestination;
+		*ppvDestination = pvExchange;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return pReturnValue;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic compare-and-swap (pointers)
+ *
+ * @brief Performs an atomic compare-and-swap operation on the specified pointer
+ *        values.
+ *
+ * @param[in, out] ppvDestination  Pointer to memory location from where a pointer
+ *                                 value is to be loaded and checked.
+ * @param[in] pvExchange           If condition meets, write this value to memory.
+ * @param[in] pvComparand          Swap condition.
+ *
+ * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
+ *
+ * @note This function only swaps *ppvDestination with pvExchange, if previous
+ *       *ppvDestination value equals pvComparand.
+ */
+static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
+																	void * pvExchange,
+																	void * pvComparand )
+{
+uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		if( *ppvDestination == pvComparand )
+		{
+			*ppvDestination = pvExchange;
+			ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
+		}
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulReturnValue;
+}
+
+
+/*----------------------------- Arithmetic ------------------------------*/
+
+/**
+ * Atomic add
+ *
+ * @brief Atomically adds count to the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be added to *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
+												 uint32_t ulCount )
+{
+	uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend += ulCount;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic subtract
+ *
+ * @brief Atomically subtracts count from the value of the specified pointer
+ *        pointers to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ * @param[in] ulCount      Value to be subtract from *pulAddend.
+ *
+ * @return previous *pulAddend value.
+ */
+static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
+													  uint32_t ulCount )
+{
+	uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend -= ulCount;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic increment
+ *
+ * @brief Atomically increments the value of the specified pointer points to.
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before increment.
+ */
+static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend += 1;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic decrement
+ *
+ * @brief Atomically decrements the value of the specified pointer points to
+ *
+ * @param[in,out] pulAddend  Pointer to memory location from where value is to be
+ *                         loaded and written back to.
+ *
+ * @return *pulAddend value before decrement.
+ */
+static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulAddend;
+		*pulAddend -= 1;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+
+/*----------------------------- Bitwise Logical ------------------------------*/
+
+/**
+ * Atomic OR
+ *
+ * @brief Performs an atomic OR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
+												uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination |= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic AND
+ *
+ * @brief Performs an atomic AND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be ANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
+												 uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination &= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic NAND
+ *
+ * @brief Performs an atomic NAND operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be NANDed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
+												  uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination = ~( ulCurrent & ulValue );
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+/*-----------------------------------------------------------*/
+
+/**
+ * Atomic XOR
+ *
+ * @brief Performs an atomic XOR operation on the specified values.
+ *
+ * @param [in, out] pulDestination  Pointer to memory location from where value is
+ *                                to be loaded and written back to.
+ * @param [in] ulValue            Value to be XORed with *pulDestination.
+ *
+ * @return The original value of *pulDestination.
+ */
+static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
+												 uint32_t ulValue )
+{
+uint32_t ulCurrent;
+
+	ATOMIC_ENTER_CRITICAL();
+	{
+		ulCurrent = *pulDestination;
+		*pulDestination ^= ulValue;
+	}
+	ATOMIC_EXIT_CRITICAL();
+
+	return ulCurrent;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ATOMIC_H */

Middlewares/Third_Party/FreeRTOS/Source/include/croutine.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -157,7 +157,7 @@ BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPri
  }
 
  // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineScheduler() within an
+ // execute, the idle task hook can call vCoRoutineSchedule() within an
  // infinite loop.
  void vApplicationIdleHook( void )
  {

Middlewares/Third_Party/FreeRTOS/Source/include/deprecated_definitions.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/event_groups.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/list.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -183,7 +183,7 @@ typedef struct xLIST
  * Access macro to get the owner of a list item.  The owner of a list item
  * is the object (usually a TCB) that contains the list item.
  *
- * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
+ * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
  * \ingroup LinkedList
  */
 #define listGET_LIST_ITEM_OWNER( pxListItem )	( ( pxListItem )->pvOwner )
@@ -225,7 +225,7 @@ typedef struct xLIST
 #define listGET_HEAD_ENTRY( pxList )	( ( ( pxList )->xListEnd ).pxNext )
 
 /*
- * Return the list item at the head of the list.
+ * Return the next list item.
  *
  * \page listGET_NEXT listGET_NEXT
  * \ingroup LinkedList

Middlewares/Third_Party/FreeRTOS/Source/include/message_buffer.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -62,6 +62,10 @@
 #ifndef FREERTOS_MESSAGE_BUFFER_H
 #define FREERTOS_MESSAGE_BUFFER_H
 
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include message_buffer.h"
+#endif
+
 /* Message buffers are built onto of stream buffers. */
 #include "stream_buffer.h"
 
@@ -395,10 +399,10 @@ BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
     // priority of the currently executing task was unblocked and a context
     // switch should be performed to ensure the ISR returns to the unblocked
     // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
     // variables value, and perform the context switch if necessary.  Check the
     // documentation for the port in use for port specific instructions.
-    taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 </pre>
  * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
@@ -584,10 +588,10 @@ BaseType_t xHigherPriorityTaskWoken = pdFALSE;  // Initialised to pdFALSE.
     // priority of the currently executing task was unblocked and a context
     // switch should be performed to ensure the ISR returns to the unblocked
     // task.  In most FreeRTOS ports this is done by simply passing
-    // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
+    // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
     // variables value, and perform the context switch if necessary.  Check the
     // documentation for the port in use for port specific instructions.
-    taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 </pre>
  * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR

Middlewares/Third_Party/FreeRTOS/Source/include/mpu_prototypes.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -69,19 +69,21 @@ void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseTy
 BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) FREERTOS_SYSTEM_CALL;
 TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
 UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
-TickType_t MPU_xTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
+uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
 TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
 void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
+BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
 
 /* MPU versions of queue.h API functions. */
 BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
@@ -122,6 +124,7 @@ TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
 const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
+UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
 BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;

Middlewares/Third_Party/FreeRTOS/Source/include/mpu_wrappers.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -77,11 +77,13 @@ only for ports that are using the MPU. */
 		#define uxTaskGetSystemState					MPU_uxTaskGetSystemState
 		#define vTaskList								MPU_vTaskList
 		#define vTaskGetRunTimeStats					MPU_vTaskGetRunTimeStats
-		#define xTaskGetIdleRunTimeCounter				MPU_xTaskGetIdleRunTimeCounter
+		#define ulTaskGetIdleRunTimeCounter				MPU_ulTaskGetIdleRunTimeCounter
 		#define xTaskGenericNotify						MPU_xTaskGenericNotify
 		#define xTaskNotifyWait							MPU_xTaskNotifyWait
 		#define ulTaskNotifyTake						MPU_ulTaskNotifyTake
 		#define xTaskNotifyStateClear					MPU_xTaskNotifyStateClear
+		#define ulTaskNotifyValueClear					MPU_ulTaskNotifyValueClear
+		#define xTaskCatchUpTicks						MPU_xTaskCatchUpTicks
 
 		#define xTaskGetCurrentTaskHandle				MPU_xTaskGetCurrentTaskHandle
 		#define vTaskSetTimeOutState					MPU_vTaskSetTimeOutState
@@ -127,6 +129,7 @@ only for ports that are using the MPU. */
 		#define xTimerPendFunctionCall					MPU_xTimerPendFunctionCall
 		#define pcTimerGetName							MPU_pcTimerGetName
 		#define vTimerSetReloadMode						MPU_vTimerSetReloadMode
+		#define uxTimerGetReloadMode					MPU_uxTimerGetReloadMode
 		#define xTimerGetPeriod							MPU_xTimerGetPeriod
 		#define xTimerGetExpiryTime						MPU_xTimerGetExpiryTime
 		#define xTimerGenericCommand					MPU_xTimerGenericCommand

Middlewares/Third_Party/FreeRTOS/Source/include/portable.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -118,13 +118,26 @@ extern "C" {
 	#endif
 #endif
 
-/* Used by heap_5.c. */
+/* Used by heap_5.c to define the start address and size of each memory region
+that together comprise the total FreeRTOS heap space. */
 typedef struct HeapRegion
 {
 	uint8_t *pucStartAddress;
 	size_t xSizeInBytes;
 } HeapRegion_t;
 
+/* Used to pass information about the heap out of vPortGetHeapStats(). */
+typedef struct xHeapStats
+{
+	size_t xAvailableHeapSpaceInBytes;		/* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
+	size_t xSizeOfLargestFreeBlockInBytes; 	/* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
+	size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
+	size_t xNumberOfFreeBlocks;				/* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
+	size_t xMinimumEverFreeBytesRemaining;	/* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
+	size_t xNumberOfSuccessfulAllocations;	/* The number of calls to pvPortMalloc() that have returned a valid memory block. */
+	size_t xNumberOfSuccessfulFrees;		/* The number of calls to vPortFree() that has successfully freed a block of memory. */
+} HeapStats_t;
+
 /*
  * Used to define multiple heap regions for use by heap_5.c.  This function
  * must be called before any calls to pvPortMalloc() - not creating a task,
@@ -138,6 +151,11 @@ typedef struct HeapRegion
  */
 void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
 
+/*
+ * Returns a HeapStats_t structure filled with information about the current
+ * heap state.
+ */
+void vPortGetHeapStats( HeapStats_t *pxHeapStats );
 
 /*
  * Map to the memory management routines required for the port.

Middlewares/Third_Party/FreeRTOS/Source/include/projdefs.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/queue.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -1284,7 +1284,7 @@ uint32_t ulVarToSend, ulValReceived;
 	// name of the yield function required is port specific.
 	if( xHigherPriorityTaskWokenByPost )
 	{
-		taskYIELD_YIELD_FROM_ISR();
+		portYIELD_FROM_ISR();
 	}
  }
  </pre>

Middlewares/Third_Party/FreeRTOS/Source/include/semphr.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/stack_macros.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/include/stream_buffer.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -43,7 +43,7 @@
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section section and set the
+ * (such as xStreamBufferReceive()) inside a critical section section and set the
  * receive block time to 0.
  *
  */
@@ -51,6 +51,10 @@
 #ifndef STREAM_BUFFER_H
 #define STREAM_BUFFER_H
 
+#ifndef INC_FREERTOS_H
+	#error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
+#endif
+
 #if defined( __cplusplus )
 extern "C" {
 #endif
@@ -237,7 +241,7 @@ size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
@@ -335,7 +339,7 @@ size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferSend() to write to a stream buffer from a task.  Use
@@ -435,7 +439,7 @@ size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
  * (such as xStreamBufferSend()) inside a critical section and set the send
  * block time to 0.  Likewise, if there are to be multiple different readers
  * then the application writer must place each call to a reading API function
- * (such as xStreamBufferRead()) inside a critical section and set the receive
+ * (such as xStreamBufferReceive()) inside a critical section and set the receive
  * block time to 0.
  *
  * Use xStreamBufferReceive() to read from a stream buffer from a task.  Use

Middlewares/Third_Party/FreeRTOS/Source/include/task.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -43,10 +43,10 @@ extern "C" {
  * MACROS AND DEFINITIONS
  *----------------------------------------------------------*/
 
-#define tskKERNEL_VERSION_NUMBER "V10.2.0"
+#define tskKERNEL_VERSION_NUMBER "V10.3.1"
 #define tskKERNEL_VERSION_MAJOR 10
-#define tskKERNEL_VERSION_MINOR 2
+#define tskKERNEL_VERSION_MINOR 3
-#define tskKERNEL_VERSION_BUILD 0
+#define tskKERNEL_VERSION_BUILD 1
 
 /* MPU region parameters passed in ulParameters
  * of MemoryRegion_t struct. */
@@ -314,13 +314,13 @@ is used in assert() statements. */
 	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
 	 // the new task attempts to access it.
 	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
-     configASSERT( xHandle );
+	 configASSERT( xHandle );
 
 	 // Use the handle to delete the task.
-     if( xHandle != NULL )
+	 if( xHandle != NULL )
-     {
+	 {
-	     vTaskDelete( xHandle );
+	 	vTaskDelete( xHandle );
-     }
+	 }
  }
    </pre>
  * \defgroup xTaskCreate xTaskCreate
@@ -498,9 +498,9 @@ static const TaskParameters_t xCheckTaskParameters =
 	// for full information.
 	{
 		// Base address					Length	Parameters
-        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
+		{ cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
+		{ cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
+		{ cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
 	}
 };
 
@@ -584,9 +584,9 @@ static const TaskParameters_t xCheckTaskParameters =
 	// for full information.
 	{
 		// Base address					Length	Parameters
-        { cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
+		{ cReadWriteArray,				32,		portMPU_REGION_READ_WRITE },
-        { cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
+		{ cReadOnlyArray,				32,		portMPU_REGION_READ_ONLY },
-        { cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
+		{ cPrivilegedOnlyAccessArray,	128,	portMPU_REGION_PRIVILEGED_READ_WRITE }
 	}
 
 	&xTaskBuffer; // Holds the task's data structure.
@@ -831,6 +831,11 @@ void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xT
  * task will leave the Blocked state, and return from whichever function call
  * placed the task into the Blocked state.
  *
+ * There is no 'FromISR' version of this function as an interrupt would need to
+ * know which object a task was blocked on in order to know which actions to
+ * take.  For example, if the task was blocked on a queue the interrupt handler
+ * would then need to know if the queue was locked.
+ *
  * @param xTask The handle of the task to remove from the Blocked state.
  *
  * @return If the task referenced by xTask was not in the Blocked state then
@@ -1738,7 +1743,7 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
 
 /**
 * task. h
-* <PRE>TickType_t xTaskGetIdleRunTimeCounter( void );</PRE>
+* <PRE>uint32_t ulTaskGetIdleRunTimeCounter( void );</PRE>
 *
 * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
 * must both be defined as 1 for this function to be available.  The application
@@ -1753,7 +1758,7 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
 * of the accumulated time value depends on the frequency of the timer
 * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
 * While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
-* execution time of each task into a buffer, xTaskGetIdleRunTimeCounter()
+* execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
 * returns the total execution time of just the idle task.
 *
 * @return The total run time of the idle task.  This is the amount of time the
@@ -1761,10 +1766,10 @@ void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e9
 * frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
 * portGET_RUN_TIME_COUNTER_VALUE() macros.
 *
-* \defgroup xTaskGetIdleRunTimeCounter xTaskGetIdleRunTimeCounter
+* \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
 * \ingroup TaskUtils
 */
-TickType_t xTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
+uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
@@ -2201,6 +2206,121 @@ uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait
  */
 BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
 
+/**
+* task. h
+* <PRE>uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );</pre>
+*
+* Clears the bits specified by the ulBitsToClear bit mask in the notification
+* value of the task referenced by xTask.
+*
+* Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
+* the notification value to 0.  Set ulBitsToClear to 0 to query the task's
+* notification value without clearing any bits.
+*
+* @return The value of the target task's notification value before the bits
+* specified by ulBitsToClear were cleared.
+* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
+* \ingroup TaskNotifications
+*/
+uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * <pre>void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )</pre>
+ *
+ * Capture the current time for future use with xTaskCheckForTimeOut().
+ *
+ * @param pxTimeOut Pointer to a timeout object into which the current time
+ * is to be captured.  The captured time includes the tick count and the number
+ * of times the tick count has overflowed since the system first booted.
+ * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
+ * \ingroup TaskCtrl
+ */
+void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
+
+/**
+ * task.h
+ * <pre>BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );</pre>
+ *
+ * Determines if pxTicksToWait ticks has passed since a time was captured
+ * using a call to vTaskSetTimeOutState().  The captured time includes the tick
+ * count and the number of times the tick count has overflowed.
+ *
+ * @param pxTimeOut The time status as captured previously using
+ * vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated
+ * to reflect the current time status.
+ * @param pxTicksToWait The number of ticks to check for timeout i.e. if
+ * pxTicksToWait ticks have passed since pxTimeOut was last updated (either by
+ * vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred.
+ * If the timeout has not occurred, pxTIcksToWait is updated to reflect the
+ * number of remaining ticks.
+ *
+ * @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is
+ * returned and pxTicksToWait is updated to reflect the number of remaining
+ * ticks.
+ *
+ * @see https://www.freertos.org/xTaskCheckForTimeOut.html
+ *
+ * Example Usage:
+ * <pre>
+	// Driver library function used to receive uxWantedBytes from an Rx buffer
+	// that is filled by a UART interrupt. If there are not enough bytes in the
+	// Rx buffer then the task enters the Blocked state until it is notified that
+	// more data has been placed into the buffer. If there is still not enough
+	// data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
+	// is used to re-calculate the Block time to ensure the total amount of time
+	// spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
+	// continues until either the buffer contains at least uxWantedBytes bytes,
+	// or the total amount of time spent in the Blocked state reaches
+	// MAX_TIME_TO_WAIT – at which point the task reads however many bytes are
+	// available up to a maximum of uxWantedBytes.
+
+	size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
+	{
+	size_t uxReceived = 0;
+	TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
+	TimeOut_t xTimeOut;
+
+		// Initialize xTimeOut.  This records the time at which this function
+		// was entered.
+		vTaskSetTimeOutState( &xTimeOut );
+
+		// Loop until the buffer contains the wanted number of bytes, or a
+		// timeout occurs.
+		while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
+		{
+			// The buffer didn't contain enough data so this task is going to
+			// enter the Blocked state. Adjusting xTicksToWait to account for
+			// any time that has been spent in the Blocked state within this
+			// function so far to ensure the total amount of time spent in the
+			// Blocked state does not exceed MAX_TIME_TO_WAIT.
+			if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
+			{
+				//Timed out before the wanted number of bytes were available,
+				// exit the loop.
+				break;
+			}
+
+			// Wait for a maximum of xTicksToWait ticks to be notified that the
+			// receive interrupt has placed more data into the buffer.
+			ulTaskNotifyTake( pdTRUE, xTicksToWait );
+		}
+
+		// Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
+		// The actual number of bytes read (which might be less than
+		// uxWantedBytes) is returned.
+		uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
+													pucBuffer,
+													uxWantedBytes );
+
+		return uxReceived;
+	}
+ </pre>
+ * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
+ * \ingroup TaskCtrl
+ */
+BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
+
 /*-----------------------------------------------------------
  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
  *----------------------------------------------------------*/
@@ -2317,17 +2437,6 @@ TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION;
  */
 TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
 
-/*
- * Capture the current time status for future reference.
- */
-void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-/*
- * Compare the time status now with that previously captured to see if the
- * timeout has expired.
- */
-BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
-
 /*
  * Shortcut used by the queue implementation to prevent unnecessary call to
  * taskYIELD();
@@ -2383,6 +2492,19 @@ void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVIL
  */
 void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
 
+/* Correct the tick count value after the application code has held
+interrupts disabled for an extended period.  xTicksToCatchUp is the number
+of tick interrupts that have been missed due to interrupts being disabled.
+Its value is not computed automatically, so must be computed by the
+application writer.
+
+This function is similar to vTaskStepTick(), however, unlike
+vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a
+time at which a task should be removed from the blocked state.  That means
+tasks may have to be removed from the blocked state as the tick count is
+moved. */
+BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
+
 /*
  * Only available when configUSE_TICKLESS_IDLE is set to 1.
  * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port

Middlewares/Third_Party/FreeRTOS/Source/include/timers.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -121,7 +121,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
  * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
- * equal to 1000.
+ * equal to 1000.  Time timer period must be greater than 0.
  *
  * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
@@ -138,9 +138,9 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * which is	"void vCallbackFunction( TimerHandle_t xTimer );".
  *
  * @return If the timer is successfully created then a handle to the newly
- * created timer is returned.  If the timer cannot be created (because either
+ * created timer is returned.  If the timer cannot be created because there is
- * there is insufficient FreeRTOS heap remaining to allocate the timer
+ * insufficient FreeRTOS heap remaining to allocate the timer
- * structures, or the timer period was set to 0) then NULL is returned.
+ * structures then NULL is returned.
  *
  * Example usage:
  * @verbatim
@@ -267,7 +267,7 @@ typedef void (*PendedFunction_t)( void *, uint32_t );
  * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
  * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
  * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
- * equal to 1000.
+ * equal to 1000.  The timer period must be greater than 0.
  *
  * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
  * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
@@ -1234,8 +1234,8 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
 /**
  * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload );
  *
- * Updates a timer to be either an autoreload timer, in which case the timer
+ * Updates a timer to be either an auto-reload timer, in which case the timer
- * automatically resets itself each time it expires, or a one shot timer, in
+ * automatically resets itself each time it expires, or a one-shot timer, in
  * which case the timer will only expire once unless it is manually restarted.
  *
  * @param xTimer The handle of the timer being updated.
@@ -1248,6 +1248,20 @@ const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint
  */
 void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
 
+/**
+* UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
+*
+* Queries a timer to determine if it is an auto-reload timer, in which case the timer
+* automatically resets itself each time it expires, or a one-shot timer, in
+* which case the timer will only expire once unless it is manually restarted.
+*
+* @param xTimer The handle of the timer being queried.
+*
+* @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
+* pdFALSE is returned.
+*/
+UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
+
 /**
  * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
  *

Middlewares/Third_Party/FreeRTOS/Source/list.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -576,14 +576,14 @@ void xPortSysTickHandler( void )
 			should not be executed again.  However, the original expected idle
 			time variable must remain unmodified, so a copy is taken. */
 			xModifiableIdleTime = xExpectedIdleTime;
-			configPRE_SLEEP_PROCESSING( &xModifiableIdleTime );
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
 			if( xModifiableIdleTime > 0 )
 			{
 				__asm volatile( "dsb" ::: "memory" );
 				__asm volatile( "wfi" );
 				__asm volatile( "isb" );
 			}
-			configPOST_SLEEP_PROCESSING( &xExpectedIdleTime );
+			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
 			/* Re-enable interrupts to allow the interrupt that brought the MCU
 			out of sleep mode to execute immediately.  see comments above
@@ -664,7 +664,7 @@ void xPortSysTickHandler( void )
 			vTaskStepTick( ulCompleteTickPeriods );
 			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
 
-			/* Exit with interrpts enabled. */
+			/* Exit with interrupts enabled. */
 			__asm volatile( "cpsie i" ::: "memory" );
 		}
 	}

Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -97,10 +97,12 @@ static const size_t xHeapStructSize	= ( sizeof( BlockLink_t ) + ( ( size_t ) ( p
 /* Create a couple of list links to mark the start and end of the list. */
 static BlockLink_t xStart, *pxEnd = NULL;
 
-/* Keeps track of the number of free bytes remaining, but says nothing about
+/* Keeps track of the number of calls to allocate and free memory as well as the
-fragmentation. */
+number of free bytes remaining, but says nothing about fragmentation. */
 static size_t xFreeBytesRemaining = 0U;
 static size_t xMinimumEverFreeBytesRemaining = 0U;
+static size_t xNumberOfSuccessfulAllocations = 0;
+static size_t xNumberOfSuccessfulFrees = 0;
 
 /* Gets set to the top bit of an size_t type.  When this bit in the xBlockSize
 member of an BlockLink_t structure is set then the block belongs to the
@@ -221,6 +223,7 @@ void *pvReturn = NULL;
 					by the application and has no "next" block. */
 					pxBlock->xBlockSize |= xBlockAllocatedBit;
 					pxBlock->pxNextFreeBlock = NULL;
+					xNumberOfSuccessfulAllocations++;
 				}
 				else
 				{
@@ -292,6 +295,7 @@ BlockLink_t *pxLink;
 					xFreeBytesRemaining += pxLink->xBlockSize;
 					traceFREE( pv, pxLink->xBlockSize );
 					prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
+					xNumberOfSuccessfulFrees++;
 				}
 				( void ) xTaskResumeAll();
 			}
@@ -433,4 +437,56 @@ uint8_t *puc;
 		mtCOVERAGE_TEST_MARKER();
 	}
 }
+/*-----------------------------------------------------------*/
+
+void vPortGetHeapStats( HeapStats_t *pxHeapStats )
+{
+BlockLink_t *pxBlock;
+size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
+
+	vTaskSuspendAll();
+	{
+		pxBlock = xStart.pxNextFreeBlock;
+
+		/* pxBlock will be NULL if the heap has not been initialised.  The heap
+		is initialised automatically when the first allocation is made. */
+		if( pxBlock != NULL )
+		{
+			do
+			{
+				/* Increment the number of blocks and record the largest block seen
+				so far. */
+				xBlocks++;
+
+				if( pxBlock->xBlockSize > xMaxSize )
+				{
+					xMaxSize = pxBlock->xBlockSize;
+				}
+
+				if( pxBlock->xBlockSize < xMinSize )
+				{
+					xMinSize = pxBlock->xBlockSize;
+				}
+
+				/* Move to the next block in the chain until the last block is
+				reached. */
+				pxBlock = pxBlock->pxNextFreeBlock;
+			} while( pxBlock != pxEnd );
+		}
+	}
+	xTaskResumeAll();
+
+	pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
+	pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
+	pxHeapStats->xNumberOfFreeBlocks = xBlocks;
+
+	taskENTER_CRITICAL();
+	{
+		pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
+		pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
+		pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
+		pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
+	}
+	taskEXIT_CRITICAL();
+}
 

Middlewares/Third_Party/FreeRTOS/Source/queue.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -203,7 +203,7 @@ static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer
 	 * Checks to see if a queue is a member of a queue set, and if so, notifies
 	 * the queue set that the queue contains data.
 	 */
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
+	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
@@ -373,17 +373,10 @@ Queue_t * const pxQueue = xQueue;
 
 		configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
 
-		if( uxItemSize == ( UBaseType_t ) 0 )
+		/* Allocate enough space to hold the maximum number of items that
-		{
+		can be in the queue at any time.  It is valid for uxItemSize to be
-			/* There is not going to be a queue storage area. */
+		zero in the case the queue is used as a semaphore. */
-			xQueueSizeInBytes = ( size_t ) 0;
+		xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-		}
-		else
-		{
-			/* Allocate enough space to hold the maximum number of items that
-			can be in the queue at any time. */
-			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-		}
 
 		/* Allocate the queue and storage area.  Justification for MISRA
 		deviation as follows:  pvPortMalloc() always ensures returned memory
@@ -777,7 +770,7 @@ Queue_t * const pxQueue = xQueue;
 
 				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-				UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
+				const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
 
 					xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
@@ -790,7 +783,7 @@ Queue_t * const pxQueue = xQueue;
 							in the queue has not changed. */
 							mtCOVERAGE_TEST_MARKER();
 						}
-						else if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
+						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The queue is a member of a queue set, and posting
 							to the queue set caused a higher priority task to
@@ -990,6 +983,7 @@ Queue_t * const pxQueue = xQueue;
 		if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
 		{
 			const int8_t cTxLock = pxQueue->cTxLock;
+			const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
 
 			traceQUEUE_SEND_FROM_ISR( pxQueue );
 
@@ -1008,7 +1002,14 @@ Queue_t * const pxQueue = xQueue;
 				{
 					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) != pdFALSE )
+						if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
+						{
+							/* Do not notify the queue set as an existing item
+							was overwritten in the queue so the number of items
+							in the queue has not changed. */
+							mtCOVERAGE_TEST_MARKER();
+						}
+						else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The queue is a member of a queue set, and posting
 							to the queue set caused a higher priority task to
@@ -1081,6 +1082,9 @@ Queue_t * const pxQueue = xQueue;
 					{
 						mtCOVERAGE_TEST_MARKER();
 					}
+					
+					/* Not used in this path. */
+					( void ) uxPreviousMessagesWaiting;
 				}
 				#endif /* configUSE_QUEUE_SETS */
 			}
@@ -1173,7 +1177,7 @@ Queue_t * const pxQueue = xQueue;
 				{
 					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
+						if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 						{
 							/* The semaphore is a member of a queue set, and
 							posting	to the queue set caused a higher priority
@@ -2185,7 +2189,7 @@ static void prvUnlockQueue( Queue_t * const pxQueue )
 			{
 				if( pxQueue->pxQueueSetContainer != NULL )
 				{
-					if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) != pdFALSE )
+					if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
 					{
 						/* The queue is a member of a queue set, and posting to
 						the queue set caused a higher priority task to unblock.
@@ -2875,7 +2879,7 @@ Queue_t * const pxQueue = xQueue;
 
 #if ( configUSE_QUEUE_SETS == 1 )
 
-	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue, const BaseType_t xCopyPosition )
+	static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
 	{
 	Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
 	BaseType_t xReturn = pdFALSE;
@@ -2892,7 +2896,7 @@ Queue_t * const pxQueue = xQueue;
 			traceQUEUE_SEND( pxQueueSetContainer );
 
 			/* The data copied is the handle of the queue that contains data. */
-			xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+			xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
 
 			if( cTxLock == queueUNLOCKED )
 			{

Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in

Middlewares/Third_Party/FreeRTOS/Source/tasks.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -300,7 +300,10 @@ typedef struct tskTaskControlBlock 			/* The old naming convention is used to pr
 		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. */
+		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
 
@@ -337,23 +340,23 @@ PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
 xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople 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 ] = { 0 };/*< Prioritised ready tasks. */
+PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList1 = { 0 };						/*< Delayed tasks. */
+PRIVILEGED_DATA static List_t xDelayedTaskList1;						/*< Delayed tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList2 = { 0 };						/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
+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 = NULL;				/*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;				/*< Points to the delayed task list currently being used. */
-PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList = NULL;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
+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 = { 0 };						/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
+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 = { 0 };				/*< Tasks that have been deleted - but their memory not yet freed. */
+	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 = { 0 };					/*< Tasks that are currently suspended. */
+	PRIVILEGED_DATA static List_t xSuspendedTaskList;					/*< Tasks that are currently suspended. */
 
 #endif
 
@@ -368,7 +371,7 @@ PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks 	= ( UBaseTyp
 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 UBaseType_t uxPendedTicks 			= ( UBaseType_t ) 0U;
+PRIVILEGED_DATA static volatile TickType_t xPendedTicks 			= ( TickType_t ) 0U;
 PRIVILEGED_DATA static volatile BaseType_t xYieldPending 			= pdFALSE;
 PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows 			= ( BaseType_t ) 0;
 PRIVILEGED_DATA static UBaseType_t uxTaskNumber 					= ( UBaseType_t ) 0U;
@@ -993,7 +996,9 @@ UBaseType_t x;
 
 	#if ( configUSE_NEWLIB_REENTRANT == 1 )
 	{
-		/* Initialise this task's Newlib reent structure. */
+		/* 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
@@ -1164,7 +1169,7 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 			being deleted. */
 			pxTCB = prvGetTCBFromHandle( xTaskToDelete );
 
-			/* Remove task from the ready list. */
+			/* Remove task from the ready/delayed list. */
 			if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
 			{
 				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
@@ -1204,6 +1209,10 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 				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 -
@@ -1214,14 +1223,13 @@ static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
 			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();
 			}
-
-			traceTASK_DELETE( pxTCB );
 		}
 		taskEXIT_CRITICAL();
 
@@ -2041,7 +2049,9 @@ BaseType_t xReturn;
 		#if ( configUSE_NEWLIB_REENTRANT == 1 )
 		{
 			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to the task that will run first. */
+			structure specific to the task that will run first.
+			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+			for additional information. */
 			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
 		}
 		#endif /* configUSE_NEWLIB_REENTRANT */
@@ -2103,7 +2113,17 @@ void vTaskSuspendAll( void )
 	BaseType_t.  Please read Richard Barry's reply in the following link to a
 	post in the FreeRTOS support forum before reporting this as a bug! -
 	http://goo.gl/wu4acr */
+
+	/* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
+	do not otherwise exhibit real time behaviour. */
+	portSOFTWARE_BARRIER();
+
+	/* The scheduler is suspended if uxSchedulerSuspended is non-zero.  An increment
+	is used to allow calls to vTaskSuspendAll() to nest. */
 	++uxSchedulerSuspended;
+
+	/* Enforces ordering for ports and optimised compilers that may otherwise place
+	the above increment elsewhere. */
 	portMEMORY_BARRIER();
 }
 /*----------------------------------------------------------*/
@@ -2230,9 +2250,9 @@ BaseType_t xAlreadyYielded = pdFALSE;
 				not	slip, and that any delayed tasks are resumed at the correct
 				time. */
 				{
-					UBaseType_t uxPendedCounts = uxPendedTicks; /* Non-volatile copy. */
+					TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
 
-					if( uxPendedCounts > ( UBaseType_t ) 0U )
+					if( xPendedCounts > ( TickType_t ) 0U )
 					{
 						do
 						{
@@ -2244,10 +2264,10 @@ BaseType_t xAlreadyYielded = pdFALSE;
 							{
 								mtCOVERAGE_TEST_MARKER();
 							}
-							--uxPendedCounts;
+							--xPendedCounts;
-						} while( uxPendedCounts > ( UBaseType_t ) 0U );
+						} while( xPendedCounts > ( TickType_t ) 0U );
 
-						uxPendedTicks = 0;
+						xPendedTicks = 0;
 					}
 					else
 					{
@@ -2586,6 +2606,24 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 #endif /* configUSE_TICKLESS_IDLE */
 /*----------------------------------------------------------*/
 
+BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
+{
+BaseType_t xYieldRequired = pdFALSE;
+
+	/* 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;
+	xYieldRequired = xTaskResumeAll();
+
+	return xYieldRequired;
+}
+/*----------------------------------------------------------*/
+
 #if ( INCLUDE_xTaskAbortDelay == 1 )
 
 	BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
@@ -2617,6 +2655,10 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 					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
@@ -2793,7 +2835,7 @@ BaseType_t xSwitchRequired = pdFALSE;
 		{
 			/* Guard against the tick hook being called when the pended tick
 			count is being unwound (when the scheduler is being unlocked). */
-			if( uxPendedTicks == ( UBaseType_t ) 0U )
+			if( xPendedTicks == ( TickType_t ) 0 )
 			{
 				vApplicationTickHook();
 			}
@@ -2803,10 +2845,23 @@ BaseType_t xSwitchRequired = pdFALSE;
 			}
 		}
 		#endif /* configUSE_TICK_HOOK */
+
+		#if ( configUSE_PREEMPTION == 1 )
+		{
+			if( xYieldPending != pdFALSE )
+			{
+				xSwitchRequired = pdTRUE;
+			}
+			else
+			{
+				mtCOVERAGE_TEST_MARKER();
+			}
+		}
+		#endif /* configUSE_PREEMPTION */
 	}
 	else
 	{
-		++uxPendedTicks;
+		++xPendedTicks;
 
 		/* The tick hook gets called at regular intervals, even if the
 		scheduler is locked. */
@@ -2817,19 +2872,6 @@ BaseType_t xSwitchRequired = pdFALSE;
 		#endif
 	}
 
-	#if ( configUSE_PREEMPTION == 1 )
-	{
-		if( xYieldPending != pdFALSE )
-		{
-			xSwitchRequired = pdTRUE;
-		}
-		else
-		{
-			mtCOVERAGE_TEST_MARKER();
-		}
-	}
-	#endif /* configUSE_PREEMPTION */
-
 	return xSwitchRequired;
 }
 /*-----------------------------------------------------------*/
@@ -3009,7 +3051,9 @@ void vTaskSwitchContext( void )
 		#if ( configUSE_NEWLIB_REENTRANT == 1 )
 		{
 			/* Switch Newlib's _impure_ptr variable to point to the _reent
-			structure specific to this task. */
+			structure specific to this task.
+			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
+			for additional information. */
 			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
 		}
 		#endif /* configUSE_NEWLIB_REENTRANT */
@@ -3176,6 +3220,20 @@ TCB_t *pxUnblockedTCB;
 	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. */
@@ -3456,6 +3514,8 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 	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. */
@@ -3497,6 +3557,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
 		{
 			pxTCB = prvGetTCBFromHandle( xTaskToSet );
+			configASSERT( pxTCB != NULL );
 			pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
 		}
 	}
@@ -3831,7 +3892,9 @@ static void prvCheckTasksWaitingTermination( void )
 		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. */
+		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 ) );
@@ -3981,7 +4044,10 @@ TCB_t *pxTCB;
 				{
 					if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
 					{
-						taskRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority );
+						/* 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
 					{
@@ -4061,7 +4127,7 @@ TCB_t *pxTCB;
 					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. */
+					the holding task from the ready/delayed list. */
 					if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
 					{
 						taskRESET_READY_PRIORITY( pxTCB->uxPriority );
@@ -4182,7 +4248,10 @@ TCB_t *pxTCB;
 					{
 						if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
 						{
-							taskRESET_READY_PRIORITY( pxTCB->uxPriority );
+							/* 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
 						{
@@ -5036,7 +5105,6 @@ TickType_t uxReturn;
 	}
 
 #endif /* configUSE_TASK_NOTIFICATIONS */
-
 /*-----------------------------------------------------------*/
 
 #if( configUSE_TASK_NOTIFICATIONS == 1 )
@@ -5070,11 +5138,39 @@ TickType_t uxReturn;
 #endif /* configUSE_TASK_NOTIFICATIONS */
 /*-----------------------------------------------------------*/
 
+#if( configUSE_TASK_NOTIFICATIONS == 1 )
+
+	uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, 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 = pxCurrentTCB->ulNotifiedValue;
+			pxTCB->ulNotifiedValue &= ~ulBitsToClear;
+		}
+		taskEXIT_CRITICAL();
+
+		return ulReturn;
+	}
+
+#endif /* configUSE_TASK_NOTIFICATIONS */
+/*-----------------------------------------------------------*/
+
 #if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
-	TickType_t xTaskGetIdleRunTimeCounter( void )
+
+	uint32_t ulTaskGetIdleRunTimeCounter( void )
 	{
 		return xIdleTaskHandle->ulRunTimeCounter;
 	}
+
 #endif
 /*-----------------------------------------------------------*/
 

Middlewares/Third_Party/FreeRTOS/Source/timers.c

@@ -1,6 +1,6 @@
 /*
- * FreeRTOS Kernel V10.2.1
+ * FreeRTOS Kernel V10.3.1
- * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
  *
  * Permission is hereby granted, free of charge, to any person obtaining a copy of
  * this software and associated documentation files (the "Software"), to deal in
@@ -132,10 +132,10 @@ timer service task is allowed to access these lists.
 xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
 breaks some kernel aware debuggers, and debuggers that reply on removing the
 static qualifier. */
-PRIVILEGED_DATA static List_t xActiveTimerList1 = { 0 };
+PRIVILEGED_DATA static List_t xActiveTimerList1;
-PRIVILEGED_DATA static List_t xActiveTimerList2 = { 0 };
+PRIVILEGED_DATA static List_t xActiveTimerList2;
-PRIVILEGED_DATA static List_t *pxCurrentTimerList = NULL;
+PRIVILEGED_DATA static List_t *pxCurrentTimerList;
-PRIVILEGED_DATA static List_t *pxOverflowTimerList = NULL;
+PRIVILEGED_DATA static List_t *pxOverflowTimerList;
 
 /* A queue that is used to send commands to the timer service task. */
 PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
@@ -182,7 +182,7 @@ static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const Tic
 
 /*
  * An active timer has reached its expire time.  Reload the timer if it is an
- * auto reload timer, then call its callback.
+ * auto-reload timer, then call its callback.
  */
 static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
 
@@ -292,7 +292,7 @@ BaseType_t xReturn = pdFAIL;
 		if( pxNewTimer != NULL )
 		{
 			/* Status is thus far zero as the timer is not created statically
-			and has not been started.  The autoreload bit may get set in
+			and has not been started.  The auto-reload bit may get set in
 			prvInitialiseNewTimer. */
 			pxNewTimer->ucStatus = 0x00;
 			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
@@ -334,7 +334,7 @@ BaseType_t xReturn = pdFAIL;
 		{
 			/* Timers can be created statically or dynamically so note this
 			timer was created statically in case it is later deleted.  The
-			autoreload bit may get set in prvInitialiseNewTimer(). */
+			auto-reload bit may get set in prvInitialiseNewTimer(). */
 			pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
 
 			prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
@@ -459,6 +459,31 @@ Timer_t * pxTimer =  xTimer;
 }
 /*-----------------------------------------------------------*/
 
+UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer )
+{
+Timer_t * pxTimer =  xTimer;
+UBaseType_t uxReturn;
+
+	configASSERT( xTimer );
+	taskENTER_CRITICAL();
+	{
+		if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 )
+		{
+			/* Not an auto-reload timer. */
+			uxReturn = ( UBaseType_t ) pdFALSE;
+		}
+		else
+		{
+			/* Is an auto-reload timer. */
+			uxReturn = ( UBaseType_t ) pdTRUE;
+		}
+	}
+	taskEXIT_CRITICAL();
+
+	return uxReturn;
+}
+/*-----------------------------------------------------------*/
+
 TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
 {
 Timer_t * pxTimer =  xTimer;
@@ -489,7 +514,7 @@ Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTi
 	( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 	traceTIMER_EXPIRED( pxTimer );
 
-	/* If the timer is an auto reload timer then calculate the next
+	/* If the timer is an auto-reload timer then calculate the next
 	expiry time and re-insert the timer in the list of active timers. */
 	if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
 	{