esp-idf/components/freertos/FreeRTOS-Kernel/tasks.c

/*
 * SPDX-FileCopyrightText: 2020 Amazon.com, Inc. or its affiliates
 *
 * SPDX-License-Identifier: MIT
 *
 * SPDX-FileContributor: 2016-2023 Espressif Systems (Shanghai) CO LTD
 */

/*
 * FreeRTOS Kernel V10.4.3
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
 * all the API functions to use the MPU wrappers.  That should only be done when
 * task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "stack_macros.h"

#ifdef ESP_PLATFORM
    #undef _REENT_INIT_PTR
    #define _REENT_INIT_PTR    esp_reent_init
    extern void esp_vApplicationIdleHook( void );
#endif //ESP_PLATFORM

/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
 * because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
 * for the header files above, but not in this file, in order to generate the
 * correct privileged Vs unprivileged linkage and placement. */
#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */

/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
 * functions but without including stdio.h here. */
#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )

/* At the bottom of this file are two optional functions that can be used
 * to generate human readable text from the raw data generated by the
 * uxTaskGetSystemState() function.  Note the formatting functions are provided
 * for convenience only, and are NOT considered part of the kernel. */
    #include <stdio.h>
#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */

#if ( configUSE_PREEMPTION == 0 )

/* If the cooperative scheduler is being used then a yield should not be
 * performed just because a higher priority task has been woken. */
    #define taskYIELD_IF_USING_PREEMPTION()
#else
    #define taskYIELD_IF_USING_PREEMPTION()    portYIELD_WITHIN_API()
#endif

/* Values that can be assigned to the ucNotifyState member of the TCB. */
#define taskNOT_WAITING_NOTIFICATION              ( ( uint8_t ) 0 ) /* Must be zero as it is the initialised value. */
#define taskWAITING_NOTIFICATION                  ( ( uint8_t ) 1 )
#define taskNOTIFICATION_RECEIVED                 ( ( uint8_t ) 2 )

/*
 * The value used to fill the stack of a task when the task is created.  This
 * is used purely for checking the high water mark for tasks.
 */
#define tskSTACK_FILL_BYTE                        ( 0xa5U )

/* Bits used to record how a task's stack and TCB were allocated. */
#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB    ( ( uint8_t ) 0 )
#define tskSTATICALLY_ALLOCATED_STACK_ONLY        ( ( uint8_t ) 1 )
#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB     ( ( uint8_t ) 2 )

/* If any of the following are set then task stacks are filled with a known
 * value so the high water mark can be determined.  If none of the following are
 * set then don't fill the stack so there is no unnecessary dependency on memset. */
#if ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
    #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    1
#else
    #define tskSET_NEW_STACKS_TO_KNOWN_VALUE    0
#endif

/*
 * Macros used by vListTask to indicate which state a task is in.
 */
#define tskRUNNING_CHAR      ( 'X' )
#define tskBLOCKED_CHAR      ( 'B' )
#define tskREADY_CHAR        ( 'R' )
#define tskDELETED_CHAR      ( 'D' )
#define tskSUSPENDED_CHAR    ( 'S' )

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

/* The name allocated to the Idle task.  This can be overridden by defining
 * configIDLE_TASK_NAME in FreeRTOSConfig.h. */
#ifndef configIDLE_TASK_NAME
    #define configIDLE_TASK_NAME    "IDLE"
#endif

#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )

/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
 * performed in a generic way that is not optimised to any particular
 * microcontroller architecture. */

/* uxTopReadyPriority holds the priority of the highest priority ready
 * state task. */
    #define taskRECORD_READY_PRIORITY( uxPriority ) \
    {                                               \
        if( ( uxPriority ) > uxTopReadyPriority )   \
        {                                           \
            uxTopReadyPriority = ( uxPriority );    \
        }                                           \
    } /* taskRECORD_READY_PRIORITY */

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

    #if ( configNUM_CORES > 1 )
        #define taskSELECT_HIGHEST_PRIORITY_TASK()    taskSelectHighestPriorityTaskSMP()
    #else /* configNUM_CORES > 1 */
        #define taskSELECT_HIGHEST_PRIORITY_TASK()                            \
    {                                                                         \
        UBaseType_t uxTopPriority = uxTopReadyPriority;                       \
                                                                              \
        /* Find the highest priority queue that contains ready tasks. */      \
        while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
        {                                                                     \
            configASSERT( uxTopPriority );                                    \
            --uxTopPriority;                                                  \
        }                                                                     \
                                                                              \
        /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
         * the  same priority get an equal share of the processor time. */                         \
        listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
        uxTopReadyPriority = uxTopPriority;                                                        \
    } /* taskSELECT_HIGHEST_PRIORITY_TASK */
    #endif /* configNUM_CORES > 1 */

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

/* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
 * they are only required when a port optimised method of task selection is
 * being used. */
    #define taskRESET_READY_PRIORITY( uxPriority )
    #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )

#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

/* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
 * performed in a way that is tailored to the particular microcontroller
 * architecture being used. */

/* A port optimised version is provided.  Call the port defined macros. */
    #define taskRECORD_READY_PRIORITY( uxPriority )    portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )

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

//TODO: IDF-7566
#if !CONFIG_IDF_TARGET_ESP32P4
    #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                     \
    {                                                                                              \
        UBaseType_t uxTopPriority;                                                                 \
                                                                                                   \
        /* Find the highest priority list that contains ready tasks. */                            \
        portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                             \
        configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );    \
        listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ 0 ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
    } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
#else
    #define taskSELECT_HIGHEST_PRIORITY_TASK()                                                     \
    {                                                                                              \
        UBaseType_t uxTopPriority;                                                                 \
                                                                                                   \
        /* Find the highest priority list that contains ready tasks. */                            \
        portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority );                             \
        configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 );    \
        listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB[ xPortGetCoreID() ], &( pxReadyTasksLists[ uxTopPriority ] ) ); \
    } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
#endif

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

/* A port optimised version is provided, call it only if the TCB being reset
 * is being referenced from a ready list.  If it is referenced from a delayed
 * or suspended list then it won't be in a ready list. */
    #define taskRESET_READY_PRIORITY( uxPriority )                                                     \
    {                                                                                                  \
        if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
        {                                                                                              \
            portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) );                        \
        }                                                                                              \
    }

#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

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

/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
 * count overflows. */
#define taskSWITCH_DELAYED_LISTS()                                                \
    {                                                                             \
        List_t * pxTemp;                                                          \
                                                                                  \
        /* The delayed tasks list should be empty when the lists are switched. */ \
        configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );               \
                                                                                  \
        pxTemp = pxDelayedTaskList;                                               \
        pxDelayedTaskList = pxOverflowDelayedTaskList;                            \
        pxOverflowDelayedTaskList = pxTemp;                                       \
        xNumOfOverflows++;                                                        \
        prvResetNextTaskUnblockTime();                                            \
    }

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

/*
 * Place the task represented by pxTCB into the appropriate ready list for
 * the task.  It is inserted at the end of the list.
 */
#define prvAddTaskToReadyList( pxTCB )                                                                 \
    traceMOVED_TASK_TO_READY_STATE( pxTCB );                                                           \
    taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );                                                \
    vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
    tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
/*-----------------------------------------------------------*/

#if ( configNUM_CORES > 1 )
    #define prvCheckForYield( pxTCB, xCurCoreID, xYieldEqualPriority )                                       ( prvCheckForYieldUsingPrioritySMP( ( pxTCB )->uxPriority, ( pxTCB )->xCoreID, xCurCoreID, xYieldEqualPriority ) == pdTRUE )
    #define prvCheckForYieldUsingPriority( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority )    ( prvCheckForYieldUsingPrioritySMP( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority ) == pdTRUE )
#else
    #define prvCheckForYield( pxTargetTCB, xCurCoreID, xYieldEqualPriority )                                 ( ( ( pxTargetTCB )->uxPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) > pxCurrentTCB[ 0 ]->uxPriority )
    #define prvCheckForYieldUsingPriority( uxTaskPriority, xTaskCoreID, xCurCoreID, xYieldEqualPriority )    ( ( uxTaskPriority + ( ( xYieldEqualPriority == pdTRUE ) ? 1 : 0 ) ) >= pxCurrentTCB[ 0 ]->uxPriority )
#endif /* configNUM_CORES > 1 */
/*-----------------------------------------------------------*/

/*
 * Check if a particular task (using its xCoreID) can run on a designated core.
 * On single core, this macro always evaluates to true.
 */
#if ( configNUM_CORES > 1 )
    #define taskCAN_RUN_ON_CORE( xCore, xCoreID )    ( ( ( ( xCoreID ) == xCore ) || ( ( xCoreID ) == tskNO_AFFINITY ) ) ? pdTRUE : pdFALSE )
#else
    #define taskCAN_RUN_ON_CORE( xCore, xCoreID )    ( pdTRUE )
#endif /* configNUM_CORES > 1 */

/* Check if a task is a currently running task. */
#if ( configNUM_CORES > 1 )
    #define taskIS_CURRENTLY_RUNNING( pxTCB )                     ( ( ( pxTCB ) == pxCurrentTCB[ 0 ] ) || ( ( pxTCB ) == pxCurrentTCB[ 1 ] ) )
    #define taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xCoreID )    ( ( pxTCB ) == pxCurrentTCB[ ( xCoreID ) ] )
#else
    #define taskIS_CURRENTLY_RUNNING( pxTCB )                     ( ( pxTCB ) == pxCurrentTCB[ 0 ] )
    #define taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xCoreID )    taskIS_CURRENTLY_RUNNING( ( pxTCB ) )
#endif /* configNUM_CORES > 1 */

/*
 * Check if a task can be scheduled on a core.
 * On a dual-core system:
 *      - If a task is pinned, check the scheduler suspension state on the task's pinned core. The task can be scheduled
 *        if the scheduler is not suspended on the pinned core.
 *      - If a task is unpinned, check the scheduler suspension state on both cores. The task can be scheduled if the
 *        scheduler is not suspended on either of the cores.
 * On a single-core system:
 *      - Check the scheduler suspension state on core 0. The task can be scheduled if the scheduler is not suspended.
 */
#if ( configNUM_CORES > 1 )
    #define taskCAN_BE_SCHEDULED( pxTCB )                                                                           \
    ( ( pxTCB->xCoreID != tskNO_AFFINITY ) ) ? ( uxSchedulerSuspended[ pxTCB->xCoreID ] == ( UBaseType_t ) 0U ) :   \
    ( ( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) 0U ) || ( uxSchedulerSuspended[ 1 ] == ( UBaseType_t ) 0U ) )
#else
    #define taskCAN_BE_SCHEDULED( pxTCB )    ( ( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) 0U ) )
#endif /* configNUM_CORES > 1 */

/*
 * Several functions take a TaskHandle_t parameter that can optionally be NULL,
 * where NULL is used to indicate that the handle of the currently executing
 * task should be used in place of the parameter.  This macro simply checks to
 * see if the parameter is NULL and returns a pointer to the appropriate TCB.
 */
#if configNUM_CORES > 1
/* In SMP, we need to disable interrupts if getting the current task handle outside a critical section. Calling xTaskGetCurrentTaskHandle() ensures this. */
    #define prvGetTCBFromHandle( pxHandle )    ( ( ( pxHandle ) == NULL ) ? xTaskGetCurrentTaskHandle() : ( ( TaskHandle_t ) pxHandle ) )
#else
    #define prvGetTCBFromHandle( pxHandle )    ( ( ( pxHandle ) == NULL ) ? ( TaskHandle_t ) pxCurrentTCB[ 0 ] : ( ( TaskHandle_t ) pxHandle ) )
#endif

/*
 * There are various blocking tasks.c API that call configASSERT() to check if
 * the API is being called while the scheduler is suspended. However, these
 * asserts are done outside a critical section or interrupt disabled block.
 * Directly checking uxSchedulerSuspended[ xPortGetCoreID() ] outside a critical
 * section can lead to false positives in SMP. Thus for SMP, we call
 * xTaskGetSchedulerState() instead.
 *
 * Take the following example of an unpinned Task A in SMP calling
 * uxSchedulerSuspended[ xPortGetCoreID() ]:
 * - Task A calls xPortGetCoreID() which is 0
 * - Task A gets preempted by Task B, Task A switches to core 1
 * - Task B on core 0 calls vTaskSuspendAll()
 * - Task A checks uxSchedulerSuspended[ 0 ] leading to a false positive
 */
#if ( configNUM_CORES > 1 )
    #define taskIS_SCHEDULER_SUSPENDED()    ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED )
#else
    #define taskIS_SCHEDULER_SUSPENDED()    ( ( uxSchedulerSuspended[ 0 ] != ( UBaseType_t ) 0U ) )
#endif /* configNUM_CORES > 1 */

/* The item value of the event list item is normally used to hold the priority
 * of the task to which it belongs (coded to allow it to be held in reverse
 * priority order).  However, it is occasionally borrowed for other purposes.  It
 * is important its value is not updated due to a task priority change while it is
 * being used for another purpose.  The following bit definition is used to inform
 * the scheduler that the value should not be changed - in which case it is the
 * responsibility of whichever module is using the value to ensure it gets set back
 * to its original value when it is released. */
#if ( configUSE_16_BIT_TICKS == 1 )
    #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x8000U
#else
    #define taskEVENT_LIST_ITEM_VALUE_IN_USE    0x80000000UL
#endif

/*
 * Task control block.  A task control block (TCB) is allocated for each task,
 * and stores task state information, including a pointer to the task's context
 * (the task's run time environment, including register values)
 */
typedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
    volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */

    #if ( portUSING_MPU_WRAPPERS == 1 )
        xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
    #endif

    ListItem_t xStateListItem;                  /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
    ListItem_t xEventListItem;                  /*< Used to reference a task from an event list. */
    UBaseType_t uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */
    StackType_t * pxStack;                      /*< Points to the start of the stack. */
    char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
    BaseType_t xCoreID;                         /*< Core this task is pinned to */

    #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
        StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
    #endif

    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
    #endif

    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxTCBNumber;  /*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
        UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
    #endif

    #if ( configUSE_MUTEXES == 1 )
        UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
        UBaseType_t uxMutexesHeld;
    #endif

    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        TaskHookFunction_t pxTaskTag;
    #endif

    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
        void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
        #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
            TlsDeleteCallbackFunction_t pvThreadLocalStoragePointersDelCallback[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
        #endif
    #endif

    #if ( configGENERATE_RUN_TIME_STATS == 1 )
        uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
    #endif

    #if ( configUSE_NEWLIB_REENTRANT == 1 )

        /* Allocate a Newlib reent structure that is specific to this task.
         * Note Newlib support has been included by popular demand, but is not
         * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
         * responsible for resulting newlib operation.  User must be familiar with
         * newlib and must provide system-wide implementations of the necessary
         * stubs. Be warned that (at the time of writing) the current newlib design
         * implements a system-wide malloc() that must be provided with locks.
         *
         * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
         * for additional information. */
        struct  _reent xNewLib_reent;
    #endif

    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
        volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
        volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
    #endif

    /* See the comments in FreeRTOS.h with the definition of
     * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
    #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
        uint8_t ucStaticallyAllocated;                     /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        uint8_t ucDelayAborted;
    #endif

    #if ( configUSE_POSIX_ERRNO == 1 )
        int iTaskErrno;
    #endif
} tskTCB;

/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
 * below to enable the use of older kernel aware debuggers. */
typedef tskTCB TCB_t;

/*lint -save -e956 A manual analysis and inspection has been used to determine
 * which static variables must be declared volatile. */
PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB[ configNUM_CORES ] = { NULL };

/* Lists for ready and blocked tasks. --------------------
 * xDelayedTaskList1 and xDelayedTaskList2 could be moved to function scope but
 * doing so breaks some kernel aware debuggers and debuggers that rely on removing
 * the static qualifier. */
PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList1;                         /*< Delayed tasks. */
PRIVILEGED_DATA static List_t xDelayedTaskList2;                         /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;              /*< Points to the delayed task list currently being used. */
PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList;      /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
PRIVILEGED_DATA static List_t xPendingReadyList[ configNUM_CORES ];      /*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */

/* Spinlock required for SMP critical sections. This lock protects all of the
 * kernel's data structures such as various tasks lists, flags, and tick counts. */
PRIVILEGED_DATA static portMUX_TYPE xKernelLock = portMUX_INITIALIZER_UNLOCKED;

#if ( INCLUDE_vTaskDelete == 1 )

    PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
    PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;

#endif

#if ( INCLUDE_vTaskSuspend == 1 )

    PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */

#endif

/* Global POSIX errno. Its value is changed upon context switching to match
 * the errno of the currently running task. */
#if ( configUSE_POSIX_ERRNO == 1 )
    int FreeRTOS_errno = 0;
#endif

/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPending[ configNUM_CORES ] = { pdFALSE };
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle[ configNUM_CORES ] = { NULL };   /*< Holds the handle of the idle task.  The idle task is created automatically when the scheduler is started. */

/* Context switches are held pending while the scheduler is suspended.  Also,
 * interrupts must not manipulate the xStateListItem of a TCB, or any of the
 * lists the xStateListItem can be referenced from, if the scheduler is suspended.
 * If an interrupt needs to unblock a task while the scheduler is suspended then it
 * moves the task's event list item into the xPendingReadyList, ready for the
 * kernel to move the task from the pending ready list into the real ready list
 * when the scheduler is unsuspended.  The pending ready list itself can only be
 * accessed from a critical section. */
PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended[ configNUM_CORES ] = { ( UBaseType_t ) 0U };

#if ( configGENERATE_RUN_TIME_STATS == 1 )

/* Do not move these variables to function scope as doing so prevents the
 * code working with debuggers that need to remove the static qualifier. */
    PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime[ configNUM_CORES ] = { 0U }; /*< Holds the value of a timer/counter the last time a task was switched in. */
    PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL;                             /*< Holds the total amount of execution time as defined by the run time counter clock. */

#endif

/* per-CPU flags indicating that we are doing context switch, it is used by apptrace and sysview modules */
/* in order to avoid calls of vPortYield from traceTASK_SWITCHED_IN/OUT when waiting */
/* for locks to be free or for host to read full trace buffer */
PRIVILEGED_DATA static volatile BaseType_t xSwitchingContext[ configNUM_CORES ] = { pdFALSE };

/*lint -restore */

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

/* Callback function prototypes. --------------------------*/
#if ( configCHECK_FOR_STACK_OVERFLOW > 0 )

    extern void vApplicationStackOverflowHook( TaskHandle_t xTask,
                                               char * pcTaskName );

#endif

#if ( configUSE_TICK_HOOK > 0 )

    extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */

#endif

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

    extern void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
                                               StackType_t ** ppxIdleTaskStackBuffer,
                                               uint32_t * pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */

#endif

/* File private functions. --------------------------------*/

/**
 * Utility task that simply returns pdTRUE if the task referenced by xTask is
 * currently in the Suspended state, or pdFALSE if the task referenced by xTask
 * is in any other state.
 */
#if ( INCLUDE_vTaskSuspend == 1 )

    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;

#endif /* INCLUDE_vTaskSuspend */

/*
 * Utility to ready all the lists used by the scheduler.  This is called
 * automatically upon the creation of the first task.
 */
static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;

/*
 * The idle task, which as all tasks is implemented as a never ending loop.
 * The idle task is automatically created and added to the ready lists upon
 * creation of the first user task.
 *
 * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
 * language extensions.  The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ) PRIVILEGED_FUNCTION;

/*
 * Utility to free all memory allocated by the scheduler to hold a TCB,
 * including the stack pointed to by the TCB.
 *
 * This does not free memory allocated by the task itself (i.e. memory
 * allocated by calls to pvPortMalloc from within the tasks application code).
 */
#if ( INCLUDE_vTaskDelete == 1 )

    static void prvDeleteTCB( TCB_t * pxTCB ) PRIVILEGED_FUNCTION;

#endif

/* Function to call the Thread Local Storage Pointer Deletion Callbacks. Will be
 * called during task deletion before prvDeleteTCB is called.
 */
#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
    static void prvDeleteTLS( TCB_t * pxTCB );
#endif

/*
 * Used only by the idle task.  This checks to see if anything has been placed
 * in the list of tasks waiting to be deleted.  If so the task is cleaned up
 * and its TCB deleted.
 */
static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;

/*
 * The currently executing task is entering the Blocked state.  Add the task to
 * either the current or the overflow delayed task list.
 */
static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                            const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;

/*
 * Fills an TaskStatus_t structure with information on each task that is
 * referenced from the pxList list (which may be a ready list, a delayed list,
 * a suspended list, etc.).
 *
 * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
 * NORMAL APPLICATION CODE.
 */
#if ( configUSE_TRACE_FACILITY == 1 )

    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                     List_t * pxList,
                                                     eTaskState eState ) PRIVILEGED_FUNCTION;

#endif

/*
 * Searches pxList for a task with name pcNameToQuery - returning a handle to
 * the task if it is found, or NULL if the task is not found.
 */
#if ( INCLUDE_xTaskGetHandle == 1 )

    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                     const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;

#endif

/*
 * When a task is created, the stack of the task is filled with a known value.
 * This function determines the 'high water mark' of the task stack by
 * determining how much of the stack remains at the original preset value.
 */
#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )

    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;

#endif

/*
 * Return the amount of time, in ticks, that will pass before the kernel will
 * next move a task from the Blocked state to the Running state.
 *
 * This conditional compilation should use inequality to 0, not equality to 1.
 * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
 * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
 * set to a value other than 1.
 */
#if ( configUSE_TICKLESS_IDLE != 0 )

    static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;

#endif

/*
 * Set xNextTaskUnblockTime to the time at which the next Blocked state task
 * will exit the Blocked state.
 */
static void prvResetNextTaskUnblockTime( void ) PRIVILEGED_FUNCTION;

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

/*
 * Helper function used to pad task names with spaces when printing out
 * human readable tables of task information.
 */
    static char * prvWriteNameToBuffer( char * pcBuffer,
                                        const char * pcTaskName ) PRIVILEGED_FUNCTION;

#endif

/*
 * Called after a Task_t structure has been allocated either statically or
 * dynamically to fill in the structure's members.
 */
static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                  const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                  const uint32_t ulStackDepth,
                                  void * const pvParameters,
                                  UBaseType_t uxPriority,
                                  TaskHandle_t * const pxCreatedTask,
                                  TCB_t * pxNewTCB,
                                  const MemoryRegion_t * const xRegions,
                                  BaseType_t xCoreID ) PRIVILEGED_FUNCTION;

/*
 * Called after a new task has been created and initialised to place the task
 * under the control of the scheduler.
 */
static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB ) PRIVILEGED_FUNCTION;

#if ( configNUM_CORES > 1 )

/*
 * Check whether a yield (on either core) is required after unblocking (or
 * changing the priority of) a particular task.
 *
 * - This function is the SMP replacement for checking if an unblocked task has
 *   a higher (or equal) priority than the current task.
 * - It should be called before calling taskYIELD_IF_USING_PREEMPTION() or
 *   before setting xYieldRequired
 * - If it is the other core that requires a yield, this function will
 *   internally trigger the other core to yield
 *
 * Note: In some special instances, a yield is triggered if the unblocked task
 *       has an equal priority (such as in xTaskResumeAll). Thus the
 *       xYieldEqualPriority parameter specifies whether to yield if the current
 *       task has equal priority.
 *
 * Scheduling Algorithm:
 * This function will bias towards yielding the current core.
 * - If the unblocked task has a higher (or equal) priority than the current
 *   core, the current core is yielded regardless of the current priority of the
 *   other core.
 * - A core (current or other) will only yield if their schedulers are not
 *   suspended.
 *
 * Todo: This can be optimized (IDF-5772)
 *
 * Entry:
 * - This function must be called in a critical section
 * - A task must just have been unblocked, or its priority raised
 * Exit:
 * - Returns pdTRUE if the current core requires yielding
 * - The other core will be triggered to yield if required
 */
    static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
                                                        BaseType_t xTaskCoreID,
                                                        BaseType_t xCurCoreID,
                                                        BaseType_t xYieldEqualPriority ) PRIVILEGED_FUNCTION;

#endif /* configNUM_CORES > 1 */

/*
 * freertos_tasks_c_additions_init() should only be called if the user definable
 * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
 * called by the function.
 */
#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT

    static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;

#endif

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

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

    TaskHandle_t xTaskCreateStaticPinnedToCore( TaskFunction_t pxTaskCode,
                                                const char * const pcName,
                                                const uint32_t ulStackDepth,
                                                void * const pvParameters,
                                                UBaseType_t uxPriority,
                                                StackType_t * const puxStackBuffer,
                                                StaticTask_t * const pxTaskBuffer,
                                                const BaseType_t xCoreID )
    {
        TCB_t * pxNewTCB;
        TaskHandle_t xReturn;

        configASSERT( portVALID_STACK_MEM( puxStackBuffer ) );
        configASSERT( portVALID_TCB_MEM( pxTaskBuffer ) );
        configASSERT( ( ( xCoreID >= 0 ) && ( xCoreID < configNUM_CORES ) ) || ( xCoreID == tskNO_AFFINITY ) );

        #if ( configASSERT_DEFINED == 1 )
            {
                /* Sanity check that the size of the structure used to declare a
                 * variable of type StaticTask_t equals the size of the real task
                 * structure. */
                volatile size_t xSize = sizeof( StaticTask_t );
                configASSERT( xSize == sizeof( TCB_t ) );
                ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
            }
        #endif /* configASSERT_DEFINED */

        if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
        {
            /* The memory used for the task's TCB and stack are passed into this
             * function - use them. */
            pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
            pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;

            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                {
                    /* Tasks can be created statically or dynamically, so note this
                     * task was created statically in case the task is later deleted. */
                    pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                }
            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

            prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL, xCoreID );
            prvAddNewTaskToReadyList( pxNewTCB );
        }
        else
        {
            xReturn = NULL;
        }

        return xReturn;
    }

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

#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )

    BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition,
                                            TaskHandle_t * pxCreatedTask )
    {
        TCB_t * pxNewTCB;
        BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

        configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
        configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );

        if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
        {
            /* Allocate space for the TCB.  Where the memory comes from depends
             * on the implementation of the port malloc function and whether or
             * not static allocation is being used. */
            pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;

            /* Store the stack location in the TCB. */
            pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;

            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                {
                    /* Tasks can be created statically or dynamically, so note this
                     * task was created statically in case the task is later deleted. */
                    pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                }
            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

            prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                  pxTaskDefinition->pcName,
                                  ( uint32_t ) pxTaskDefinition->usStackDepth,
                                  pxTaskDefinition->pvParameters,
                                  pxTaskDefinition->uxPriority,
                                  pxCreatedTask, pxNewTCB,
                                  pxTaskDefinition->xRegions,
                                  tskNO_AFFINITY );

            prvAddNewTaskToReadyList( pxNewTCB );
            xReturn = pdPASS;
        }

        return xReturn;
    }

#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
/*-----------------------------------------------------------*/

#if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

    BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition,
                                      TaskHandle_t * pxCreatedTask )
    {
        TCB_t * pxNewTCB;
        BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;

        configASSERT( pxTaskDefinition->puxStackBuffer );

        if( pxTaskDefinition->puxStackBuffer != NULL )
        {
            /* Allocate space for the TCB.  Where the memory comes from depends
             * on the implementation of the port malloc function and whether or
             * not static allocation is being used. */
            pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

            if( pxNewTCB != NULL )
            {
                /* Store the stack location in the TCB. */
                pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;

                #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
                    {
                        /* Tasks can be created statically or dynamically, so note
                         * this task had a statically allocated stack in case it is
                         * later deleted.  The TCB was allocated dynamically. */
                        pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
                    }
                #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

                prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
                                      pxTaskDefinition->pcName,
                                      ( uint32_t ) pxTaskDefinition->usStackDepth,
                                      pxTaskDefinition->pvParameters,
                                      pxTaskDefinition->uxPriority,
                                      pxCreatedTask, pxNewTCB,
                                      pxTaskDefinition->xRegions,
                                      tskNO_AFFINITY );

                prvAddNewTaskToReadyList( pxNewTCB );
                xReturn = pdPASS;
            }
        }

        return xReturn;
    }

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

#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

    BaseType_t xTaskCreatePinnedToCore( TaskFunction_t pxTaskCode,
                                        const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                        const configSTACK_DEPTH_TYPE usStackDepth,
                                        void * const pvParameters,
                                        UBaseType_t uxPriority,
                                        TaskHandle_t * const pxCreatedTask,
                                        const BaseType_t xCoreID )
    {
        TCB_t * pxNewTCB;
        BaseType_t xReturn;

        /* If the stack grows down then allocate the stack then the TCB so the stack
         * does not grow into the TCB.  Likewise if the stack grows up then allocate
         * the TCB then the stack. */
        #if ( portSTACK_GROWTH > 0 )
            {
                /* Allocate space for the TCB.  Where the memory comes from depends on
                 * the implementation of the port malloc function and whether or not static
                 * allocation is being used. */
                pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

                if( pxNewTCB != NULL )
                {
                    /* Allocate space for the stack used by the task being created.
                     * The base of the stack memory stored in the TCB so the task can
                     * be deleted later if required. */
                    pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                    if( pxNewTCB->pxStack == NULL )
                    {
                        /* Could not allocate the stack.  Delete the allocated TCB. */
                        vPortFree( pxNewTCB );
                        pxNewTCB = NULL;
                    }
                }
            }
        #else /* portSTACK_GROWTH */
            {
                StackType_t * pxStack;

                /* Allocate space for the stack used by the task being created. */
                pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */

                if( pxStack != NULL )
                {
                    /* Allocate space for the TCB. */
                    pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */

                    if( pxNewTCB != NULL )
                    {
                        /* Store the stack location in the TCB. */
                        pxNewTCB->pxStack = pxStack;
                    }
                    else
                    {
                        /* The stack cannot be used as the TCB was not created.  Free
                         * it again. */
                        vPortFree( pxStack );
                    }
                }
                else
                {
                    pxNewTCB = NULL;
                }
            }
        #endif /* portSTACK_GROWTH */

        if( pxNewTCB != NULL )
        {
            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
                {
                    /* Tasks can be created statically or dynamically, so note this
                     * task was created dynamically in case it is later deleted. */
                    pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
                }
            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

            prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL, xCoreID );
            prvAddNewTaskToReadyList( pxNewTCB );
            xReturn = pdPASS;
        }
        else
        {
            xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
        }

        return xReturn;
    }

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

static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
                                  const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                  const uint32_t ulStackDepth,
                                  void * const pvParameters,
                                  UBaseType_t uxPriority,
                                  TaskHandle_t * const pxCreatedTask,
                                  TCB_t * pxNewTCB,
                                  const MemoryRegion_t * const xRegions,
                                  BaseType_t xCoreID )
{
    StackType_t * pxTopOfStack;
    UBaseType_t x;

    #if ( configNUM_CORES == 1 )
        {
            xCoreID = 0;
        }
    #endif

    #if ( portUSING_MPU_WRAPPERS == 1 )
        /* Should the task be created in privileged mode? */
        BaseType_t xRunPrivileged;

        if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
        {
            xRunPrivileged = pdTRUE;
        }
        else
        {
            xRunPrivileged = pdFALSE;
        }
        uxPriority &= ~portPRIVILEGE_BIT;
    #endif /* portUSING_MPU_WRAPPERS == 1 */

    /* Avoid dependency on memset() if it is not required. */
    #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
        {
            /* Fill the stack with a known value to assist debugging. */
            ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
        }
    #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */

    #if ( configUSE_TRACE_FACILITY == 1 )
        {
            /* Zero the uxTaskNumber TCB member to avoid random value from dynamically allocated TCBs */
            pxNewTCB->uxTaskNumber = 0;
        }
    #endif /* ( configUSE_TRACE_FACILITY == 1 ) */

    /* Calculate the top of stack address.  This depends on whether the stack
     * grows from high memory to low (as per the 80x86) or vice versa.
     * portSTACK_GROWTH is used to make the result positive or negative as required
     * by the port. */
    #if ( portSTACK_GROWTH < 0 )
        {
            pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
            pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type.  Checked by assert(). */

            /* Check the alignment of the calculated top of stack is correct. */
            configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

            #if ( configRECORD_STACK_HIGH_ADDRESS == 1 )
                {
                    /* Also record the stack's high address, which may assist
                     * debugging. */
                    pxNewTCB->pxEndOfStack = pxTopOfStack;
                }
            #endif /* configRECORD_STACK_HIGH_ADDRESS */
        }
    #else /* portSTACK_GROWTH */
        {
            pxTopOfStack = pxNewTCB->pxStack;

            /* Check the alignment of the stack buffer is correct. */
            configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

            /* The other extreme of the stack space is required if stack checking is
             * performed. */
            pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
        }
    #endif /* portSTACK_GROWTH */

    /* Store the task name in the TCB. */
    if( pcName != NULL )
    {
        for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
        {
            pxNewTCB->pcTaskName[ x ] = pcName[ x ];

            /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
             * configMAX_TASK_NAME_LEN characters just in case the memory after the
             * string is not accessible (extremely unlikely). */
            if( pcName[ x ] == ( char ) 0x00 )
            {
                break;
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }

        /* Ensure the name string is terminated in the case that the string length
         * was greater or equal to configMAX_TASK_NAME_LEN. */
        pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
    }
    else
    {
        /* The task has not been given a name, so just ensure there is a NULL
         * terminator when it is read out. */
        pxNewTCB->pcTaskName[ 0 ] = 0x00;
    }

    /* This is used as an array index so must ensure it's not too large.  First
     * remove the privilege bit if one is present. */
    if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
    {
        uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
    }
    else
    {
        mtCOVERAGE_TEST_MARKER();
    }

    pxNewTCB->uxPriority = uxPriority;
    pxNewTCB->xCoreID = xCoreID;
    #if ( configUSE_MUTEXES == 1 )
        {
            pxNewTCB->uxBasePriority = uxPriority;
            pxNewTCB->uxMutexesHeld = 0;
        }
    #endif /* configUSE_MUTEXES */

    vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
    vListInitialiseItem( &( pxNewTCB->xEventListItem ) );

    /* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get
     * back to  the containing TCB from a generic item in a list. */
    listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );

    /* Event lists are always in priority order. */
    listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
    listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );

    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        {
            pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
        }
    #endif /* portCRITICAL_NESTING_IN_TCB */

    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        {
            pxNewTCB->pxTaskTag = NULL;
        }
    #endif /* configUSE_APPLICATION_TASK_TAG */

    #if ( configGENERATE_RUN_TIME_STATS == 1 )
        {
            pxNewTCB->ulRunTimeCounter = 0UL;
        }
    #endif /* configGENERATE_RUN_TIME_STATS */

    #if ( portUSING_MPU_WRAPPERS == 1 )
        {
            vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
        }
    #else
        {
            /* Avoid compiler warning about unreferenced parameter. */
            ( void ) xRegions;
        }
    #endif

    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
        {
            for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
            {
                pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
                #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
                    pxNewTCB->pvThreadLocalStoragePointersDelCallback[ x ] = NULL;
                #endif
            }
        }
    #endif

    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
        {
            memset( ( void * ) &( pxNewTCB->ulNotifiedValue[ 0 ] ), 0x00, sizeof( pxNewTCB->ulNotifiedValue ) );
            memset( ( void * ) &( pxNewTCB->ucNotifyState[ 0 ] ), 0x00, sizeof( pxNewTCB->ucNotifyState ) );
        }
    #endif

    #if ( configUSE_NEWLIB_REENTRANT == 1 )
        {
            /* Initialise this task's Newlib reent structure. */
            _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
        }
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        {
            pxNewTCB->ucDelayAborted = pdFALSE;
        }
    #endif

    /* Initialize the TCB stack to look as if the task was already running,
     * but had been interrupted by the scheduler.  The return address is set
     * to the start of the task function. Once the stack has been initialised
     * the top of stack variable is updated. */
    #if ( portUSING_MPU_WRAPPERS == 1 )
        {
            /* If the port has capability to detect stack overflow,
             * pass the stack end address to the stack initialization
             * function as well. */
            #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                {
                    #if ( portSTACK_GROWTH < 0 )
                        {
                            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
                        }
                    #else /* portSTACK_GROWTH */
                        {
                            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                        }
                    #endif /* portSTACK_GROWTH */
                }
            #else /* portHAS_STACK_OVERFLOW_CHECKING */
                {
                    pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
                }
            #endif /* portHAS_STACK_OVERFLOW_CHECKING */
        }
    #else /* portUSING_MPU_WRAPPERS */
        {
            /* If the port has capability to detect stack overflow,
             * pass the stack end address to the stack initialization
             * function as well. */
            #if ( portHAS_STACK_OVERFLOW_CHECKING == 1 )
                {
                    #if ( portSTACK_GROWTH < 0 )
                        {
                            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
                        }
                    #else /* portSTACK_GROWTH */
                        {
                            pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
                        }
                    #endif /* portSTACK_GROWTH */
                }
            #else /* portHAS_STACK_OVERFLOW_CHECKING */
                {
                    pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
                }
            #endif /* portHAS_STACK_OVERFLOW_CHECKING */
        }
    #endif /* portUSING_MPU_WRAPPERS */

    if( pxCreatedTask != NULL )
    {
        /* Pass the handle out in an anonymous way.  The handle can be used to
         * change the created task's priority, delete the created task, etc.*/
        *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
    }
    else
    {
        mtCOVERAGE_TEST_MARKER();
    }
}
/*-----------------------------------------------------------*/

static void prvAddNewTaskToReadyList( TCB_t * pxNewTCB )
{
    /* Ensure interrupts don't access the task lists while the lists are being
     * updated. */
    taskENTER_CRITICAL( &xKernelLock );
    {
        uxCurrentNumberOfTasks++;

        if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
        {
            /* This is the first task to be created so do the preliminary
             * initialisation required.  We will not recover if this call
             * fails, but we will report the failure. */
            prvInitialiseTaskLists();
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        if( ( pxCurrentTCB[ 0 ] == NULL ) && ( taskCAN_RUN_ON_CORE( 0, pxNewTCB->xCoreID ) == pdTRUE ) )
        {
            /* On core 0, there are no other tasks, or all the other tasks
             * are in the suspended state - make this the current task. */
            pxCurrentTCB[ 0 ] = pxNewTCB;
        }

        #if ( configNUM_CORES > 1 )
            else if( ( pxCurrentTCB[ 1 ] == NULL ) && ( taskCAN_RUN_ON_CORE( 1, pxNewTCB->xCoreID ) == pdTRUE ) )
            {
                /* On core 1, there are no other tasks, or all the other tasks
                 * are in the suspended state - make this the current task. */
                pxCurrentTCB[ 1 ] = pxNewTCB;
            }
        #endif /* configNUM_CORES > 1 */

        else
        {
            /* If the scheduler is not already running, make this task the
             * current task if it is the highest priority task to be created
             * so far. */
            if( xSchedulerRunning == pdFALSE )
            {
                if( ( pxCurrentTCB[ 0 ] != NULL ) &&
                    ( taskCAN_RUN_ON_CORE( 0, pxNewTCB->xCoreID ) == pdTRUE ) &&
                    ( pxCurrentTCB[ 0 ]->uxPriority <= pxNewTCB->uxPriority ) )
                {
                    pxCurrentTCB[ 0 ] = pxNewTCB;
                }

                #if ( configNUM_CORES > 1 )
                    else if( ( pxCurrentTCB[ 1 ] != NULL ) &&
                             ( taskCAN_RUN_ON_CORE( 1, pxNewTCB->xCoreID ) == pdTRUE ) &&
                             ( pxCurrentTCB[ 1 ]->uxPriority <= pxNewTCB->uxPriority ) )
                    {
                        pxCurrentTCB[ 1 ] = pxNewTCB;
                    }
                #endif /* configNUM_CORES > 1 */

                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }

        uxTaskNumber++;

        #if ( configUSE_TRACE_FACILITY == 1 )
            {
                /* Add a counter into the TCB for tracing only. */
                pxNewTCB->uxTCBNumber = uxTaskNumber;
            }
        #endif /* configUSE_TRACE_FACILITY */
        traceTASK_CREATE( pxNewTCB );

        prvAddTaskToReadyList( pxNewTCB );

        portSETUP_TCB( pxNewTCB );

        if( xSchedulerRunning != pdFALSE )
        {
            /* If the created task is of a higher priority than the current task
             * then it should run now. */
            if( prvCheckForYield( pxNewTCB, xPortGetCoreID(), pdTRUE ) )
            {
                taskYIELD_IF_USING_PREEMPTION();
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }
    taskEXIT_CRITICAL( &xKernelLock );
}
/*-----------------------------------------------------------*/

#if ( configNUM_CORES > 1 )

    static BaseType_t prvCheckForYieldUsingPrioritySMP( UBaseType_t uxTaskPriority,
                                                        BaseType_t xTaskCoreID,
                                                        BaseType_t xCurCoreID,
                                                        BaseType_t xYieldEqualPriority )
    {
        if( xYieldEqualPriority == pdTRUE )
        {
            /* Increment the task priority to achieve the same affect as if( uxTaskPriority >= pxCurrentTCB->uxPriority ) */
            uxTaskPriority++;
        }

        /* Indicate whether the current core needs to yield */
        BaseType_t xYieldRequiredCurrentCore;

        /* If the target task can run on the current core, and has a higher priority than the current core, and the core has not suspended scheduling, then yield the current core */
        if( ( ( xTaskCoreID == xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) &&
            ( uxTaskPriority > pxCurrentTCB[ xCurCoreID ]->uxPriority ) &&
            ( uxSchedulerSuspended[ xCurCoreID ] == ( UBaseType_t ) 0U ) )
        {
            /* Return true for the caller to yield the current core */
            xYieldRequiredCurrentCore = pdTRUE;
        }
        /* If the target task can run on the other core, and has a higher priority then the other core, and the other core has not suspended scheduling, then yield the other core */
        else if( ( ( xTaskCoreID == !xCurCoreID ) || ( xTaskCoreID == tskNO_AFFINITY ) ) &&
                 ( uxTaskPriority > pxCurrentTCB[ !xCurCoreID ]->uxPriority ) &&
                 ( uxSchedulerSuspended[ !xCurCoreID ] == ( UBaseType_t ) 0U ) )
        {
            /* Signal the other core to yield */
            vPortYieldOtherCore( !xCurCoreID );
            xYieldRequiredCurrentCore = pdFALSE;
        }
        else
        {
            xYieldRequiredCurrentCore = pdFALSE;
        }

        return xYieldRequiredCurrentCore;
    }

#endif /* configNUM_CORES > 1 */
/*-----------------------------------------------------------*/

#if ( INCLUDE_vTaskDelete == 1 )

    void vTaskDelete( TaskHandle_t xTaskToDelete )
    {
        TCB_t * pxTCB;
        BaseType_t xFreeNow;

        taskENTER_CRITICAL( &xKernelLock );
        {
            BaseType_t xCurCoreID;
            #if ( configNUM_CORES > 1 )
                xCurCoreID = xPortGetCoreID();
            #else
                xCurCoreID = 0;
                ( void ) xCurCoreID;
            #endif

            /* If null is passed in here then it is the calling task that is
             * being deleted. */
            pxTCB = prvGetTCBFromHandle( xTaskToDelete );

            /* Remove task from the ready/delayed list. */
            if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
            {
                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            /* Is the task waiting on an event also? */
            if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
            {
                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            /* Increment the uxTaskNumber also so kernel aware debuggers can
             * detect that the task lists need re-generating.  This is done before
             * portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
             * not return. */
            uxTaskNumber++;

            /* We cannot free the task immediately if it is currently running (on either core) */
            xFreeNow = ( taskIS_CURRENTLY_RUNNING( pxTCB ) ) ? pdFALSE : pdTRUE;
            if( xFreeNow == pdFALSE )
            {
                /* A task is deleting itself.  This cannot complete within the
                 * task itself, as a context switch to another task is required.
                 * Place the task in the termination list.  The idle task will
                 * check the termination list and free up any memory allocated by
                 * the scheduler for the TCB and stack of the deleted task. */
                vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );

                /* Increment the ucTasksDeleted variable so the idle task knows
                 * there is a task that has been deleted and that it should therefore
                 * check the xTasksWaitingTermination list. */
                ++uxDeletedTasksWaitingCleanUp;

                /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
                 * portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
                traceTASK_DELETE( pxTCB );

                /* The pre-delete hook is primarily for the Windows simulator,
                 * in which Windows specific clean up operations are performed,
                 * after which it is not possible to yield away from this task -
                 * hence xYieldPending is used to latch that a context switch is
                 * required. */
                portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending[ xCurCoreID ] );

                #if ( configNUM_CORES > 1 )
                    if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, !xCurCoreID ) )
                    {
                        /* SMP case of deleting a task currently running on a different core. Same issue
                         * as a task deleting itself, but we need to send a yield to this task now
                         * before we release xKernelLock.
                         *
                         * Specifically there is a case where the other core may already be spinning on
                         * xKernelLock waiting to go into a blocked state. A check is added in
                         * prvAddCurrentTaskToDelayedList() to prevent it from removing itself from
                         * xTasksWaitingTermination list in this case (instead it will immediately
                         * release xKernelLock again and be yielded before the FreeRTOS function
                         * returns.) */
                        vPortYieldOtherCore( !xCurCoreID );
                    }
                #endif /* configNUM_CORES > 1 */
            }
            else
            {
                --uxCurrentNumberOfTasks;
                traceTASK_DELETE( pxTCB );

                /* Reset the next expected unblock time in case it referred to
                 * the task that has just been deleted. */
                prvResetNextTaskUnblockTime();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );

        if( xFreeNow == pdTRUE )
        {
            #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
                prvDeleteTLS( pxTCB );
            #endif

            prvDeleteTCB( pxTCB );
        }

        /* Force a reschedule if it is the currently running task that has just
         * been deleted. */
        if( xSchedulerRunning != pdFALSE )
        {
            taskENTER_CRITICAL( &xKernelLock );

            if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) )
            {
                configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) 0U );
                portYIELD_WITHIN_API();
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            taskEXIT_CRITICAL( &xKernelLock );
        }
    }

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

#if ( INCLUDE_xTaskDelayUntil == 1 )
    #ifdef ESP_PLATFORM
        /* backward binary compatibility - remove later */
        #undef vTaskDelayUntil
        void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
                              const TickType_t xTimeIncrement )
        {
            xTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement );
        }
    #endif // ESP_PLATFORM

    BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
                                const TickType_t xTimeIncrement )
    {
        TickType_t xTimeToWake;
        BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;

        configASSERT( pxPreviousWakeTime );
        configASSERT( ( xTimeIncrement > 0U ) );
        configASSERT( !taskIS_SCHEDULER_SUSPENDED() );

        prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
        {
            /* Minor optimisation.  The tick count cannot change in this
             * block. */
            const TickType_t xConstTickCount = xTickCount;

            /* Generate the tick time at which the task wants to wake. */
            xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;

            if( xConstTickCount < *pxPreviousWakeTime )
            {
                /* The tick count has overflowed since this function was
                 * lasted called.  In this case the only time we should ever
                 * actually delay is if the wake time has also  overflowed,
                 * and the wake time is greater than the tick time.  When this
                 * is the case it is as if neither time had overflowed. */
                if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
                {
                    xShouldDelay = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                /* The tick time has not overflowed.  In this case we will
                 * delay if either the wake time has overflowed, and/or the
                 * tick time is less than the wake time. */
                if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
                {
                    xShouldDelay = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }

            /* Update the wake time ready for the next call. */
            *pxPreviousWakeTime = xTimeToWake;

            if( xShouldDelay != pdFALSE )
            {
                traceTASK_DELAY_UNTIL( xTimeToWake );

                /* prvAddCurrentTaskToDelayedList() needs the block time, not
                 * the time to wake, so subtract the current tick count. */
                prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );

        /* Force a reschedule if xTaskResumeAll has not already done so, we may
         * have put ourselves to sleep. */
        if( xAlreadyYielded == pdFALSE )
        {
            portYIELD_WITHIN_API();
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        return xShouldDelay;
    }

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

#if ( INCLUDE_vTaskDelay == 1 )

    void vTaskDelay( const TickType_t xTicksToDelay )
    {
        BaseType_t xAlreadyYielded = pdFALSE;

        /* A delay time of zero just forces a reschedule. */
        if( xTicksToDelay > ( TickType_t ) 0U )
        {
            configASSERT( !taskIS_SCHEDULER_SUSPENDED() );
            prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
            {
                traceTASK_DELAY();

                /* A task that is removed from the event list while the
                 * scheduler is suspended will not get placed in the ready
                 * list or removed from the blocked list until the scheduler
                 * is resumed.
                 *
                 * This task cannot be in an event list as it is the currently
                 * executing task. */
                prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
            }
            xAlreadyYielded = prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        /* Force a reschedule if xTaskResumeAll has not already done so, we may
         * have put ourselves to sleep. */
        if( xAlreadyYielded == pdFALSE )
        {
            portYIELD_WITHIN_API();
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }

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

#if ( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )

    eTaskState eTaskGetState( TaskHandle_t xTask )
    {
        eTaskState eReturn;
        List_t const * pxStateList, * pxDelayedList, * pxOverflowedDelayedList;
        const TCB_t * const pxTCB = xTask;

        configASSERT( pxTCB );

        taskENTER_CRITICAL( &xKernelLock ); /*Need critical section incase either core context switches in between */

        if( taskIS_CURRENTLY_RUNNING( pxTCB ) )
        {
            /* The task calling this function is querying its own state. */
            eReturn = eRunning;
        }
        else
        {
            pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
            pxDelayedList = pxDelayedTaskList;
            pxOverflowedDelayedList = pxOverflowDelayedTaskList;

            if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
            {
                /* The task being queried is referenced from one of the Blocked
                 * lists. */
                eReturn = eBlocked;
            }

            #if ( INCLUDE_vTaskSuspend == 1 )
                else if( pxStateList == &xSuspendedTaskList )
                {
                    /* The task being queried is referenced from the suspended
                     * list.  Is it genuinely suspended or is it blocked
                     * indefinitely? */
                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
                    {
                        #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                            {
                                BaseType_t x;

                                /* The task does not appear on the event list item of
                                 * and of the RTOS objects, but could still be in the
                                 * blocked state if it is waiting on its notification
                                 * rather than waiting on an object.  If not, is
                                 * suspended. */
                                eReturn = eSuspended;

                                for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                                {
                                    if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                                    {
                                        eReturn = eBlocked;
                                        break;
                                    }
                                }
                            }
                        #else /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                            {
                                eReturn = eSuspended;
                            }
                        #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */
                    }
                    else
                    {
                        eReturn = eBlocked;
                    }
                }
            #endif /* if ( INCLUDE_vTaskSuspend == 1 ) */

            #if ( INCLUDE_vTaskDelete == 1 )
                else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
                {
                    /* The task being queried is referenced from the deleted
                     * tasks list, or it is not referenced from any lists at
                     * all. */
                    eReturn = eDeleted;
                }
            #endif

            else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
            {
                /* If the task is not in any other state, it must be in the
                 * Ready (including pending ready) state. */
                eReturn = eReady;
            }
        }

        taskEXIT_CRITICAL( &xKernelLock );

        return eReturn;
    } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

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

#if ( INCLUDE_uxTaskPriorityGet == 1 )

    UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
    {
        TCB_t const * pxTCB;
        UBaseType_t uxReturn;

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* If null is passed in here then it is the priority of the task
             * that called uxTaskPriorityGet() that is being queried. */
            pxTCB = prvGetTCBFromHandle( xTask );
            uxReturn = pxTCB->uxPriority;
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return uxReturn;
    }

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

#if ( INCLUDE_uxTaskPriorityGet == 1 )

    UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
    {
        TCB_t const * pxTCB;
        UBaseType_t uxReturn;

        /* RTOS ports that support interrupt nesting have the concept of a
         * maximum  system call (or maximum API call) interrupt priority.
         * Interrupts that are  above the maximum system call priority are keep
         * permanently enabled, even when the RTOS kernel is in a critical section,
         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
         * is defined in FreeRTOSConfig.h then
         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
         * failure if a FreeRTOS API function is called from an interrupt that has
         * been assigned a priority above the configured maximum system call
         * priority.  Only FreeRTOS functions that end in FromISR can be called
         * from interrupts  that have been assigned a priority at or (logically)
         * below the maximum system call interrupt priority.  FreeRTOS maintains a
         * separate interrupt safe API to ensure interrupt entry is as fast and as
         * simple as possible.  More information (albeit Cortex-M specific) is
         * provided on the following link:
         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        taskENTER_CRITICAL_ISR( &xKernelLock );
        {
            /* If null is passed in here then it is the priority of the calling
             * task that is being queried. */
            pxTCB = prvGetTCBFromHandle( xTask );
            uxReturn = pxTCB->uxPriority;
        }
        taskEXIT_CRITICAL_ISR( &xKernelLock );

        return uxReturn;
    }

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

#if ( INCLUDE_vTaskPrioritySet == 1 )

    void vTaskPrioritySet( TaskHandle_t xTask,
                           UBaseType_t uxNewPriority )
    {
        TCB_t * pxTCB;
        UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
        BaseType_t xYieldRequired = pdFALSE;

        configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );

        /* Ensure the new priority is valid. */
        if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
        {
            uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* If null is passed in here then it is the priority of the calling
             * task that is being changed. */
            pxTCB = prvGetTCBFromHandle( xTask );

            traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );

            #if ( configUSE_MUTEXES == 1 )
                {
                    uxCurrentBasePriority = pxTCB->uxBasePriority;
                }
            #else
                {
                    uxCurrentBasePriority = pxTCB->uxPriority;
                }
            #endif

            if( uxCurrentBasePriority != uxNewPriority )
            {
                /* The priority change may have readied a task of higher
                 * priority than the calling task. */
                if( uxNewPriority > uxCurrentBasePriority )
                {
                    if( !taskIS_CURRENTLY_RUNNING( pxTCB ) )
                    {
                        /* The priority of a task other than the currently
                         * running task is being raised.  Is the priority being
                         * raised above that of the running task? */
                        if( prvCheckForYieldUsingPriority( uxNewPriority, pxTCB->xCoreID, xPortGetCoreID(), pdTRUE ) )
                        {
                            xYieldRequired = pdTRUE;
                        }
                        else
                        {
                            mtCOVERAGE_TEST_MARKER();
                        }
                    }
                    else
                    {
                        /* The priority of the running task is being raised,
                         * but the running task must already be the highest
                         * priority task able to run so no yield is required. */
                    }
                }
                else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, 0 ) )
                {
                    /* Setting the priority of the running task down means
                     * there may now be another task of higher priority that
                     * is ready to execute. */
                    xYieldRequired = pdTRUE;
                }

                #if ( configNUM_CORES > 1 )
                    else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, 1 ) )
                    {
                        /* Setting the priority of the running task on the other
                         * core down means there may now be another task of
                         * higher priority that is ready to execute. */
                        vPortYieldOtherCore( 1 );
                    }
                #endif /* configNUM_CORES > 1 */
                else
                {
                    /* Setting the priority of any other task down does not
                     * require a yield as the running task must be above the
                     * new priority of the task being modified. */
                }

                /* Remember the ready list the task might be referenced from
                 * before its uxPriority member is changed so the
                 * taskRESET_READY_PRIORITY() macro can function correctly. */
                uxPriorityUsedOnEntry = pxTCB->uxPriority;

                #if ( configUSE_MUTEXES == 1 )
                    {
                        /* Only change the priority being used if the task is not
                         * currently using an inherited priority. */
                        if( pxTCB->uxBasePriority == pxTCB->uxPriority )
                        {
                            pxTCB->uxPriority = uxNewPriority;
                        }
                        else
                        {
                            mtCOVERAGE_TEST_MARKER();
                        }

                        /* The base priority gets set whatever. */
                        pxTCB->uxBasePriority = uxNewPriority;
                    }
                #else /* if ( configUSE_MUTEXES == 1 ) */
                    {
                        pxTCB->uxPriority = uxNewPriority;
                    }
                #endif /* if ( configUSE_MUTEXES == 1 ) */

                /* Only reset the event list item value if the value is not
                 * being used for anything else. */
                if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                {
                    listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }

                /* If the task is in the blocked or suspended list we need do
                 * nothing more than change its priority variable. However, if
                 * the task is in a ready list it needs to be removed and placed
                 * in the list appropriate to its new priority. */
                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                {
                    /* The task is currently in its ready list - remove before
                     * adding it to its new ready list.  As we are in a critical
                     * section we can do this even if the scheduler is suspended. */
                    if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                    {
                        /* It is known that the task is in its ready list so
                         * there is no need to check again and the port level
                         * reset macro can be called directly. */
                        portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    prvAddTaskToReadyList( pxTCB );
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }

                if( xYieldRequired != pdFALSE )
                {
                    taskYIELD_IF_USING_PREEMPTION();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }

                /* Remove compiler warning about unused variables when the port
                 * optimised task selection is not being used. */
                ( void ) uxPriorityUsedOnEntry;
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );
    }

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

#if ( INCLUDE_vTaskSuspend == 1 )

    void vTaskSuspend( TaskHandle_t xTaskToSuspend )
    {
        TCB_t * pxTCB;

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* If null is passed in here then it is the running task that is
             * being suspended. */
            pxTCB = prvGetTCBFromHandle( xTaskToSuspend );

            traceTASK_SUSPEND( pxTCB );

            /* Remove task from the ready/delayed list and place in the
             * suspended list. */
            if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
            {
                taskRESET_READY_PRIORITY( pxTCB->uxPriority );
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            /* Is the task waiting on an event also? */
            if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
            {
                ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );

            #if ( configUSE_TASK_NOTIFICATIONS == 1 )
                {
                    BaseType_t x;

                    for( x = 0; x < configTASK_NOTIFICATION_ARRAY_ENTRIES; x++ )
                    {
                        if( pxTCB->ucNotifyState[ x ] == taskWAITING_NOTIFICATION )
                        {
                            /* The task was blocked to wait for a notification, but is
                             * now suspended, so no notification was received. */
                            pxTCB->ucNotifyState[ x ] = taskNOT_WAITING_NOTIFICATION;
                        }
                    }
                }
            #endif /* if ( configUSE_TASK_NOTIFICATIONS == 1 ) */

            if( xSchedulerRunning != pdFALSE )
            {
                /* Reset the next expected unblock time in case it referred to the
                 * task that is now in the Suspended state. */
                prvResetNextTaskUnblockTime();
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, xPortGetCoreID() ) )
            {
                if( xSchedulerRunning != pdFALSE )
                {
                    /* The current task has just been suspended. */
                    configASSERT( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) 0U );
                    portYIELD_WITHIN_API();
                }
                else
                {
                    /* The scheduler is not running, but the task that was pointed
                     * to by pxCurrentTCB has just been suspended and pxCurrentTCB
                     * must be adjusted to point to a different task. */
                    if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
                    {
                        /* No other tasks are ready, so set pxCurrentTCB back to
                         * NULL so when the next task is created pxCurrentTCB will
                         * be set to point to it no matter what its relative priority
                         * is. */
                        pxCurrentTCB[ xPortGetCoreID() ] = NULL;
                    }
                    else
                    {
                        vTaskSwitchContext();
                    }
                }
            }

            #if ( configNUM_CORES > 1 )
                else if( taskIS_CURRENTLY_RUNNING_ON_CORE( pxTCB, !xPortGetCoreID() ) )
                {
                    /* The other core's current task has just been suspended */
                    if( xSchedulerRunning != pdFALSE )
                    {
                        vPortYieldOtherCore( !xPortGetCoreID() );
                    }
                    else
                    {
                        /* The scheduler is not running, but the task that was pointed
                         * to by pxCurrentTCB[ otherCore ] has just been suspended.
                         * We simply set the pxCurrentTCB[ otherCore ] to NULL for now.
                         * Todo: Update vTaskSwitchContext() to be runnable on
                         * behalf of the other core. */
                        pxCurrentTCB[ !xPortGetCoreID() ] = NULL;
                    }
                }
            #endif /* configNUM_CORES > 1 */
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );
    }

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

#if ( INCLUDE_vTaskSuspend == 1 )

    static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
    {
        BaseType_t xReturn = pdFALSE;
        const TCB_t * const pxTCB = xTask;

        /* Accesses xPendingReadyList so must be called from a critical
         * section. */

        /* It does not make sense to check if the calling task is suspended. */
        configASSERT( xTask );

        /* Is the task being resumed actually in the suspended list? */
        if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
        {
            /* Has the task already been resumed from within an ISR? */
            #if ( configNUM_CORES > 1 )
                if( ( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 0 ], &( pxTCB->xEventListItem ) ) == pdFALSE ) &&
                    ( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 1 ], &( pxTCB->xEventListItem ) ) == pdFALSE ) )
            #else
                if( listIS_CONTAINED_WITHIN( &xPendingReadyList[ 0 ], &( pxTCB->xEventListItem ) ) == pdFALSE )
            #endif
            {
                /* Is it in the suspended list because it is in the Suspended
                 * state, or because is is blocked with no timeout? */
                if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961.  The cast is only redundant when NULL is used. */
                {
                    xReturn = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        return xReturn;
    } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */

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

#if ( INCLUDE_vTaskSuspend == 1 )

    void vTaskResume( TaskHandle_t xTaskToResume )
    {
        TCB_t * const pxTCB = xTaskToResume;

        /* It does not make sense to resume the calling task. */
        configASSERT( xTaskToResume );

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* The parameter cannot be NULL as it is impossible to resume the
             * currently executing task. */
            if( !taskIS_CURRENTLY_RUNNING( pxTCB ) && ( pxTCB != NULL ) )
            {
                if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
                {
                    traceTASK_RESUME( pxTCB );

                    /* The ready list can be accessed even if the scheduler is
                     * suspended because this is inside a critical section. */
                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                    prvAddTaskToReadyList( pxTCB );

                    /* A higher priority task may have just been resumed. */
                    if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdTRUE ) )
                    {
                        /* This yield may not cause the task just resumed to run,
                         * but will leave the lists in the correct state for the
                         * next yield. */
                        taskYIELD_IF_USING_PREEMPTION();
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );
    }

#endif /* INCLUDE_vTaskSuspend */

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

#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )

    BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
    {
        BaseType_t xYieldRequired = pdFALSE;
        TCB_t * const pxTCB = xTaskToResume;

        configASSERT( xTaskToResume );

        /* RTOS ports that support interrupt nesting have the concept of a
         * maximum  system call (or maximum API call) interrupt priority.
         * Interrupts that are  above the maximum system call priority are keep
         * permanently enabled, even when the RTOS kernel is in a critical section,
         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
         * is defined in FreeRTOSConfig.h then
         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
         * failure if a FreeRTOS API function is called from an interrupt that has
         * been assigned a priority above the configured maximum system call
         * priority.  Only FreeRTOS functions that end in FromISR can be called
         * from interrupts  that have been assigned a priority at or (logically)
         * below the maximum system call interrupt priority.  FreeRTOS maintains a
         * separate interrupt safe API to ensure interrupt entry is as fast and as
         * simple as possible.  More information (albeit Cortex-M specific) is
         * provided on the following link:
         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        taskENTER_CRITICAL_ISR( &xKernelLock );
        {
            if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
            {
                traceTASK_RESUME_FROM_ISR( pxTCB );

                /* Check the ready lists can be accessed. */
                if( taskCAN_BE_SCHEDULED( pxTCB ) )
                {
                    /* Ready lists can be accessed so move the task from the
                     * suspended list to the ready list directly. */
                    if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdTRUE ) )
                    {
                        xYieldRequired = pdTRUE;

                        /* Mark that a yield is pending in case the user is not
                         * using the return value to initiate a context switch
                         * from the ISR using portYIELD_FROM_ISR. */
                        xYieldPending[ xPortGetCoreID() ] = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                    prvAddTaskToReadyList( pxTCB );
                }
                else
                {
                    /* The delayed or ready lists cannot be accessed so the task
                     * is held in the pending ready list until the scheduler is
                     * unsuspended. */
                    vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL_ISR( &xKernelLock );

        return xYieldRequired;
    }

#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
/*-----------------------------------------------------------*/

void vTaskStartScheduler( void )
{
    BaseType_t xReturn;

    #ifdef ESP_PLATFORM
        /* Create an IDLE task for each core */
        for( BaseType_t xCoreID = 0; xCoreID < configNUM_CORES; xCoreID++ )
    #endif //ESP_PLATFORM
    /* Add the idle task at the lowest priority. */
    #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
        {
            StaticTask_t * pxIdleTaskTCBBuffer = NULL;
            StackType_t * pxIdleTaskStackBuffer = NULL;
            uint32_t ulIdleTaskStackSize;

            /* The Idle task is created using user provided RAM - obtain the
             * address of the RAM then create the idle task. */
            vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
            xIdleTaskHandle[ xCoreID ] = xTaskCreateStaticPinnedToCore( prvIdleTask,
                                                                        configIDLE_TASK_NAME,
                                                                        ulIdleTaskStackSize,
                                                                        ( void * ) NULL,   /*lint !e961.  The cast is not redundant for all compilers. */
                                                                        portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                                                        pxIdleTaskStackBuffer,
                                                                        pxIdleTaskTCBBuffer,
                                                                        xCoreID ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

            if( xIdleTaskHandle[ xCoreID ] != NULL )
            {
                xReturn = pdPASS;
            }
            else
            {
                xReturn = pdFAIL;
            }
        }
    #else /* if ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
        {
            /* The Idle task is being created using dynamically allocated RAM. */
            xReturn = xTaskCreatePinnedToCore( prvIdleTask,
                                               configIDLE_TASK_NAME,
                                               configMINIMAL_STACK_SIZE,
                                               ( void * ) NULL,
                                               portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
                                               &xIdleTaskHandle[ xCoreID ],
                                               xCoreID );         /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

            if( xIdleTaskHandle[ xCoreID ] != NULL )
            {
                xReturn = pdPASS;
            }
            else
            {
                xReturn = pdFAIL;
            }
        }
    #endif /* configSUPPORT_STATIC_ALLOCATION */

    #if ( configUSE_TIMERS == 1 )
        {
            if( xReturn == pdPASS )
            {
                xReturn = xTimerCreateTimerTask();
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
    #endif /* configUSE_TIMERS */

    if( xReturn == pdPASS )
    {
        /* freertos_tasks_c_additions_init() should only be called if the user
         * definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
         * the only macro called by the function. */
        #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
            {
                freertos_tasks_c_additions_init();
            }
        #endif

        /* Interrupts are turned off here, to ensure a tick does not occur
         * before or during the call to xPortStartScheduler().  The stacks of
         * the created tasks contain a status word with interrupts switched on
         * so interrupts will automatically get re-enabled when the first task
         * starts to run. */
        portDISABLE_INTERRUPTS();

        #if ( configUSE_NEWLIB_REENTRANT == 1 )
            {
                /* Switch Newlib's _impure_ptr variable to point to the _reent
                 * structure specific to the task that will run first.
                 * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                 * for additional information. */
                /* _impure_ptr = &( pxCurrentTCB[xPortGetCoreID()]->xNewLib_reent ); */
            }
        #endif /* configUSE_NEWLIB_REENTRANT */

        xNextTaskUnblockTime = portMAX_DELAY;
        xSchedulerRunning = pdTRUE;
        xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;

        /* If configGENERATE_RUN_TIME_STATS is defined then the following
         * macro must be defined to configure the timer/counter used to generate
         * the run time counter time base.   NOTE:  If configGENERATE_RUN_TIME_STATS
         * is set to 0 and the following line fails to build then ensure you do not
         * have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
         * FreeRTOSConfig.h file. */
        portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

        traceTASK_SWITCHED_IN();

        /* Setting up the timer tick is hardware specific and thus in the
         * portable interface. */
        if( xPortStartScheduler() != pdFALSE )
        {
            /* Should not reach here as if the scheduler is running the
             * function will not return. */
        }
        else
        {
            /* Should only reach here if a task calls xTaskEndScheduler(). */
        }
    }
    else
    {
        /* This line will only be reached if the kernel could not be started,
         * because there was not enough FreeRTOS heap to create the idle task
         * or the timer task. */
        configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
    }

    /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
     * meaning xIdleTaskHandle is not used anywhere else. */
    ( void ) xIdleTaskHandle[ 0 ];
}
/*-----------------------------------------------------------*/

void vTaskEndScheduler( void )
{
    /* Stop the scheduler interrupts and call the portable scheduler end
     * routine so the original ISRs can be restored if necessary.  The port
     * layer must ensure interrupts enable  bit is left in the correct state. */
    portDISABLE_INTERRUPTS();
    xSchedulerRunning = pdFALSE;
    vPortEndScheduler();
}
/*----------------------------------------------------------*/

void vTaskSuspendAll( void )
{
    /* A critical section is not required as the variable is of type
     * 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! -
     * https://goo.gl/wu4acr */

    #if ( configNUM_CORES > 1 )

        /* For SMP, although each core has their own uxSchedulerSuspended, we still
         * need enter a critical section when accessing. */
        taskENTER_CRITICAL( &xKernelLock );
    #endif

    /* 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[ xPortGetCoreID() ];

    /* Enforces ordering for ports and optimised compilers that may otherwise place
     * the above increment elsewhere. */
    portMEMORY_BARRIER();

    #if ( configNUM_CORES > 1 )
        taskEXIT_CRITICAL( &xKernelLock );
    #endif
}
/*----------------------------------------------------------*/

#if ( configUSE_TICKLESS_IDLE != 0 )

    static TickType_t prvGetExpectedIdleTime( void )
    {
        TickType_t xReturn;
        UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;

        /* We need a critical section here as we are about to access kernel data structures */
        taskENTER_CRITICAL( &xKernelLock );

        /* uxHigherPriorityReadyTasks takes care of the case where
         * configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
         * task that are in the Ready state, even though the idle task is
         * running. */
        #if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
            {
                if( uxTopReadyPriority > tskIDLE_PRIORITY )
                {
                    uxHigherPriorityReadyTasks = pdTRUE;
                }
            }
        #else
            {
                const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;

                /* When port optimised task selection is used the uxTopReadyPriority
                 * variable is used as a bit map.  If bits other than the least
                 * significant bit are set then there are tasks that have a priority
                 * above the idle priority that are in the Ready state.  This takes
                 * care of the case where the co-operative scheduler is in use. */
                if( uxTopReadyPriority > uxLeastSignificantBit )
                {
                    uxHigherPriorityReadyTasks = pdTRUE;
                }
            }
        #endif /* if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 ) */

        if( pxCurrentTCB[ xPortGetCoreID() ]->uxPriority > tskIDLE_PRIORITY )
        {
            xReturn = 0;
        }
        else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > configNUM_CORES )
        {
            /* There are other idle priority tasks in the ready state.  If
             * time slicing is used then the very next tick interrupt must be
             * processed. */
            xReturn = 0;
        }
        else if( uxHigherPriorityReadyTasks != pdFALSE )
        {
            /* There are tasks in the Ready state that have a priority above the
             * idle priority.  This path can only be reached if
             * configUSE_PREEMPTION is 0. */
            xReturn = 0;
        }
        else
        {
            xReturn = xNextTaskUnblockTime - xTickCount;
        }

        taskEXIT_CRITICAL( &xKernelLock );

        return xReturn;
    }

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

BaseType_t xTaskResumeAll( void )
{
    TCB_t * pxTCB = NULL;
    BaseType_t xAlreadyYielded = pdFALSE;

    /* If uxSchedulerSuspended is zero then this function does not match a
     * previous call to vTaskSuspendAll(). */
    configASSERT( taskIS_SCHEDULER_SUSPENDED() );

    /* It is possible that an ISR caused a task to be removed from an event
     * list while the scheduler was suspended.  If this was the case then the
     * removed task will have been added to the xPendingReadyList.  Once the
     * scheduler has been resumed it is safe to move all the pending ready
     * tasks from this list into their appropriate ready list. */
    taskENTER_CRITICAL( &xKernelLock );
    {
        /* Minor optimization. Core ID can't change while inside a critical section */
        BaseType_t xCoreID = xPortGetCoreID();

        --uxSchedulerSuspended[ xCoreID ];

        if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) 0U )
        {
            if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
            {
                /* Move any readied tasks from the pending list into the
                 * appropriate ready list. */
                while( listLIST_IS_EMPTY( &xPendingReadyList[ xCoreID ] ) == pdFALSE )
                {
                    pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList[ xCoreID ] ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                    ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                    prvAddTaskToReadyList( pxTCB );

                    /* If the moved task has a priority higher than the current
                     * task then a yield must be performed. */
                    if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdTRUE ) )
                    {
                        xYieldPending[ xCoreID ] = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }

                if( pxTCB != NULL )
                {
                    /* A task was unblocked while the scheduler was suspended,
                     * which may have prevented the next unblock time from being
                     * re-calculated, in which case re-calculate it now.  Mainly
                     * important for low power tickless implementations, where
                     * this can prevent an unnecessary exit from low power
                     * state. */
                    prvResetNextTaskUnblockTime();
                }

                /* If any ticks occurred while the scheduler was suspended then
                 * they should be processed now.  This ensures the tick count does
                 * not  slip, and that any delayed tasks are resumed at the correct
                 * time. */

                /* Core 0 is solely responsible for managing tick count, thus it
                 * must be the only core to unwind the pended ticks */
                if( xCoreID == 0 )
                {
                    TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */

                    if( xPendedCounts > ( TickType_t ) 0U )
                    {
                        do
                        {
                            if( xTaskIncrementTick() != pdFALSE )
                            {
                                xYieldPending[ xCoreID ] = pdTRUE;
                            }
                            else
                            {
                                mtCOVERAGE_TEST_MARKER();
                            }

                            --xPendedCounts;
                        } while( xPendedCounts > ( TickType_t ) 0U );

                        xPendedTicks = 0;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }

                if( xYieldPending[ xCoreID ] != pdFALSE )
                {
                    #if ( configUSE_PREEMPTION != 0 )
                        {
                            xAlreadyYielded = pdTRUE;
                        }
                    #endif
                    taskYIELD_IF_USING_PREEMPTION();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }
    taskEXIT_CRITICAL( &xKernelLock );

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

TickType_t xTaskGetTickCount( void )
{
    TickType_t xTicks;

    /* Critical section required if running on a 16 bit processor. */
    portTICK_TYPE_ENTER_CRITICAL();
    {
        xTicks = xTickCount;
    }
    portTICK_TYPE_EXIT_CRITICAL();

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

TickType_t xTaskGetTickCountFromISR( void )
{
    TickType_t xReturn;

    /* RTOS ports that support interrupt nesting have the concept of a maximum
     * system call (or maximum API call) interrupt priority.  Interrupts that are
     * above the maximum system call priority are kept permanently enabled, even
     * when the RTOS kernel is in a critical section, but cannot make any calls to
     * FreeRTOS API functions.  If configASSERT() is defined in FreeRTOSConfig.h
     * then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
     * failure if a FreeRTOS API function is called from an interrupt that has been
     * assigned a priority above the configured maximum system call priority.
     * Only FreeRTOS functions that end in FromISR can be called from interrupts
     * that have been assigned a priority at or (logically) below the maximum
     * system call  interrupt priority.  FreeRTOS maintains a separate interrupt
     * safe API to ensure interrupt entry is as fast and as simple as possible.
     * More information (albeit Cortex-M specific) is provided on the following
     * link: https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
    portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

    #if ( configNUM_CORES > 1 )
        /* We need a critical section here as we are about to access kernel data structures */
        taskENTER_CRITICAL_ISR( &xKernelLock );
    #else
        UBaseType_t uxSavedInterruptStatus;
        uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
    #endif
    {
        xReturn = xTickCount;
    }
    #if ( configNUM_CORES > 1 )
        taskEXIT_CRITICAL_ISR( &xKernelLock );
    #else
        portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
    #endif

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

UBaseType_t uxTaskGetNumberOfTasks( void )
{
    /* A critical section is not required because the variables are of type
     * BaseType_t. */
    return uxCurrentNumberOfTasks;
}
/*-----------------------------------------------------------*/

char * pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
    TCB_t * pxTCB;

    /* If null is passed in here then the name of the calling task is being
     * queried. */
    pxTCB = prvGetTCBFromHandle( xTaskToQuery );
    configASSERT( pxTCB );
    return &( pxTCB->pcTaskName[ 0 ] );
}
/*-----------------------------------------------------------*/

#if ( INCLUDE_xTaskGetHandle == 1 )

    static TCB_t * prvSearchForNameWithinSingleList( List_t * pxList,
                                                     const char pcNameToQuery[] )
    {
        TCB_t * pxNextTCB, * pxFirstTCB, * pxReturn = NULL;
        UBaseType_t x;
        char cNextChar;
        BaseType_t xBreakLoop;

        /* This function is called with the scheduler suspended. */

        if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
        {
            listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

            do
            {
                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

                /* Check each character in the name looking for a match or
                 * mismatch. */
                xBreakLoop = pdFALSE;

                for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
                {
                    cNextChar = pxNextTCB->pcTaskName[ x ];

                    if( cNextChar != pcNameToQuery[ x ] )
                    {
                        /* Characters didn't match. */
                        xBreakLoop = pdTRUE;
                    }
                    else if( cNextChar == ( char ) 0x00 )
                    {
                        /* Both strings terminated, a match must have been
                         * found. */
                        pxReturn = pxNextTCB;
                        xBreakLoop = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    if( xBreakLoop != pdFALSE )
                    {
                        break;
                    }
                }

                if( pxReturn != NULL )
                {
                    /* The handle has been found. */
                    break;
                }
            } while( pxNextTCB != pxFirstTCB );
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        return pxReturn;
    }

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

#if ( INCLUDE_xTaskGetHandle == 1 )

    TaskHandle_t xTaskGetHandle( const char * pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
    {
        UBaseType_t uxQueue = configMAX_PRIORITIES;
        TCB_t * pxTCB;

        /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
        configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );

        prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
        {
            /* Search the ready lists. */
            do
            {
                uxQueue--;
                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );

                if( pxTCB != NULL )
                {
                    /* Found the handle. */
                    break;
                }
            } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

            /* Search the delayed lists. */
            if( pxTCB == NULL )
            {
                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
            }

            if( pxTCB == NULL )
            {
                pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
            }

            #if ( INCLUDE_vTaskSuspend == 1 )
                {
                    if( pxTCB == NULL )
                    {
                        /* Search the suspended list. */
                        pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
                    }
                }
            #endif

            #if ( INCLUDE_vTaskDelete == 1 )
                {
                    if( pxTCB == NULL )
                    {
                        /* Search the deleted list. */
                        pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
                    }
                }
            #endif
        }
        ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );

        return pxTCB;
    }

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

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

    BaseType_t xTaskGetStaticBuffers( TaskHandle_t xTask,
                                      StackType_t ** ppuxStackBuffer,
                                      StaticTask_t ** ppxTaskBuffer )
    {
        BaseType_t xReturn;
        TCB_t * pxTCB;

        configASSERT( ppuxStackBuffer != NULL );
        configASSERT( ppxTaskBuffer != NULL );

        pxTCB = prvGetTCBFromHandle( xTask );

        #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 )
        {
            if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB )
            {
                *ppuxStackBuffer = pxTCB->pxStack;
                *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
                xReturn = pdTRUE;
            }
            else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
            {
                *ppuxStackBuffer = pxTCB->pxStack;
                *ppxTaskBuffer = NULL;
                xReturn = pdTRUE;
            }
            else
            {
                xReturn = pdFALSE;
            }
        }
        #else /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */
        {
            *ppuxStackBuffer = pxTCB->pxStack;
            *ppxTaskBuffer = ( StaticTask_t * ) pxTCB;
            xReturn = pdTRUE;
        }
        #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE == 1 */

        return xReturn;
    }

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

#if ( configUSE_TRACE_FACILITY == 1 )

    UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray,
                                      const UBaseType_t uxArraySize,
                                      uint32_t * const pulTotalRunTime )
    {
        UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;

        prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
        {
            /* Is there a space in the array for each task in the system? */
            if( uxArraySize >= uxCurrentNumberOfTasks )
            {
                /* Fill in an TaskStatus_t structure with information on each
                 * task in the Ready state. */
                do
                {
                    uxQueue--;
                    uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
                } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

                /* Fill in an TaskStatus_t structure with information on each
                 * task in the Blocked state. */
                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
                uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );

                #if ( INCLUDE_vTaskDelete == 1 )
                    {
                        /* Fill in an TaskStatus_t structure with information on
                         * each task that has been deleted but not yet cleaned up. */
                        uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
                    }
                #endif

                #if ( INCLUDE_vTaskSuspend == 1 )
                    {
                        /* Fill in an TaskStatus_t structure with information on
                         * each task in the Suspended state. */
                        uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
                    }
                #endif

                #if ( configGENERATE_RUN_TIME_STATS == 1 )
                    {
                        if( pulTotalRunTime != NULL )
                        {
                            #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                                portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
                            #else
                                *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                            #endif
                        }
                    }
                #else /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
                    {
                        if( pulTotalRunTime != NULL )
                        {
                            *pulTotalRunTime = 0;
                        }
                    }
                #endif /* if ( configGENERATE_RUN_TIME_STATS == 1 ) */
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );

        return uxTask;
    }

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

#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )

    TaskHandle_t xTaskGetIdleTaskHandle( void )
    {
        /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
         * started, then xIdleTaskHandle will be NULL. */
        configASSERT( ( xIdleTaskHandle[ xPortGetCoreID() ] != NULL ) );
        return xIdleTaskHandle[ xPortGetCoreID() ];
    }

    TaskHandle_t xTaskGetIdleTaskHandleForCPU( UBaseType_t cpuid )
    {
        configASSERT( cpuid < configNUM_CORES );
        configASSERT( ( xIdleTaskHandle[ cpuid ] != NULL ) );
        return xIdleTaskHandle[ cpuid ];
    }
#endif /* INCLUDE_xTaskGetIdleTaskHandle */
/*----------------------------------------------------------*/

/* This conditional compilation should use inequality to 0, not equality to 1.
 * This is to ensure vTaskStepTick() is available when user defined low power mode
 * implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 * 1. */
#if ( configUSE_TICKLESS_IDLE != 0 )

    void vTaskStepTick( const TickType_t xTicksToJump )
    {
        #if ( configNUM_CORES > 1 )

            /* Although this is called with the scheduler suspended. For SMP, we
             * still need to take the kernel lock to access xTickCount. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* configNUM_CORES > 1 */

        /* Correct the tick count value after a period during which the tick
         * was suppressed.  Note this does *not* call the tick hook function for
         * each stepped tick. */
        configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
        xTickCount += xTicksToJump;
        traceINCREASE_TICK_COUNT( xTicksToJump );

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL( &xKernelLock );
        #endif /* configNUM_CORES > 1 */
    }

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

BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
{
    BaseType_t xYieldOccurred;

    /* Must not be called with the scheduler suspended as the implementation
     * relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
    configASSERT( !taskIS_SCHEDULER_SUSPENDED() );

    /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
     * the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
    vTaskSuspendAll();
    #if ( configNUM_CORES > 1 )

        /* Although the scheduler is suspended. For SMP, we still need to take
         * the kernel lock to access xPendedTicks. */
        taskENTER_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */
    xPendedTicks += xTicksToCatchUp;
    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        taskEXIT_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */
    xYieldOccurred = xTaskResumeAll();

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

#if ( INCLUDE_xTaskAbortDelay == 1 )

    BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
    {
        TCB_t * pxTCB = xTask;
        BaseType_t xReturn;

        configASSERT( pxTCB );

        prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
        {
            /* A task can only be prematurely removed from the Blocked state if
             * it is actually in the Blocked state. */
            if( eTaskGetState( xTask ) == eBlocked )
            {
                xReturn = pdPASS;

                /* Remove the reference to the task from the blocked list.  An
                 * interrupt won't touch the xStateListItem because the
                 * scheduler is suspended. */
                ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

                /* Is the task waiting on an event also?  If so remove it from
                 * the event list too.  Interrupts can touch the event list item,
                 * even though the scheduler is suspended, so a critical section
                 * is used. */
                taskENTER_CRITICAL( &xKernelLock );
                {
                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                    {
                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );

                        /* This lets the task know it was forcibly removed from the
                         * blocked state so it should not re-evaluate its block time and
                         * then block again. */
                        pxTCB->ucDelayAborted = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
                taskEXIT_CRITICAL( &xKernelLock );

                /* Place the unblocked task into the appropriate ready list. */
                prvAddTaskToReadyList( pxTCB );

                /* A task being unblocked cannot cause an immediate context
                 * switch if preemption is turned off. */
                #if ( configUSE_PREEMPTION == 1 )
                    {
                        /* Preemption is on, but a context switch should only be
                         *  performed if the unblocked task has a priority that is
                         *  equal to or higher than the currently executing task. */
                        if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdFALSE ) )
                        {
                            /* Pend the yield to be performed when the scheduler
                             * is unsuspended. */
                            xYieldPending[ xPortGetCoreID() ] = pdTRUE;
                        }
                        else
                        {
                            mtCOVERAGE_TEST_MARKER();
                        }
                    }
                #endif /* configUSE_PREEMPTION */
            }
            else
            {
                xReturn = pdFAIL;
            }
        }
        ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );

        return xReturn;
    }

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

BaseType_t xTaskIncrementTick( void )
{
    #if ( configNUM_CORES > 1 )
        /* Only Core 0 should ever call this function. */
        configASSERT( xPortGetCoreID() == 0 );
    #endif /* ( configNUM_CORES > 1 ) */

    TCB_t * pxTCB;
    TickType_t xItemValue;
    BaseType_t xSwitchRequired = pdFALSE;

    /* Called by the portable layer each time a tick interrupt occurs.
     * Increments the tick then checks to see if the new tick value will cause any
     * tasks to be unblocked. */
    traceTASK_INCREMENT_TICK( xTickCount );

    #if ( configNUM_CORES > 1 )

        /* For SMP, we need to take the kernel lock here as we are about to
         * access kernel data structures (unlike single core which calls this
         * function with interrupts disabled). */
        taskENTER_CRITICAL_ISR( &xKernelLock );
    #endif /* ( configNUM_CORES > 1 ) */

    if( uxSchedulerSuspended[ 0 ] == ( UBaseType_t ) 0U )
    {
        /* Minor optimisation.  The tick count cannot change in this
         * block. */
        const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;

        /* Increment the RTOS tick, switching the delayed and overflowed
         * delayed lists if it wraps to 0. */
        xTickCount = xConstTickCount;

        if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
        {
            taskSWITCH_DELAYED_LISTS();
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        /* See if this tick has made a timeout expire.  Tasks are stored in
         * the  queue in the order of their wake time - meaning once one task
         * has been found whose block time has not expired there is no need to
         * look any further down the list. */
        if( xConstTickCount >= xNextTaskUnblockTime )
        {
            for( ; ; )
            {
                if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
                {
                    /* The delayed list is empty.  Set xNextTaskUnblockTime
                     * to the maximum possible value so it is extremely
                     * unlikely that the
                     * if( xTickCount >= xNextTaskUnblockTime ) test will pass
                     * next time through. */
                    xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                    break;
                }
                else
                {
                    /* The delayed list is not empty, get the value of the
                     * item at the head of the delayed list.  This is the time
                     * at which the task at the head of the delayed list must
                     * be removed from the Blocked state. */
                    pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                    xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );

                    if( xConstTickCount < xItemValue )
                    {
                        /* It is not time to unblock this item yet, but the
                         * item value is the time at which the task at the head
                         * of the blocked list must be removed from the Blocked
                         * state -  so record the item value in
                         * xNextTaskUnblockTime. */
                        xNextTaskUnblockTime = xItemValue;
                        break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    /* It is time to remove the item from the Blocked state. */
                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );

                    /* Is the task waiting on an event also?  If so remove
                     * it from the event list. */
                    if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                    {
                        ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    /* Place the unblocked task into the appropriate ready
                     * list. */
                    prvAddTaskToReadyList( pxTCB );

                    /* A task being unblocked cannot cause an immediate
                     * context switch if preemption is turned off. */
                    #if ( configUSE_PREEMPTION == 1 )
                        {
                            /* Preemption is on, but a context switch should
                             * only be performed if the unblocked task has a
                             * priority that is equal to or higher than the
                             * currently executing task.
                             *
                             * For SMP, since this function is only run on core
                             * 0, only need to switch contexts if the unblocked
                             * task can run on core 0. */
                            if( ( taskCAN_RUN_ON_CORE( 0, pxTCB->xCoreID ) == pdTRUE ) && ( pxTCB->uxPriority >= pxCurrentTCB[ 0 ]->uxPriority ) )
                            {
                                xSwitchRequired = pdTRUE;
                            }
                            else
                            {
                                mtCOVERAGE_TEST_MARKER();
                            }
                        }
                    #endif /* configUSE_PREEMPTION */
                }
            }
        }

        /* Tasks of equal priority to the currently running task will share
         * processing time (time slice) if preemption is on, and the application
         * writer has not explicitly turned time slicing off. */
        #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
            {
                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ 0 ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
                {
                    xSwitchRequired = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */

        #if ( configUSE_TICK_HOOK == 1 )
            TickType_t xPendedTicksTemp = xPendedTicks; /* Non-volatile copy. */
        #endif /* configUSE_TICK_HOOK */

        #if ( configNUM_CORES > 1 )

            /* Release the previously taken kernel lock as we have finished
             * accessing the kernel data structures. */
            taskEXIT_CRITICAL_ISR( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        #if ( configUSE_TICK_HOOK == 1 )
            {
                /* Guard against the tick hook being called when the pended tick
                 * count is being unwound (when the scheduler is being unlocked). */
                if( xPendedTicksTemp == ( TickType_t ) 0 )
                {
                    vApplicationTickHook();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* configUSE_TICK_HOOK */

        #if ( configUSE_PREEMPTION == 1 )
            {
                if( xYieldPending[ 0 ] != pdFALSE )
                {
                    xSwitchRequired = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* configUSE_PREEMPTION */
    }
    else
    {
        ++xPendedTicks;
        #if ( configNUM_CORES > 1 )

            /* Release the previously taken kernel lock as we have finished
             * accessing the kernel data structures. */
            taskEXIT_CRITICAL_ISR( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        /* The tick hook gets called at regular intervals, even if the
         * scheduler is locked. */
        #if ( configUSE_TICK_HOOK == 1 )
            {
                vApplicationTickHook();
            }
        #endif
    }

    return xSwitchRequired;
}

#if ( configNUM_CORES > 1 )
    BaseType_t xTaskIncrementTickOtherCores( void )
    {
        /* Minor optimization. This function can never switch cores mid
         * execution */
        BaseType_t xCoreID = xPortGetCoreID();
        BaseType_t xSwitchRequired = pdFALSE;

        /* This function should never be called by Core 0. */
        configASSERT( xCoreID != 0 );

        /* Called by the portable layer each time a tick interrupt occurs.
         * Increments the tick then checks to see if the new tick value will cause any
         * tasks to be unblocked. */
        traceTASK_INCREMENT_TICK( xTickCount );

        if( uxSchedulerSuspended[ xCoreID ] == ( UBaseType_t ) 0U )
        {
            /* We need take the kernel lock here as we are about to access
             * kernel data structures. */
            taskENTER_CRITICAL_ISR( &xKernelLock );

            /* A task being unblocked cannot cause an immediate context switch
             * if preemption is turned off. */
            #if ( configUSE_PREEMPTION == 1 )
                {
                    /* Check if core 0 calling xTaskIncrementTick() has
                     * unblocked a task that can be run. */
                    if( uxTopReadyPriority > pxCurrentTCB[ xCoreID ]->uxPriority )
                    {
                        xSwitchRequired = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
            #endif /* if ( configUSE_PREEMPTION == 1 ) */

            /* Tasks of equal priority to the currently running task will share
             * processing time (time slice) if preemption is on, and the application
             * writer has not explicitly turned time slicing off. */
            #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
                {
                    if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB[ xCoreID ]->uxPriority ] ) ) > ( UBaseType_t ) 1 )
                    {
                        xSwitchRequired = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
            #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */

            /* Release the previously taken kernel lock as we have finished
             * accessing the kernel data structures. */
            taskEXIT_CRITICAL_ISR( &xKernelLock );

            #if ( configUSE_PREEMPTION == 1 )
                {
                    if( xYieldPending[ xCoreID ] != pdFALSE )
                    {
                        xSwitchRequired = pdTRUE;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
            #endif /* configUSE_PREEMPTION */
        }

        #if ( configUSE_TICK_HOOK == 1 )
            {
                vApplicationTickHook();
            }
        #endif

        return xSwitchRequired;
    }
#endif /* ( configNUM_CORES > 1 ) */

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

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

    void vTaskSetApplicationTaskTag( TaskHandle_t xTask,
                                     TaskHookFunction_t pxHookFunction )
    {
        TCB_t * xTCB;

        /* If xTask is NULL then it is the task hook of the calling task that is
         * getting set. */
        if( xTask == NULL )
        {
            xTCB = ( TCB_t * ) pxCurrentTCB[ xPortGetCoreID() ];
        }
        else
        {
            xTCB = xTask;
        }

        /* Save the hook function in the TCB.  A critical section is required as
         * the value can be accessed from an interrupt. */
        taskENTER_CRITICAL( &xKernelLock );
        {
            xTCB->pxTaskTag = pxHookFunction;
        }
        taskEXIT_CRITICAL( &xKernelLock );
    }

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

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

    TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
    {
        TCB_t * pxTCB;
        TaskHookFunction_t xReturn;

        /* If xTask is NULL then set the calling task's hook. */
        pxTCB = prvGetTCBFromHandle( xTask );

        /* Save the hook function in the TCB.  A critical section is required as
         * the value can be accessed from an interrupt. */
        taskENTER_CRITICAL( &xKernelLock );
        {
            xReturn = pxTCB->pxTaskTag;
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return xReturn;
    }

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

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

    TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
    {
        TCB_t * pxTCB;
        TaskHookFunction_t xReturn;
        UBaseType_t uxSavedInterruptStatus;

        /* If xTask is NULL then set the calling task's hook. */
        pxTCB = prvGetTCBFromHandle( xTask );

        /* Save the hook function in the TCB.  A critical section is required as
         * the value can be accessed from an interrupt. */
        prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
        {
            xReturn = pxTCB->pxTaskTag;
        }
        prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );

        return xReturn;
    }

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

#if ( configUSE_APPLICATION_TASK_TAG == 1 )

    BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask,
                                             void * pvParameter )
    {
        TCB_t * xTCB;
        BaseType_t xReturn;

        /* If xTask is NULL then we are calling our own task hook. */
        if( xTask == NULL )
        {
            xTCB = xTaskGetCurrentTaskHandle();
        }
        else
        {
            xTCB = xTask;
        }

        if( xTCB->pxTaskTag != NULL )
        {
            xReturn = xTCB->pxTaskTag( pvParameter );
        }
        else
        {
            xReturn = pdFAIL;
        }

        return xReturn;
    }

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

#if ( configNUM_CORES > 1 )
    static void taskSelectHighestPriorityTaskSMP( void )
    {
        /* This function is called from a critical section. So some optimizations are made */
        BaseType_t uxCurPriority;
        BaseType_t xTaskScheduled = pdFALSE;
        BaseType_t xNewTopPrioritySet = pdFALSE;
        BaseType_t xCoreID = xPortGetCoreID(); /* Optimization: Read once */

        /* Search for tasks, starting form the highest ready priority. If nothing is
         * found, we eventually default to the IDLE tasks at priority 0 */

        for( uxCurPriority = uxTopReadyPriority; uxCurPriority >= 0 && xTaskScheduled == pdFALSE; uxCurPriority-- )
        {
            /* Check if current priority has one or more ready tasks. Skip if none */
            if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxCurPriority ] ) ) )
            {
                continue;
            }

            /* Save a copy of highest priority that has a ready state task */
            if( xNewTopPrioritySet == pdFALSE )
            {
                xNewTopPrioritySet = pdTRUE;
                uxTopReadyPriority = uxCurPriority;
            }

            /* We now search this priority's ready task list for a runnable task.
             * We always start searching from the head of the list, so we reset
             * pxIndex to point to the tail so that we start walking the list from
             * the first item */
            pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );

            /* Get the first item on the list */
            TCB_t * pxTCBCur;
            TCB_t * pxTCBFirst;
            listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
            pxTCBFirst = pxTCBCur;

            do
            {
                /* Check if the current task is currently being executed. However, if
                 * it's being executed by the current core, we can still schedule it.
                 * Todo: Each task can store a xTaskRunState, instead of needing to
                 *       check each core */
                UBaseType_t ux;

                for( ux = 0; ux < ( UBaseType_t ) configNUM_CORES; ux++ )
                {
                    if( ux == xCoreID )
                    {
                        continue;
                    }
                    else if( pxCurrentTCB[ ux ] == pxTCBCur )
                    {
                        /* Current task is already being executed. Get the next task */
                        goto get_next_task;
                    }
                }

                /* Check if the current task has a compatible affinity */
                if( ( pxTCBCur->xCoreID != xCoreID ) && ( pxTCBCur->xCoreID != tskNO_AFFINITY ) )
                {
                    goto get_next_task;
                }

                /* The current task is runnable. Schedule it */
                pxCurrentTCB[ xCoreID ] = pxTCBCur;
                xTaskScheduled = pdTRUE;

                /* Move the current tasks list item to the back of the list in order
                 * to implement best effort round robin. To do this, we need to reset
                 * the pxIndex to point to the tail again. */
                pxReadyTasksLists[ uxCurPriority ].pxIndex = ( ListItem_t * ) &( pxReadyTasksLists[ uxCurPriority ].xListEnd );
                uxListRemove( &( pxTCBCur->xStateListItem ) );
                vListInsertEnd( &( pxReadyTasksLists[ uxCurPriority ] ), &( pxTCBCur->xStateListItem ) );
                break;

get_next_task:
                /* The current task cannot be scheduled. Get the next task in the list */
                listGET_OWNER_OF_NEXT_ENTRY( pxTCBCur, &( pxReadyTasksLists[ uxCurPriority ] ) );
            } while( pxTCBCur != pxTCBFirst ); /* Check to see if we've walked the entire list */
        }

        assert( xTaskScheduled == pdTRUE ); /* At this point, a task MUST have been scheduled */
    }
#endif /* configNUM_CORES > 1 */

void vTaskSwitchContext( void )
{
    #if ( configNUM_CORES > 1 )

        /* For SMP, we need to take the kernel lock here as we are about to
         * access kernel data structures (unlike single core which calls this
         * function with either interrupts disabled or when the scheduler hasn't
         * started yet). */
        taskENTER_CRITICAL_ISR( &xKernelLock );
    #endif /* ( configNUM_CORES > 1 ) */

    if( uxSchedulerSuspended[ xPortGetCoreID() ] != ( UBaseType_t ) 0U )
    {
        /* The scheduler is currently suspended - do not allow a context
         * switch. */
        xYieldPending[ xPortGetCoreID() ] = pdTRUE;
    }
    else
    {
        xYieldPending[ xPortGetCoreID() ] = pdFALSE;
        #ifdef ESP_PLATFORM
            xSwitchingContext[ xPortGetCoreID() ] = pdTRUE;
        #endif // ESP_PLATFORM
        traceTASK_SWITCHED_OUT();

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
            {
                #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
                    portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
                #else
                    ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
                #endif

                /* Add the amount of time the task has been running to the
                 * accumulated time so far.  The time the task started running was
                 * stored in ulTaskSwitchedInTime.  Note that there is no overflow
                 * protection here so count values are only valid until the timer
                 * overflows.  The guard against negative values is to protect
                 * against suspect run time stat counter implementations - which
                 * are provided by the application, not the kernel. */
                if( ulTotalRunTime > ulTaskSwitchedInTime[ xPortGetCoreID() ] )
                {
                    pxCurrentTCB[ xPortGetCoreID() ]->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime[ xPortGetCoreID() ] );
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }

                ulTaskSwitchedInTime[ xPortGetCoreID() ] = ulTotalRunTime;
            }
        #endif /* configGENERATE_RUN_TIME_STATS */

        /* Check for stack overflow, if configured. */
        #ifdef ESP_PLATFORM
            taskFIRST_CHECK_FOR_STACK_OVERFLOW();
            taskSECOND_CHECK_FOR_STACK_OVERFLOW();
        #else
            taskCHECK_FOR_STACK_OVERFLOW();

            /* Before the currently running task is switched out, save its errno. */
            #if ( configUSE_POSIX_ERRNO == 1 )
                {
                    pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
                }
            #endif
        #endif // ESP_PLATFORM

        /* Select a new task to run using either the generic C or port
         * optimised asm code. */
        taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
        traceTASK_SWITCHED_IN();

        #ifdef ESP_PLATFORM
            xSwitchingContext[ xPortGetCoreID() ] = pdFALSE;
            #if CONFIG_FREERTOS_WATCHPOINT_END_OF_STACK
                vPortSetStackWatchpoint( pxCurrentTCB[ xPortGetCoreID() ]->pxStack );
            #endif
        #else
            /* After the new task is switched in, update the global errno. */
            #if ( configUSE_POSIX_ERRNO == 1 )
                {
                    FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
                }
            #endif

            #if ( configUSE_NEWLIB_REENTRANT == 1 )
                {
                    /* Switch Newlib's _impure_ptr variable to point to the _reent
                     * structure specific to this task.
                     * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
                     * for additional information. */
                    _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
                }
            #endif /* configUSE_NEWLIB_REENTRANT */
        #endif // ESP_PLATFORM
    }

    #if ( configNUM_CORES > 1 )

        /* Release the previously taken kernel lock as we have finished
         * accessing the kernel data structures. */
        taskEXIT_CRITICAL_ISR( &xKernelLock );
    #endif /* ( configNUM_CORES > 1 ) */
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnEventList( List_t * const pxEventList,
                            const TickType_t xTicksToWait )
{
    configASSERT( pxEventList );

    #if ( configNUM_CORES > 1 )

        /* In SMP, we need to take the kernel lock as we are about to access the
         * task lists. */
        taskENTER_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */

    /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
     * SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */

    /* Place the event list item of the TCB in the appropriate event list.
     * This is placed in the list in priority order so the highest priority task
     * is the first to be woken by the event.  The queue that contains the event
     * list is locked, preventing simultaneous access from interrupts. */
    vListInsert( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );

    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        taskEXIT_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/

void vTaskPlaceOnUnorderedEventList( List_t * pxEventList,
                                     const TickType_t xItemValue,
                                     const TickType_t xTicksToWait )
{
    configASSERT( pxEventList );

    #if ( configNUM_CORES > 1 )

        /* In SMP, the event groups haven't suspended the scheduler at this
         * point. We need to take the kernel lock instead as we are about to
         * access the task lists. */
        taskENTER_CRITICAL( &xKernelLock );
    #else /* configNUM_CORES > 1 */

        /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
         * the event groups implementation. */
        configASSERT( uxSchedulerSuspended[ 0 ] != ( UBaseType_t ) 0U );
    #endif /* configNUM_CORES > 1 */

    /* Store the item value in the event list item.  It is safe to access the
     * event list item here as interrupts won't access the event list item of a
     * task that is not in the Blocked state. */
    listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

    /* Place the event list item of the TCB at the end of the appropriate event
     * list.  It is safe to access the event list here because it is part of an
     * event group implementation - and interrupts don't access event groups
     * directly (instead they access them indirectly by pending function calls to
     * the task level). */
    vListInsertEnd( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );

    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );

    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        taskEXIT_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/

#if ( configUSE_TIMERS == 1 )

    void vTaskPlaceOnEventListRestricted( List_t * const pxEventList,
                                          TickType_t xTicksToWait,
                                          const BaseType_t xWaitIndefinitely )
    {
        configASSERT( pxEventList );

        #if ( configNUM_CORES > 1 )

            /* In SMP, we need to take the kernel lock as we are about to access
             * the task lists. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* configNUM_CORES > 1 */

        /* This function should not be called by application code hence the
         * 'Restricted' in its name.  It is not part of the public API.  It is
         * designed for use by kernel code, and has special calling requirements -
         * it should be called with the scheduler suspended. */


        /* Place the event list item of the TCB in the appropriate event list.
         * In this case it is assume that this is the only task that is going to
         * be waiting on this event list, so the faster vListInsertEnd() function
         * can be used in place of vListInsert. */
        vListInsertEnd( pxEventList, &( pxCurrentTCB[ xPortGetCoreID() ]->xEventListItem ) );

        /* If the task should block indefinitely then set the block time to a
         * value that will be recognised as an indefinite delay inside the
         * prvAddCurrentTaskToDelayedList() function. */
        if( xWaitIndefinitely != pdFALSE )
        {
            xTicksToWait = portMAX_DELAY;
        }

        traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
        prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL( &xKernelLock );
        #endif /* configNUM_CORES > 1 */
    }

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

BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
{
    TCB_t * pxUnblockedTCB;
    BaseType_t xReturn;

    /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION.  It can also be
     * called from a critical section within an ISR. */

    #if ( configNUM_CORES > 1 )

        /* In SMP, we need to take the kernel lock (even if the caller is
         * already in a critical section by taking a different lock) as we are
         * about to access the task lists, which are protected by the kernel
         * lock. This function can also be called from an ISR context, so we
         * need to check whether we are in an ISR.*/
        if( portCHECK_IF_IN_ISR() == pdFALSE )
        {
            taskENTER_CRITICAL( &xKernelLock );
        }
        else
        {
            taskENTER_CRITICAL_ISR( &xKernelLock );
        }
    #endif /* configNUM_CORES > 1 */
    {
        /* Before taking the kernel lock, another task/ISR could have already
         * emptied the pxEventList. So we insert a check here to see if
         * pxEventList is empty before attempting to remove an item from it. */
        if( listLIST_IS_EMPTY( pxEventList ) == pdFALSE )
        {
            BaseType_t xCurCoreID = xPortGetCoreID();

            /* The event list is sorted in priority order, so the first in the list can
             * be removed as it is known to be the highest priority.  Remove the TCB from
             * the delayed list, and add it to the ready list.
             *
             * If an event is for a queue that is locked then this function will never
             * get called - the lock count on the queue will get modified instead.  This
             * means exclusive access to the event list is guaranteed here.
             *
             * This function assumes that a check has already been made to ensure that
             * pxEventList is not empty. */
            pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
            configASSERT( pxUnblockedTCB );
            ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );

            /* Add the task to the ready list if a core with compatible affinity
             * has NOT suspended its scheduler. This occurs when:
             * - The task is pinned, and the pinned core's scheduler is running
             * - The task is unpinned, and at least one of the core's scheduler is running */
            if( taskCAN_BE_SCHEDULED( pxUnblockedTCB ) )
            {
                ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
                prvAddTaskToReadyList( pxUnblockedTCB );

                #if ( configUSE_TICKLESS_IDLE != 0 )
                    {
                        /* If a task is blocked on a kernel object then xNextTaskUnblockTime
                         * might be set to the blocked task's time out time.  If the task is
                         * unblocked for a reason other than a timeout xNextTaskUnblockTime is
                         * normally left unchanged, because it is automatically reset to a new
                         * value when the tick count equals xNextTaskUnblockTime.  However if
                         * tickless idling is used it might be more important to enter sleep mode
                         * at the earliest possible time - so reset xNextTaskUnblockTime here to
                         * ensure it is updated at the earliest possible time. */
                        prvResetNextTaskUnblockTime();
                    }
                #endif
            }
            else
            {
                /* We arrive here due to one of the following possibilities:
                 * - The task is pinned to core X and core X has suspended its scheduler
                 * - The task is unpinned and both cores have suspend their schedulers
                 * Therefore, we add the task to one of the pending lists:
                 * - If the task is pinned to core X, add it to core X's pending list
                 * - If the task is unpinned, add it to the current core's pending list */
                BaseType_t xPendingListCore;
                #if ( configNUM_CORES > 1 )
                    xPendingListCore = ( ( pxUnblockedTCB->xCoreID == tskNO_AFFINITY ) ? xCurCoreID : pxUnblockedTCB->xCoreID );
                #else
                    xPendingListCore = 0;
                #endif /* configNUM_CORES > 1 */
                configASSERT( uxSchedulerSuspended[ xPendingListCore ] != ( UBaseType_t ) 0U );

                /* The delayed and ready lists cannot be accessed, so hold this task
                 * pending until the scheduler is resumed. */
                vListInsertEnd( &( xPendingReadyList[ xPendingListCore ] ), &( pxUnblockedTCB->xEventListItem ) );
            }

            if( prvCheckForYield( pxUnblockedTCB, xCurCoreID, pdFALSE ) )
            {
                /* Return true if the task removed from the event list has a higher
                 * priority than the calling task.  This allows the calling task to know if
                 * it should force a context switch now. */
                xReturn = pdTRUE;

                /* Mark that a yield is pending in case the user is not using the
                 * "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
                xYieldPending[ xCurCoreID ] = pdTRUE;
            }
            else
            {
                xReturn = pdFALSE;
            }
        }
        else
        {
            /* The pxEventList was emptied before we entered the critical section,
             * Nothing to do except return pdFALSE. */
            xReturn = pdFALSE;
        }
    }
    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        if( portCHECK_IF_IN_ISR() == pdFALSE )
        {
            taskEXIT_CRITICAL( &xKernelLock );
        }
        else
        {
            taskEXIT_CRITICAL_ISR( &xKernelLock );
        }
    #endif /* configNUM_CORES > 1 */

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

#if ( configNUM_CORES > 1 )
    void vTaskTakeKernelLock( void )
    {
        /* We call the tasks.c critical section macro to take xKernelLock */
        taskENTER_CRITICAL( &xKernelLock );
    }

    void vTaskReleaseKernelLock( void )
    {
        /* We call the tasks.c critical section macro to release xKernelLock */
        taskEXIT_CRITICAL( &xKernelLock );
    }
#endif /* configNUM_CORES > 1 */

void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem,
                                        const TickType_t xItemValue )
{
    TCB_t * pxUnblockedTCB;
    BaseType_t xCurCoreID = xPortGetCoreID();

    #if ( configNUM_CORES > 1 )

        /* THIS FUNCTION MUST BE CALLED WITH THE KERNEL LOCK ALREADY TAKEN.
         * It is used by the event flags implementation, thus those functions
         * should call vTaskTakeKernelLock() before calling this function. */
    #else /* configNUM_CORES > 1 */

        /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED.  It is used by
         * the event flags implementation. */
        configASSERT( uxSchedulerSuspended[ 0 ] != ( UBaseType_t ) 0U );
    #endif /* configNUM_CORES > 1 */

    /* Store the new item value in the event list. */
    listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );

    /* Remove the event list form the event flag.  Interrupts do not access
     * event flags. */
    pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
    configASSERT( pxUnblockedTCB );
    ( void ) uxListRemove( pxEventListItem );

    /* Add the task to the ready list if a core with compatible affinity
     * has NOT suspended its scheduler. This occurs when:
     * - The task is pinned, and the pinned core's scheduler is running
     * - The task is unpinned, and at least one of the core's scheduler is running */
    if( taskCAN_BE_SCHEDULED( pxUnblockedTCB ) )
    {
        ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
        prvAddTaskToReadyList( pxUnblockedTCB );

        #if ( configUSE_TICKLESS_IDLE != 0 )
            {
                /* If a task is blocked on a kernel object then xNextTaskUnblockTime
                 * might be set to the blocked task's time out time.  If the task is
                 * unblocked for a reason other than a timeout xNextTaskUnblockTime is
                 * normally left unchanged, because it is automatically reset to a new
                 * value when the tick count equals xNextTaskUnblockTime.  However if
                 * tickless idling is used it might be more important to enter sleep mode
                 * at the earliest possible time - so reset xNextTaskUnblockTime here to
                 * ensure it is updated at the earliest possible time. */
                prvResetNextTaskUnblockTime();
            }
        #endif
    }
    else
    {
        /* We arrive here due to one of the following possibilities:
         * - The task is pinned to core X and core X has suspended its scheduler
         * - The task is unpinned and both cores have suspend their schedulers
         * Therefore, we add the task to one of the pending lists:
         * - If the task is pinned to core X, add it to core X's pending list
         * - If the task is unpinned, add it to the current core's pending list */
        BaseType_t xPendingListCore;
        #if ( configNUM_CORES > 1 )
            xPendingListCore = ( ( pxUnblockedTCB->xCoreID == tskNO_AFFINITY ) ? xCurCoreID : pxUnblockedTCB->xCoreID );
        #else
            xPendingListCore = 0;
        #endif /* configNUM_CORES > 1 */
        configASSERT( uxSchedulerSuspended[ xPendingListCore ] != ( UBaseType_t ) 0U );

        /* The delayed and ready lists cannot be accessed, so hold this task
         * pending until the scheduler is resumed. */
        vListInsertEnd( &( xPendingReadyList[ xPendingListCore ] ), &( pxUnblockedTCB->xEventListItem ) );
    }

    if( prvCheckForYield( pxUnblockedTCB, xCurCoreID, pdFALSE ) )
    {
        /* The unblocked task has a priority above that of the calling task, so
         * a context switch is required.  This function is called with the
         * scheduler suspended so xYieldPending is set so the context switch
         * occurs immediately that the scheduler is resumed (unsuspended). */
        xYieldPending[ xCurCoreID ] = pdTRUE;
    }
}
/*-----------------------------------------------------------*/

void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
{
    configASSERT( pxTimeOut );
    taskENTER_CRITICAL( &xKernelLock );
    {
        pxTimeOut->xOverflowCount = xNumOfOverflows;
        pxTimeOut->xTimeOnEntering = xTickCount;
    }
    taskEXIT_CRITICAL( &xKernelLock );
}
/*-----------------------------------------------------------*/

void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
{
    /**
     * In case of we are building for SMP, we need to protect the following instructions in order to make them
     * atomic.
     * Indeed, without this, it would be possible to get preempted by the tick hook right after storing the number
     * of overflows with `pxTimeOut->xOverflowCount = xNumOfOverflows`. Then, the tick hook increments the timer,
     * which overflows, and thus resets the xTickCount to 0.
     * Resuming our task would result in an invalid state of the timer where the number of overflow corresponds
     * to the previous value and not the current one.
     *
     * On a single core configuration, this problem doesn't appear as this function is meant to be called from
     * a critical section, disabling the (tick) interrupts.
     */
    #if ( configNUM_CORES > 1 )
        configASSERT( pxTimeOut );
        taskENTER_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */

    /* For internal use only as it does not use a critical section. */
    pxTimeOut->xOverflowCount = xNumOfOverflows;
    pxTimeOut->xTimeOnEntering = xTickCount;

    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        taskEXIT_CRITICAL( &xKernelLock );
    #endif /* configNUM_CORES > 1 */
}
/*-----------------------------------------------------------*/

BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut,
                                 TickType_t * const pxTicksToWait )
{
    BaseType_t xReturn;

    configASSERT( pxTimeOut );
    configASSERT( pxTicksToWait );

    taskENTER_CRITICAL( &xKernelLock );
    {
        /* Minor optimisation.  The tick count cannot change in this block. */
        const TickType_t xConstTickCount = xTickCount;
        const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;

        #if ( INCLUDE_xTaskAbortDelay == 1 )
            if( pxCurrentTCB[ xPortGetCoreID() ]->ucDelayAborted != ( uint8_t ) pdFALSE )
            {
                /* The delay was aborted, which is not the same as a time out,
                 * but has the same result. */
                pxCurrentTCB[ xPortGetCoreID() ]->ucDelayAborted = pdFALSE;
                xReturn = pdTRUE;
            }
            else
        #endif

        #if ( INCLUDE_vTaskSuspend == 1 )
            if( *pxTicksToWait == portMAX_DELAY )
            {
                /* If INCLUDE_vTaskSuspend is set to 1 and the block time
                 * specified is the maximum block time then the task should block
                 * indefinitely, and therefore never time out. */
                xReturn = pdFALSE;
            }
            else
        #endif

        if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
        {
            /* The tick count is greater than the time at which
             * vTaskSetTimeout() was called, but has also overflowed since
             * vTaskSetTimeOut() was called.  It must have wrapped all the way
             * around and gone past again. This passed since vTaskSetTimeout()
             * was called. */
            xReturn = pdTRUE;
            *pxTicksToWait = ( TickType_t ) 0;
        }
        else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
        {
            /* Not a genuine timeout. Adjust parameters for time remaining. */
            *pxTicksToWait -= xElapsedTime;
            vTaskInternalSetTimeOutState( pxTimeOut );
            xReturn = pdFALSE;
        }
        else
        {
            *pxTicksToWait = ( TickType_t ) 0;
            xReturn = pdTRUE;
        }
    }
    taskEXIT_CRITICAL( &xKernelLock );

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

void vTaskMissedYield( void )
{
    xYieldPending[ xPortGetCoreID() ] = pdTRUE;
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

    UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
    {
        UBaseType_t uxReturn;
        TCB_t const * pxTCB;

        if( xTask != NULL )
        {
            pxTCB = xTask;
            uxReturn = pxTCB->uxTaskNumber;
        }
        else
        {
            uxReturn = 0U;
        }

        return uxReturn;
    }

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

#if ( configUSE_TRACE_FACILITY == 1 )

    void vTaskSetTaskNumber( TaskHandle_t xTask,
                             const UBaseType_t uxHandle )
    {
        TCB_t * pxTCB;

        if( xTask != NULL )
        {
            pxTCB = xTask;
            pxTCB->uxTaskNumber = uxHandle;
        }
    }

#endif /* configUSE_TRACE_FACILITY */

/*
 * -----------------------------------------------------------
 * The Idle task.
 * ----------------------------------------------------------
 *
 * The portTASK_FUNCTION() macro is used to allow port/compiler specific
 * language extensions.  The equivalent prototype for this function is:
 *
 * void prvIdleTask( void *pvParameters );
 *
 */
static portTASK_FUNCTION( prvIdleTask, pvParameters )
{
    /* Stop warnings. */
    ( void ) pvParameters;

    /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
     * SCHEDULER IS STARTED. **/

    /* In case a task that has a secure context deletes itself, in which case
     * the idle task is responsible for deleting the task's secure context, if
     * any. */
    portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );

    for( ; ; )
    {
        /* See if any tasks have deleted themselves - if so then the idle task
         * is responsible for freeing the deleted task's TCB and stack. */
        prvCheckTasksWaitingTermination();

        #if ( configUSE_PREEMPTION == 0 )
            {
                /* If we are not using preemption we keep forcing a task switch to
                 * see if any other task has become available.  If we are using
                 * preemption we don't need to do this as any task becoming available
                 * will automatically get the processor anyway. */
                taskYIELD();
            }
        #endif /* configUSE_PREEMPTION */

        #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
            {
                /* When using preemption tasks of equal priority will be
                 * timesliced.  If a task that is sharing the idle priority is ready
                 * to run then the idle task should yield before the end of the
                 * timeslice.
                 *
                 * A critical region is not required here as we are just reading from
                 * the list, and an occasional incorrect value will not matter.  If
                 * the ready list at the idle priority contains more than one task
                 * then a task other than the idle task is ready to execute. */
                if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
                {
                    taskYIELD();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */

        #if ( configUSE_IDLE_HOOK == 1 )
            {
                extern void vApplicationIdleHook( void );

                /* Call the user defined function from within the idle task.  This
                 * allows the application designer to add background functionality
                 * without the overhead of a separate task.
                 * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
                 * CALL A FUNCTION THAT MIGHT BLOCK. */
                vApplicationIdleHook();
            }
        #endif /* configUSE_IDLE_HOOK */

        #ifdef ESP_PLATFORM
            /* Call the esp-idf idle hook system */
            esp_vApplicationIdleHook();
        #endif // ESP_PLATFORM

        /* This conditional compilation should use inequality to 0, not equality
         * to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
         * user defined low power mode  implementations require
         * configUSE_TICKLESS_IDLE to be set to a value other than 1. */
        #if ( configUSE_TICKLESS_IDLE != 0 )
            {
                TickType_t xExpectedIdleTime;

                /* It is not desirable to suspend then resume the scheduler on
                 * each iteration of the idle task.  Therefore, a preliminary
                 * test of the expected idle time is performed without the
                 * scheduler suspended.  The result here is not necessarily
                 * valid. */
                xExpectedIdleTime = prvGetExpectedIdleTime();

                if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                {
                    prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
                    {
                        /* Now the scheduler is suspended, the expected idle
                         * time can be sampled again, and this time its value can
                         * be used. */
                        configASSERT( xNextTaskUnblockTime >= xTickCount );
                        xExpectedIdleTime = prvGetExpectedIdleTime();

                        /* Define the following macro to set xExpectedIdleTime to 0
                         * if the application does not want
                         * portSUPPRESS_TICKS_AND_SLEEP() to be called. */
                        configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );

                        if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
                        {
                            traceLOW_POWER_IDLE_BEGIN();
                            portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
                            traceLOW_POWER_IDLE_END();
                        }
                        else
                        {
                            mtCOVERAGE_TEST_MARKER();
                        }
                    }
                    ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* configUSE_TICKLESS_IDLE */
    }
}
/*-----------------------------------------------------------*/

#if ( configUSE_TICKLESS_IDLE != 0 )

    eSleepModeStatus eTaskConfirmSleepModeStatus( void )
    {
        /* The idle task exists in addition to the application tasks. */
        const UBaseType_t uxNonApplicationTasks = 1;
        eSleepModeStatus eReturn = eStandardSleep;

        taskENTER_CRITICAL( &xKernelLock );

        if( listCURRENT_LIST_LENGTH( &xPendingReadyList[ xPortGetCoreID() ] ) != 0 )
        {
            /* A task was made ready while the scheduler was suspended. */
            eReturn = eAbortSleep;
        }
        else if( xYieldPending[ xPortGetCoreID() ] != pdFALSE )
        {
            /* A yield was pended while the scheduler was suspended. */
            eReturn = eAbortSleep;
        }
        else
        {
            /* If all the tasks are in the suspended list (which might mean they
             * have an infinite block time rather than actually being suspended)
             * then it is safe to turn all clocks off and just wait for external
             * interrupts. */
            if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
            {
                eReturn = eNoTasksWaitingTimeout;
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }

        taskEXIT_CRITICAL( &xKernelLock );

        return eReturn;
    }

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

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

    #if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )

        void vTaskSetThreadLocalStoragePointerAndDelCallback( TaskHandle_t xTaskToSet,
                                                              BaseType_t xIndex,
                                                              void * pvValue,
                                                              TlsDeleteCallbackFunction_t xDelCallback )
        {
            TCB_t * pxTCB;

            if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
            {
                #if ( configNUM_CORES > 1 )

                    /* For SMP, we need to take the kernel lock here as we
                     * another core could also update this task's TLSP at the
                     * same time. */
                    taskENTER_CRITICAL( &xKernelLock );
                #endif /* ( configNUM_CORES > 1 ) */

                pxTCB = prvGetTCBFromHandle( xTaskToSet );
                pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
                pxTCB->pvThreadLocalStoragePointersDelCallback[ xIndex ] = xDelCallback;

                #if ( configNUM_CORES > 1 )
                    /* Release the previously taken kernel lock. */
                    taskEXIT_CRITICAL( &xKernelLock );
                #endif /* configNUM_CORES > 1 */
            }
        }

        void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
                                                BaseType_t xIndex,
                                                void * pvValue )
        {
            vTaskSetThreadLocalStoragePointerAndDelCallback( xTaskToSet, xIndex, pvValue, ( TlsDeleteCallbackFunction_t ) NULL );
        }


    #else /* if ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 ) */
        void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet,
                                                BaseType_t xIndex,
                                                void * pvValue )
        {
            TCB_t * pxTCB;

            if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
            {
                #if ( configNUM_CORES > 1 )

                    /* For SMP, we need to take the kernel lock here as we
                     * another core could also update this task's TLSP at the
                     * same time. */
                    taskENTER_CRITICAL( &xKernelLock );
                #endif /* ( configNUM_CORES > 1 ) */

                pxTCB = prvGetTCBFromHandle( xTaskToSet );
                configASSERT( pxTCB != NULL );
                pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;

                #if ( configNUM_CORES > 1 )
                    /* Release the previously taken kernel lock. */
                    taskEXIT_CRITICAL( &xKernelLock );
                #endif /* configNUM_CORES > 1 */
            }
        }
    #endif /* configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 */

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

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )

    void * pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery,
                                               BaseType_t xIndex )
    {
        void * pvReturn = NULL;
        TCB_t * pxTCB;

        if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
        {
            pxTCB = prvGetTCBFromHandle( xTaskToQuery );
            pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
        }
        else
        {
            pvReturn = NULL;
        }

        return pvReturn;
    }

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

#if ( portUSING_MPU_WRAPPERS == 1 )

    void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify,
                                  const MemoryRegion_t * const xRegions )
    {
        TCB_t * pxTCB;

        /* If null is passed in here then we are modifying the MPU settings of
         * the calling task. */
        pxTCB = prvGetTCBFromHandle( xTaskToModify );

        vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
    }

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

static void prvInitialiseTaskLists( void )
{
    UBaseType_t uxPriority;

    for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
    {
        vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
    }

    vListInitialise( &xDelayedTaskList1 );
    vListInitialise( &xDelayedTaskList2 );

    for( BaseType_t x = 0; x < configNUM_CORES; x++ )
    {
        vListInitialise( &xPendingReadyList[ x ] );
    }

    #if ( INCLUDE_vTaskDelete == 1 )
        {
            vListInitialise( &xTasksWaitingTermination );
        }
    #endif /* INCLUDE_vTaskDelete */

    #if ( INCLUDE_vTaskSuspend == 1 )
        {
            vListInitialise( &xSuspendedTaskList );
        }
    #endif /* INCLUDE_vTaskSuspend */

    /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
     * using list2. */
    pxDelayedTaskList = &xDelayedTaskList1;
    pxOverflowDelayedTaskList = &xDelayedTaskList2;
}
/*-----------------------------------------------------------*/


static void prvCheckTasksWaitingTermination( void )
{
    /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/

    #if ( INCLUDE_vTaskDelete == 1 )
        {
            TCB_t * pxTCB;

            /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
             * being called too often in the idle task. */
            while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
            {
                #if ( configNUM_CORES > 1 )
                    pxTCB = NULL;
                    taskENTER_CRITICAL( &xKernelLock );
                    {
                        /* List may have already been cleared by the other core. Check again */
                        if ( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
                        {
                            /* We can't delete a task if it is still running on
                             * the other core. Keep walking the list until we
                             * find a task we can free, or until we walk the
                             * entire list. */
                            ListItem_t *xEntry;
                            for ( xEntry = listGET_HEAD_ENTRY( &xTasksWaitingTermination ); xEntry != listGET_END_MARKER( &xTasksWaitingTermination ); xEntry = listGET_NEXT( xEntry ) )
                            {
                                if ( !taskIS_CURRENTLY_RUNNING( ( ( TCB_t * ) listGET_LIST_ITEM_OWNER( xEntry ) ) ) )
                                {
                                    pxTCB = ( TCB_t * ) listGET_LIST_ITEM_OWNER( xEntry );
                                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                                    --uxCurrentNumberOfTasks;
                                    --uxDeletedTasksWaitingCleanUp;
                                    break;
                                }
                            }
                        }
                    }
                    taskEXIT_CRITICAL( &xKernelLock );

                    if ( pxTCB != NULL )
                    {
                        #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
                            prvDeleteTLS( pxTCB );
                        #endif
                        prvDeleteTCB( pxTCB );
                    }
                    else
                    {
                        /* No task found to delete, break out of loop */
                        break;
                    }
                #else
                    taskENTER_CRITICAL( &xKernelLock );
                    {
                        pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                        ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                        --uxCurrentNumberOfTasks;
                        --uxDeletedTasksWaitingCleanUp;
                    }
                    taskEXIT_CRITICAL( &xKernelLock );

                    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )
                        prvDeleteTLS( pxTCB );
                    #endif
                    prvDeleteTCB( pxTCB );
                #endif  /* configNUM_CORES > 1 */
            }
        }
    #endif /* INCLUDE_vTaskDelete */
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

    void vTaskGetInfo( TaskHandle_t xTask,
                       TaskStatus_t * pxTaskStatus,
                       BaseType_t xGetFreeStackSpace,
                       eTaskState eState )
    {
        TCB_t * pxTCB;

        /* xTask is NULL then get the state of the calling task. */
        pxTCB = prvGetTCBFromHandle( xTask );

        pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
        pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName[ 0 ] );
        pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
        pxTaskStatus->pxStackBase = pxTCB->pxStack;
        pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
        #if ( configTASKLIST_INCLUDE_COREID == 1 )
            pxTaskStatus->xCoreID = pxTCB->xCoreID;
        #endif /* configTASKLIST_INCLUDE_COREID */

        #if ( configUSE_MUTEXES == 1 )
            {
                pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
            }
        #else
            {
                pxTaskStatus->uxBasePriority = 0;
            }
        #endif

        #if ( configGENERATE_RUN_TIME_STATS == 1 )
            {
                pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
            }
        #else
            {
                pxTaskStatus->ulRunTimeCounter = 0;
            }
        #endif

        /* Obtaining the task state is a little fiddly, so is only done if the
         * value of eState passed into this function is eInvalid - otherwise the
         * state is just set to whatever is passed in. */
        if( eState != eInvalid )
        {
            if( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] )
            {
                pxTaskStatus->eCurrentState = eRunning;
            }
            else
            {
                pxTaskStatus->eCurrentState = eState;

                #if ( INCLUDE_vTaskSuspend == 1 )
                    {
                        /* If the task is in the suspended list then there is a
                         *  chance it is actually just blocked indefinitely - so really
                         *  it should be reported as being in the Blocked state. */
                        if( eState == eSuspended )
                        {
                            prvENTER_CRITICAL_OR_SUSPEND_ALL( &xKernelLock );
                            {
                                if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
                                {
                                    pxTaskStatus->eCurrentState = eBlocked;
                                }
                            }
                            ( void ) prvEXIT_CRITICAL_OR_RESUME_ALL( &xKernelLock );
                        }
                    }
                #endif /* INCLUDE_vTaskSuspend */
            }
        }
        else
        {
            pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
        }

        /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
         * parameter is provided to allow it to be skipped. */
        if( xGetFreeStackSpace != pdFALSE )
        {
            #if ( portSTACK_GROWTH > 0 )
                {
                    pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
                }
            #else
                {
                    pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
                }
            #endif
        }
        else
        {
            pxTaskStatus->usStackHighWaterMark = 0;
        }
    }

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

BaseType_t xTaskGetAffinity( TaskHandle_t xTask )
{
    TCB_t * pxTCB;

    pxTCB = prvGetTCBFromHandle( xTask );

    return pxTCB->xCoreID;
}
/*-----------------------------------------------------------*/

#if ( configUSE_TRACE_FACILITY == 1 )

    static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t * pxTaskStatusArray,
                                                     List_t * pxList,
                                                     eTaskState eState )
    {
        configLIST_VOLATILE TCB_t * pxNextTCB, * pxFirstTCB;
        UBaseType_t uxTask = 0;

        if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
        {
            listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */

            /* Populate an TaskStatus_t structure within the
             * pxTaskStatusArray array for each task that is referenced from
             * pxList.  See the definition of TaskStatus_t in task.h for the
             * meaning of each TaskStatus_t structure member. */
            do
            {
                listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
                vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
                uxTask++;
            } while( pxNextTCB != pxFirstTCB );
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        return uxTask;
    }

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

#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )

    static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
    {
        uint32_t ulCount = 0U;

        while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
        {
            pucStackByte -= portSTACK_GROWTH;
            ulCount++;
        }

        ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */

        return ( configSTACK_DEPTH_TYPE ) ulCount;
    }

#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )

/* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
 * same except for their return type.  Using configSTACK_DEPTH_TYPE allows the
 * user to determine the return type.  It gets around the problem of the value
 * overflowing on 8-bit types without breaking backward compatibility for
 * applications that expect an 8-bit return type. */
    configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
    {
        TCB_t * pxTCB;
        uint8_t * pucEndOfStack;
        configSTACK_DEPTH_TYPE uxReturn;

        /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
         * the same except for their return type.  Using configSTACK_DEPTH_TYPE
         * allows the user to determine the return type.  It gets around the
         * problem of the value overflowing on 8-bit types without breaking
         * backward compatibility for applications that expect an 8-bit return
         * type. */

        pxTCB = prvGetTCBFromHandle( xTask );

        #if portSTACK_GROWTH < 0
            {
                pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
            }
        #else
            {
                pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
            }
        #endif

        uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );

        return uxReturn;
    }

#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
/*-----------------------------------------------------------*/

#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )

    UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
    {
        TCB_t * pxTCB;
        uint8_t * pucEndOfStack;
        UBaseType_t uxReturn;

        pxTCB = prvGetTCBFromHandle( xTask );

        #if portSTACK_GROWTH < 0
            {
                pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
            }
        #else
            {
                pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
            }
        #endif

        uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );

        return uxReturn;
    }

#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
/*-----------------------------------------------------------*/
#if ( INCLUDE_pxTaskGetStackStart == 1 )

    uint8_t * pxTaskGetStackStart( TaskHandle_t xTask )
    {
        TCB_t * pxTCB;
        uint8_t * uxReturn;

        pxTCB = prvGetTCBFromHandle( xTask );
        uxReturn = ( uint8_t * ) pxTCB->pxStack;

        return uxReturn;
    }

#endif /* INCLUDE_pxTaskGetStackStart */

#if ( INCLUDE_vTaskDelete == 1 )

    static void prvDeleteTCB( TCB_t * pxTCB )
    {
        /* This call is required specifically for the TriCore port.  It must be
         * above the vPortFree() calls.  The call is also used by ports/demos that
         * want to allocate and clean RAM statically. */
        portCLEAN_UP_TCB( pxTCB );

        /* Free up the memory allocated by the scheduler for the task.  It is up
         * to the task to free any memory allocated at the application level.
         * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
         * for additional information. */
        #if ( configUSE_NEWLIB_REENTRANT == 1 )
            {
                _reclaim_reent( &( pxTCB->xNewLib_reent ) );
            }
        #endif /* configUSE_NEWLIB_REENTRANT */

        #if ( portUSING_MPU_WRAPPERS == 1 )
            vPortReleaseTaskMPUSettings( &( pxTCB->xMPUSettings ) );
        #endif

        #ifdef portCLEAN_UP_COPROC
            portCLEAN_UP_COPROC( ( void * ) pxTCB );
        #endif

        #if ( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
            {
                /* The task can only have been allocated dynamically - free both
                 * the stack and TCB. */
                vPortFree( pxTCB->pxStack );
                vPortFree( pxTCB );
            }
        #elif ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
            {
                /* The task could have been allocated statically or dynamically, so
                 * check what was statically allocated before trying to free the
                 * memory. */
                if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
                {
                    /* Both the stack and TCB were allocated dynamically, so both
                     * must be freed. */
                    vPortFree( pxTCB->pxStack );
                    vPortFree( pxTCB );
                }
                else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
                {
                    /* Only the stack was statically allocated, so the TCB is the
                     * only memory that must be freed. */
                    vPortFree( pxTCB );
                }
                else
                {
                    /* Neither the stack nor the TCB were allocated dynamically, so
                     * nothing needs to be freed. */
                    configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
    }

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

#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 )

    static void prvDeleteTLS( TCB_t * pxTCB )
    {
        configASSERT( pxTCB );

        for( int x = 0; x < configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
        {
            if( pxTCB->pvThreadLocalStoragePointersDelCallback[ x ] != NULL )                                       /*If del cb is set */
            {
                pxTCB->pvThreadLocalStoragePointersDelCallback[ x ]( x, pxTCB->pvThreadLocalStoragePointers[ x ] ); /*Call del cb */
            }
        }
    }

#endif /* ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 ) && ( configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS == 1 ) */
/*-----------------------------------------------------------*/


static void prvResetNextTaskUnblockTime( void )
{
    TCB_t * pxTCB;

    if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
    {
        /* The new current delayed list is empty.  Set xNextTaskUnblockTime to
         * the maximum possible value so it is  extremely unlikely that the
         * if( xTickCount >= xNextTaskUnblockTime ) test will pass until
         * there is an item in the delayed list. */
        xNextTaskUnblockTime = portMAX_DELAY;
    }
    else
    {
        /* The new current delayed list is not empty, get the value of
         * the item at the head of the delayed list.  This is the time at
         * which the task at the head of the delayed list should be removed
         * from the Blocked state. */
        ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too.  Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
        xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
    }
}
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) || ( configNUM_CORES > 1 ) )

    TaskHandle_t xTaskGetCurrentTaskHandle( void )
    {
        TaskHandle_t xReturn;
        unsigned state;

        state = portSET_INTERRUPT_MASK_FROM_ISR();
        xReturn = pxCurrentTCB[ xPortGetCoreID() ];
        portCLEAR_INTERRUPT_MASK_FROM_ISR( state );

        return xReturn;
    }

    TaskHandle_t xTaskGetCurrentTaskHandleForCPU( BaseType_t cpuid )
    {
        TaskHandle_t xReturn = NULL;

        /*Xtensa-specific: the pxCurrentPCB pointer is atomic so we shouldn't need a lock. */
        if( cpuid < configNUM_CORES )
        {
            xReturn = pxCurrentTCB[ cpuid ];
        }

        return xReturn;
    }

#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )

    BaseType_t xTaskGetSchedulerState( void )
    {
        BaseType_t xReturn;
        unsigned state;

        /* Known issue. This should use critical sections. See IDF-5889 */
        state = portSET_INTERRUPT_MASK_FROM_ISR();

        if( xSchedulerRunning == pdFALSE )
        {
            xReturn = taskSCHEDULER_NOT_STARTED;
        }
        else
        {
            if( uxSchedulerSuspended[ xPortGetCoreID() ] == ( UBaseType_t ) 0U )
            {
                xReturn = taskSCHEDULER_RUNNING;
            }
            else
            {
                xReturn = taskSCHEDULER_SUSPENDED;
            }
        }

        portCLEAR_INTERRUPT_MASK_FROM_ISR( state );

        return xReturn;
    }

#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( configUSE_MUTEXES == 1 )

    BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
    {
        TCB_t * const pxMutexHolderTCB = pxMutexHolder;
        BaseType_t xReturn = pdFALSE;

        #if ( configNUM_CORES > 1 )

            /* For SMP, we need to take the kernel lock here as we are about to
             * access kernel data structures. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        /* If the mutex was given back by an interrupt while the queue was
         * locked then the mutex holder might now be NULL.  _RB_ Is this still
         * needed as interrupts can no longer use mutexes? */
        if( pxMutexHolder != NULL )
        {
            /* If the holder of the mutex has a priority below the priority of
             * the task attempting to obtain the mutex then it will temporarily
             * inherit the priority of the task attempting to obtain the mutex. */
            if( pxMutexHolderTCB->uxPriority < pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
            {
                /* Adjust the mutex holder state to account for its new
                 * priority.  Only reset the event list item value if the value is
                 * not being used for anything else. */
                if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                {
                    listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xPortGetCoreID() ]->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }

                /* If the task being modified is in the ready state it will need
                 * to be moved into a new list. */
                if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
                {
                    if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                    {
                        /* It is known that the task is in its ready list so
                         * there is no need to check again and the port level
                         * reset macro can be called directly. */
                        portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    /* Inherit the priority before being moved into the new list. */
                    pxMutexHolderTCB->uxPriority = pxCurrentTCB[ xPortGetCoreID() ]->uxPriority;
                    prvAddTaskToReadyList( pxMutexHolderTCB );
                }
                else
                {
                    /* Just inherit the priority. */
                    pxMutexHolderTCB->uxPriority = pxCurrentTCB[ xPortGetCoreID() ]->uxPriority;
                }

                traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB[ xPortGetCoreID() ]->uxPriority );

                /* Inheritance occurred. */
                xReturn = pdTRUE;
            }
            else
            {
                if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB[ xPortGetCoreID() ]->uxPriority )
                {
                    /* The base priority of the mutex holder is lower than the
                     * priority of the task attempting to take the mutex, but the
                     * current priority of the mutex holder is not lower than the
                     * priority of the task attempting to take the mutex.
                     * Therefore the mutex holder must have already inherited a
                     * priority, but inheritance would have occurred if that had
                     * not been the case. */
                    xReturn = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL_ISR( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        return xReturn;
    }

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

#if ( configUSE_MUTEXES == 1 )

    BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
    {
        TCB_t * const pxTCB = pxMutexHolder;
        BaseType_t xReturn = pdFALSE;

        #if ( configNUM_CORES > 1 )

            /* For SMP, we need to take the kernel lock here as we are about to
             * access kernel data structures. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        if( pxMutexHolder != NULL )
        {
            /* A task can only have an inherited priority if it holds the mutex.
             * If the mutex is held by a task then it cannot be given from an
             * interrupt, and if a mutex is given by the holding task then it must
             * be the running state task. */
            configASSERT( pxTCB == pxCurrentTCB[ xPortGetCoreID() ] );
            configASSERT( pxTCB->uxMutexesHeld );
            ( pxTCB->uxMutexesHeld )--;

            /* Has the holder of the mutex inherited the priority of another
             * task? */
            if( pxTCB->uxPriority != pxTCB->uxBasePriority )
            {
                /* Only disinherit if no other mutexes are held. */
                if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
                {
                    /* A task can only have an inherited priority if it holds
                     * the mutex.  If the mutex is held by a task then it cannot be
                     * given from an interrupt, and if a mutex is given by the
                     * holding task then it must be the running state task.  Remove
                     * the holding task from the ready list. */
                    if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                    {
                        taskRESET_READY_PRIORITY( pxTCB->uxPriority );
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    /* Disinherit the priority before adding the task into the
                     * new  ready list. */
                    traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
                    pxTCB->uxPriority = pxTCB->uxBasePriority;

                    /* Reset the event list item value.  It cannot be in use for
                     * any other purpose if this task is running, and it must be
                     * running to give back the mutex. */
                    listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                    prvAddTaskToReadyList( pxTCB );

                    /* Return true to indicate that a context switch is required.
                     * This is only actually required in the corner case whereby
                     * multiple mutexes were held and the mutexes were given back
                     * in an order different to that in which they were taken.
                     * If a context switch did not occur when the first mutex was
                     * returned, even if a task was waiting on it, then a context
                     * switch should occur when the last mutex is returned whether
                     * a task is waiting on it or not. */
                    xReturn = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL_ISR( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        return xReturn;
    }

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

#if ( configUSE_MUTEXES == 1 )

    void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder,
                                              UBaseType_t uxHighestPriorityWaitingTask )
    {
        TCB_t * const pxTCB = pxMutexHolder;
        UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
        const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;

        #if ( configNUM_CORES > 1 )

            /* For SMP, we need to take the kernel lock here as we are about to
             * access kernel data structures. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        if( pxMutexHolder != NULL )
        {
            /* If pxMutexHolder is not NULL then the holder must hold at least
             * one mutex. */
            configASSERT( pxTCB->uxMutexesHeld );

            /* Determine the priority to which the priority of the task that
             * holds the mutex should be set.  This will be the greater of the
             * holding task's base priority and the priority of the highest
             * priority task that is waiting to obtain the mutex. */
            if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
            {
                uxPriorityToUse = uxHighestPriorityWaitingTask;
            }
            else
            {
                uxPriorityToUse = pxTCB->uxBasePriority;
            }

            /* Does the priority need to change? */
            if( pxTCB->uxPriority != uxPriorityToUse )
            {
                /* Only disinherit if no other mutexes are held.  This is a
                 * simplification in the priority inheritance implementation.  If
                 * the task that holds the mutex is also holding other mutexes then
                 * the other mutexes may have caused the priority inheritance. */
                if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
                {
                    /* If a task has timed out because it already holds the
                     * mutex it was trying to obtain then it cannot of inherited
                     * its own priority. */
                    configASSERT( pxTCB != pxCurrentTCB[ xPortGetCoreID() ] );

                    /* Disinherit the priority, remembering the previous
                     * priority to facilitate determining the subject task's
                     * state. */
                    traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
                    uxPriorityUsedOnEntry = pxTCB->uxPriority;
                    pxTCB->uxPriority = uxPriorityToUse;

                    /* Only reset the event list item value if the value is not
                     * being used for anything else. */
                    if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
                    {
                        listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }

                    /* If the running task is not the task that holds the mutex
                     * then the task that holds the mutex could be in either the
                     * Ready, Blocked or Suspended states.  Only remove the task
                     * from its current state list if it is in the Ready state as
                     * the task's priority is going to change and there is one
                     * Ready list per priority. */
                    if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
                    {
                        if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
                        {
                            /* It is known that the task is in its ready list so
                             * there is no need to check again and the port level
                             * reset macro can be called directly. */
                            portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
                        }
                        else
                        {
                            mtCOVERAGE_TEST_MARKER();
                        }

                        prvAddTaskToReadyList( pxTCB );
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */
    }

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

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

    void vTaskEnterCritical( void )
    {
        portDISABLE_INTERRUPTS();

        if( xSchedulerRunning != pdFALSE )
        {
            ( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting )++;

            /* This is not the interrupt safe version of the enter critical
             * function so  assert() if it is being called from an interrupt
             * context.  Only API functions that end in "FromISR" can be used in an
             * interrupt.  Only assert if the critical nesting count is 1 to
             * protect against recursive calls if the assert function also uses a
             * critical section. */
            if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting == 1 )
            {
                portASSERT_IF_IN_ISR();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }

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

#if ( portCRITICAL_NESTING_IN_TCB == 1 )

    void vTaskExitCritical( void )
    {
        if( xSchedulerRunning != pdFALSE )
        {
            if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting > 0U )
            {
                ( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting )--;

                if( pxCurrentTCB[ xPortGetCoreID() ]->uxCriticalNesting == 0U )
                {
                    portENABLE_INTERRUPTS();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }

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

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )

    static char * prvWriteNameToBuffer( char * pcBuffer,
                                        const char * pcTaskName )
    {
        size_t x;

        /* Start by copying the entire string. */
        strcpy( pcBuffer, pcTaskName );

        /* Pad the end of the string with spaces to ensure columns line up when
         * printed out. */
        for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
        {
            pcBuffer[ x ] = ' ';
        }

        /* Terminate. */
        pcBuffer[ x ] = ( char ) 0x00;

        /* Return the new end of string. */
        return &( pcBuffer[ x ] );
    }

#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
/*-----------------------------------------------------------*/

#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

    void vTaskList( char * pcWriteBuffer )
    {
        TaskStatus_t * pxTaskStatusArray;
        UBaseType_t uxArraySize, x;
        char cStatus;

        /*
         * PLEASE NOTE:
         *
         * This function is provided for convenience only, and is used by many
         * of the demo applications.  Do not consider it to be part of the
         * scheduler.
         *
         * vTaskList() calls uxTaskGetSystemState(), then formats part of the
         * uxTaskGetSystemState() output into a human readable table that
         * displays task names, states and stack usage.
         *
         * vTaskList() has a dependency on the sprintf() C library function that
         * might bloat the code size, use a lot of stack, and provide different
         * results on different platforms.  An alternative, tiny, third party,
         * and limited functionality implementation of sprintf() is provided in
         * many of the FreeRTOS/Demo sub-directories in a file called
         * printf-stdarg.c (note printf-stdarg.c does not provide a full
         * snprintf() implementation!).
         *
         * It is recommended that production systems call uxTaskGetSystemState()
         * directly to get access to raw stats data, rather than indirectly
         * through a call to vTaskList().
         */


        /* Make sure the write buffer does not contain a string. */
        *pcWriteBuffer = ( char ) 0x00;

        /* Take a snapshot of the number of tasks in case it changes while this
         * function is executing. */
        uxArraySize = uxCurrentNumberOfTasks;

        /* Allocate an array index for each task.  NOTE!  if
         * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
         * equate to NULL. */
        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */

        if( pxTaskStatusArray != NULL )
        {
            /* Generate the (binary) data. */
            uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );

            /* Create a human readable table from the binary data. */
            for( x = 0; x < uxArraySize; x++ )
            {
                switch( pxTaskStatusArray[ x ].eCurrentState )
                {
                    case eRunning:
                        cStatus = tskRUNNING_CHAR;
                        break;

                    case eReady:
                        cStatus = tskREADY_CHAR;
                        break;

                    case eBlocked:
                        cStatus = tskBLOCKED_CHAR;
                        break;

                    case eSuspended:
                        cStatus = tskSUSPENDED_CHAR;
                        break;

                    case eDeleted:
                        cStatus = tskDELETED_CHAR;
                        break;

                    case eInvalid: /* Fall through. */
                    default:       /* Should not get here, but it is included
                                    * to prevent static checking errors. */
                        cStatus = ( char ) 0x00;
                        break;
                }

                /* Write the task name to the string, padding with spaces so it
                 * can be printed in tabular form more easily. */
                pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

                /* Write the rest of the string. */
                #if configTASKLIST_INCLUDE_COREID
                    sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\t%hd\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber, ( int ) pxTaskStatusArray[ x ].xCoreID );
                #else
                    sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                #endif
                pcWriteBuffer += strlen( pcWriteBuffer );                                                                                                                                                                                                    /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
            }

            /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
             * is 0 then vPortFree() will be #defined to nothing. */
            vPortFree( pxTaskStatusArray );
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }

#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
/*----------------------------------------------------------*/

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )

    void vTaskGetRunTimeStats( char * pcWriteBuffer )
    {
        TaskStatus_t * pxTaskStatusArray;
        UBaseType_t uxArraySize, x;
        uint32_t ulTotalTime, ulStatsAsPercentage;

        #if ( configUSE_TRACE_FACILITY != 1 )
            {
                #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
            }
        #endif

        /*
         * PLEASE NOTE:
         *
         * This function is provided for convenience only, and is used by many
         * of the demo applications.  Do not consider it to be part of the
         * scheduler.
         *
         * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
         * of the uxTaskGetSystemState() output into a human readable table that
         * displays the amount of time each task has spent in the Running state
         * in both absolute and percentage terms.
         *
         * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
         * function that might bloat the code size, use a lot of stack, and
         * provide different results on different platforms.  An alternative,
         * tiny, third party, and limited functionality implementation of
         * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
         * a file called printf-stdarg.c (note printf-stdarg.c does not provide
         * a full snprintf() implementation!).
         *
         * It is recommended that production systems call uxTaskGetSystemState()
         * directly to get access to raw stats data, rather than indirectly
         * through a call to vTaskGetRunTimeStats().
         */

        /* Make sure the write buffer does not contain a string. */
        *pcWriteBuffer = ( char ) 0x00;

        /* Take a snapshot of the number of tasks in case it changes while this
         * function is executing. */
        uxArraySize = uxCurrentNumberOfTasks;

        /* Allocate an array index for each task.  NOTE!  If
         * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
         * equate to NULL. */
        pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */

        if( pxTaskStatusArray != NULL )
        {
            /* Generate the (binary) data. */
            uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );

            /* For percentage calculations. */
            ulTotalTime /= 100UL;

            /* Avoid divide by zero errors. */
            if( ulTotalTime > 0UL )
            {
                /* Create a human readable table from the binary data. */
                for( x = 0; x < uxArraySize; x++ )
                {
                    /* What percentage of the total run time has the task used?
                     * This will always be rounded down to the nearest integer.
                     * ulTotalRunTimeDiv100 has already been divided by 100. */
                    ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;

                    /* Write the task name to the string, padding with
                     * spaces so it can be printed in tabular form more
                     * easily. */
                    pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );

                    if( ulStatsAsPercentage > 0UL )
                    {
                        #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                            {
                                sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
                            }
                        #else
                            {
                                /* sizeof( int ) == sizeof( long ) so a smaller
                                 * printf() library can be used. */
                                sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                            }
                        #endif
                    }
                    else
                    {
                        /* If the percentage is zero here then the task has
                         * consumed less than 1% of the total run time. */
                        #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
                            {
                                sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
                            }
                        #else
                            {
                                /* sizeof( int ) == sizeof( long ) so a smaller
                                 * printf() library can be used. */
                                sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
                            }
                        #endif
                    }

                    pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            /* Free the array again.  NOTE!  If configSUPPORT_DYNAMIC_ALLOCATION
             * is 0 then vPortFree() will be #defined to nothing. */
            vPortFree( pxTaskStatusArray );
        }
        else
        {
            mtCOVERAGE_TEST_MARKER();
        }
    }

#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
/*-----------------------------------------------------------*/

TickType_t uxTaskResetEventItemValue( void )
{
    TickType_t uxReturn;
    BaseType_t xCoreID;

    #if ( configNUM_CORES > 1 )

        /* For SMP, we need to take the kernel lock here to ensure nothing else
         * modifies the task's event item value simultaneously. */
        taskENTER_CRITICAL( &xKernelLock );
    #endif /* ( configNUM_CORES > 1 ) */

    xCoreID = xPortGetCoreID();

    uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCoreID ]->xEventListItem ) );

    /* Reset the event list item to its normal value - so it can be used with
     * queues and semaphores. */
    listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCoreID ]->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB[ xCoreID ]->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

    #if ( configNUM_CORES > 1 )
        /* Release the previously taken kernel lock. */
        taskEXIT_CRITICAL_ISR( &xKernelLock );
    #endif /* ( configNUM_CORES > 1 ) */

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

#if ( configUSE_MUTEXES == 1 )

    TaskHandle_t pvTaskIncrementMutexHeldCount( void )
    {
        TCB_t * pxCurTCB;
        BaseType_t xCoreID;

        #if ( configNUM_CORES > 1 )

            /* For SMP, we need to take the kernel lock here as we are about to
             * access kernel data structures. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */
        xCoreID = xPortGetCoreID();

        /* If xSemaphoreCreateMutex() is called before any tasks have been created
         * then pxCurrentTCB will be NULL. */
        if( pxCurrentTCB[ xCoreID ] != NULL )
        {
            ( pxCurrentTCB[ xCoreID ]->uxMutexesHeld )++;
        }

        pxCurTCB = pxCurrentTCB[ xCoreID ];
        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        return pxCurTCB;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    #ifdef ESP_PLATFORM /* IDF-3851 */
        /* included here for backward binary compatibility */
        #undef ulTaskNotifyTake
        uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit,
                                   TickType_t xTicksToWait )
        {
            return ulTaskGenericNotifyTake( tskDEFAULT_INDEX_TO_NOTIFY, xClearCountOnExit, xTicksToWait );
        }
    #endif // ESP-PLATFORM

    uint32_t ulTaskGenericNotifyTake( UBaseType_t uxIndexToWait,
                                      BaseType_t xClearCountOnExit,
                                      TickType_t xTicksToWait )
    {
        uint32_t ulReturn;

        configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* Only block if the notification count is not already non-zero. */
            if( pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ] == 0UL )
            {
                /* Mark this task as waiting for a notification. */
                pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;

                if( xTicksToWait > ( TickType_t ) 0 )
                {
                    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                    traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait );

                    /* All ports are written to allow a yield in a critical
                     * section (some will yield immediately, others wait until the
                     * critical section exits) - but it is not something that
                     * application code should ever do. */
                    portYIELD_WITHIN_API();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );

        taskENTER_CRITICAL( &xKernelLock );
        {
            traceTASK_NOTIFY_TAKE( uxIndexToWait );
            ulReturn = pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ];

            if( ulReturn != 0UL )
            {
                if( xClearCountOnExit != pdFALSE )
                {
                    pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ] = 0UL;
                }
                else
                {
                    pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ] = ulReturn - ( uint32_t ) 1;
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }

            pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return ulReturn;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    #ifdef ESP_PLATFORM /* IDF-3851 */
        /* included for backward compatibility */
        #undef xTaskNotifyWait
        BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry,
                                    uint32_t ulBitsToClearOnExit,
                                    uint32_t * pulNotificationValue,
                                    TickType_t xTicksToWait )
        {
            return xTaskGenericNotifyWait( tskDEFAULT_INDEX_TO_NOTIFY, ulBitsToClearOnEntry, ulBitsToClearOnExit, pulNotificationValue, xTicksToWait );
        }
    #endif // ESP-PLATFORM

    BaseType_t xTaskGenericNotifyWait( UBaseType_t uxIndexToWait,
                                       uint32_t ulBitsToClearOnEntry,
                                       uint32_t ulBitsToClearOnExit,
                                       uint32_t * pulNotificationValue,
                                       TickType_t xTicksToWait )
    {
        BaseType_t xReturn;

        configASSERT( uxIndexToWait < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* Only block if a notification is not already pending. */
            if( pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
            {
                /* Clear bits in the task's notification value as bits may get
                 * set  by the notifying task or interrupt.  This can be used to
                 * clear the value to zero. */
                pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnEntry;

                /* Mark this task as waiting for a notification. */
                pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] = taskWAITING_NOTIFICATION;

                if( xTicksToWait > ( TickType_t ) 0 )
                {
                    prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
                    traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait );

                    /* All ports are written to allow a yield in a critical
                     * section (some will yield immediately, others wait until the
                     * critical section exits) - but it is not something that
                     * application code should ever do. */
                    portYIELD_WITHIN_API();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );

        taskENTER_CRITICAL( &xKernelLock );
        {
            traceTASK_NOTIFY_WAIT( uxIndexToWait );

            if( pulNotificationValue != NULL )
            {
                /* Output the current notification value, which may or may not
                 * have changed. */
                *pulNotificationValue = pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ];
            }

            /* If ucNotifyValue is set then either the task never entered the
             * blocked state (because a notification was already pending) or the
             * task unblocked because of a notification.  Otherwise the task
             * unblocked because of a timeout. */
            if( pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] != taskNOTIFICATION_RECEIVED )
            {
                /* A notification was not received. */
                xReturn = pdFALSE;
            }
            else
            {
                /* A notification was already pending or a notification was
                 * received while the task was waiting. */
                pxCurrentTCB[ xPortGetCoreID() ]->ulNotifiedValue[ uxIndexToWait ] &= ~ulBitsToClearOnExit;
                xReturn = pdTRUE;
            }

            pxCurrentTCB[ xPortGetCoreID() ]->ucNotifyState[ uxIndexToWait ] = taskNOT_WAITING_NOTIFICATION;
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return xReturn;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify,
                                   UBaseType_t uxIndexToNotify,
                                   uint32_t ulValue,
                                   eNotifyAction eAction,
                                   uint32_t * pulPreviousNotificationValue )
    {
        TCB_t * pxTCB;
        BaseType_t xReturn = pdPASS;
        uint8_t ucOriginalNotifyState;

        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );
        configASSERT( xTaskToNotify );
        pxTCB = xTaskToNotify;

        taskENTER_CRITICAL( &xKernelLock );
        {
            if( pulPreviousNotificationValue != NULL )
            {
                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
            }

            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];

            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

            switch( eAction )
            {
                case eSetBits:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                    break;

                case eIncrement:
                    ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                    break;

                case eSetValueWithOverwrite:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    break;

                case eSetValueWithoutOverwrite:

                    if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                    {
                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    }
                    else
                    {
                        /* The value could not be written to the task. */
                        xReturn = pdFAIL;
                    }

                    break;

                case eNoAction:

                    /* The task is being notified without its notify value being
                     * updated. */
                    break;

                default:

                    /* Should not get here if all enums are handled.
                     * Artificially force an assert by testing a value the
                     * compiler can't assume is const. */
                    configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );

                    break;
            }

            traceTASK_NOTIFY( uxIndexToNotify );

            /* If the task is in the blocked state specifically to wait for a
             * notification then unblock it now. */
            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
            {
                ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                prvAddTaskToReadyList( pxTCB );

                /* The task should not have been on an event list. */
                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                #if ( configUSE_TICKLESS_IDLE != 0 )
                    {
                        /* If a task is blocked waiting for a notification then
                         * xNextTaskUnblockTime might be set to the blocked task's time
                         * out time.  If the task is unblocked for a reason other than
                         * a timeout xNextTaskUnblockTime is normally left unchanged,
                         * because it will automatically get reset to a new value when
                         * the tick count equals xNextTaskUnblockTime.  However if
                         * tickless idling is used it might be more important to enter
                         * sleep mode at the earliest possible time - so reset
                         * xNextTaskUnblockTime here to ensure it is updated at the
                         * earliest possible time. */
                        prvResetNextTaskUnblockTime();
                    }
                #endif

                if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdFALSE ) )
                {
                    /* The notified task has a priority above the currently
                     * executing task so a yield is required. */
                    taskYIELD_IF_USING_PREEMPTION();
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
            else
            {
                mtCOVERAGE_TEST_MARKER();
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return xReturn;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify,
                                          UBaseType_t uxIndexToNotify,
                                          uint32_t ulValue,
                                          eNotifyAction eAction,
                                          uint32_t * pulPreviousNotificationValue,
                                          BaseType_t * pxHigherPriorityTaskWoken )
    {
        TCB_t * pxTCB;
        uint8_t ucOriginalNotifyState;
        BaseType_t xReturn = pdPASS;
        UBaseType_t uxSavedInterruptStatus;

        configASSERT( xTaskToNotify );
        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        /* RTOS ports that support interrupt nesting have the concept of a
         * maximum  system call (or maximum API call) interrupt priority.
         * Interrupts that are  above the maximum system call priority are keep
         * permanently enabled, even when the RTOS kernel is in a critical section,
         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
         * is defined in FreeRTOSConfig.h then
         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
         * failure if a FreeRTOS API function is called from an interrupt that has
         * been assigned a priority above the configured maximum system call
         * priority.  Only FreeRTOS functions that end in FromISR can be called
         * from interrupts  that have been assigned a priority at or (logically)
         * below the maximum system call interrupt priority.  FreeRTOS maintains a
         * separate interrupt safe API to ensure interrupt entry is as fast and as
         * simple as possible.  More information (albeit Cortex-M specific) is
         * provided on the following link:
         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        pxTCB = xTaskToNotify;

        prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
        {
            if( pulPreviousNotificationValue != NULL )
            {
                *pulPreviousNotificationValue = pxTCB->ulNotifiedValue[ uxIndexToNotify ];
            }

            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

            switch( eAction )
            {
                case eSetBits:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] |= ulValue;
                    break;

                case eIncrement:
                    ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;
                    break;

                case eSetValueWithOverwrite:
                    pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    break;

                case eSetValueWithoutOverwrite:

                    if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
                    {
                        pxTCB->ulNotifiedValue[ uxIndexToNotify ] = ulValue;
                    }
                    else
                    {
                        /* The value could not be written to the task. */
                        xReturn = pdFAIL;
                    }

                    break;

                case eNoAction:

                    /* The task is being notified without its notify value being
                     * updated. */
                    break;

                default:

                    /* Should not get here if all enums are handled.
                     * Artificially force an assert by testing a value the
                     * compiler can't assume is const. */
                    configASSERT( pxTCB->ulNotifiedValue[ uxIndexToNotify ] == ~0UL );
                    break;
            }

            traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify );

            /* If the task is in the blocked state specifically to wait for a
             * notification then unblock it now. */
            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
            {
                /* The task should not have been on an event list. */
                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                if( taskCAN_BE_SCHEDULED( pxTCB ) )
                {
                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                    prvAddTaskToReadyList( pxTCB );
                }
                else
                {
                    /* The delayed and ready lists cannot be accessed, so hold
                     * this task pending until the scheduler is resumed. */
                    vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                }

                if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdFALSE ) )
                {
                    /* The notified task has a priority above the currently
                     * executing task so a yield is required. */
                    if( pxHigherPriorityTaskWoken != NULL )
                    {
                        *pxHigherPriorityTaskWoken = pdTRUE;
                    }

                    /* Mark that a yield is pending in case the user is not
                     * using the "xHigherPriorityTaskWoken" parameter to an ISR
                     * safe FreeRTOS function. */
                    xYieldPending[ xPortGetCoreID() ] = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );

        return xReturn;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    void vTaskGenericNotifyGiveFromISR( TaskHandle_t xTaskToNotify,
                                        UBaseType_t uxIndexToNotify,
                                        BaseType_t * pxHigherPriorityTaskWoken )
    {
        TCB_t * pxTCB;
        uint8_t ucOriginalNotifyState;
        UBaseType_t uxSavedInterruptStatus;

        configASSERT( xTaskToNotify );
        configASSERT( uxIndexToNotify < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        /* RTOS ports that support interrupt nesting have the concept of a
         * maximum  system call (or maximum API call) interrupt priority.
         * Interrupts that are  above the maximum system call priority are keep
         * permanently enabled, even when the RTOS kernel is in a critical section,
         * but cannot make any calls to FreeRTOS API functions.  If configASSERT()
         * is defined in FreeRTOSConfig.h then
         * portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
         * failure if a FreeRTOS API function is called from an interrupt that has
         * been assigned a priority above the configured maximum system call
         * priority.  Only FreeRTOS functions that end in FromISR can be called
         * from interrupts  that have been assigned a priority at or (logically)
         * below the maximum system call interrupt priority.  FreeRTOS maintains a
         * separate interrupt safe API to ensure interrupt entry is as fast and as
         * simple as possible.  More information (albeit Cortex-M specific) is
         * provided on the following link:
         * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
        portASSERT_IF_INTERRUPT_PRIORITY_INVALID();

        pxTCB = xTaskToNotify;

        prvENTER_CRITICAL_OR_MASK_ISR( &xKernelLock, uxSavedInterruptStatus );
        {
            ucOriginalNotifyState = pxTCB->ucNotifyState[ uxIndexToNotify ];
            pxTCB->ucNotifyState[ uxIndexToNotify ] = taskNOTIFICATION_RECEIVED;

            /* 'Giving' is equivalent to incrementing a count in a counting
             * semaphore. */
            ( pxTCB->ulNotifiedValue[ uxIndexToNotify ] )++;

            traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify );

            /* If the task is in the blocked state specifically to wait for a
             * notification then unblock it now. */
            if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
            {
                /* The task should not have been on an event list. */
                configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );

                if( taskCAN_BE_SCHEDULED( pxTCB ) )
                {
                    ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
                    prvAddTaskToReadyList( pxTCB );
                }
                else
                {
                    /* The delayed and ready lists cannot be accessed, so hold
                     * this task pending until the scheduler is resumed. */
                    vListInsertEnd( &( xPendingReadyList[ xPortGetCoreID() ] ), &( pxTCB->xEventListItem ) );
                }

                if( prvCheckForYield( pxTCB, xPortGetCoreID(), pdFALSE ) )
                {
                    /* The notified task has a priority above the currently
                     * executing task so a yield is required. */
                    if( pxHigherPriorityTaskWoken != NULL )
                    {
                        *pxHigherPriorityTaskWoken = pdTRUE;
                    }

                    /* Mark that a yield is pending in case the user is not
                     * using the "xHigherPriorityTaskWoken" parameter in an ISR
                     * safe FreeRTOS function. */
                    xYieldPending[ xPortGetCoreID() ] = pdTRUE;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }
        }
        prvEXIT_CRITICAL_OR_UNMASK_ISR( &xKernelLock, uxSavedInterruptStatus );
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    BaseType_t xTaskGenericNotifyStateClear( TaskHandle_t xTask,
                                             UBaseType_t uxIndexToClear )
    {
        TCB_t * pxTCB;
        BaseType_t xReturn;

        configASSERT( uxIndexToClear < configTASK_NOTIFICATION_ARRAY_ENTRIES );

        /* If null is passed in here then it is the calling task that is having
         * its notification state cleared. */
        pxTCB = prvGetTCBFromHandle( xTask );

        taskENTER_CRITICAL( &xKernelLock );
        {
            if( pxTCB->ucNotifyState[ uxIndexToClear ] == taskNOTIFICATION_RECEIVED )
            {
                pxTCB->ucNotifyState[ uxIndexToClear ] = taskNOT_WAITING_NOTIFICATION;
                xReturn = pdPASS;
            }
            else
            {
                xReturn = pdFAIL;
            }
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return xReturn;
    }

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

#if ( configUSE_TASK_NOTIFICATIONS == 1 )

    uint32_t ulTaskGenericNotifyValueClear( TaskHandle_t xTask,
                                            UBaseType_t uxIndexToClear,
                                            uint32_t ulBitsToClear )
    {
        TCB_t * pxTCB;
        uint32_t ulReturn;

        /* If null is passed in here then it is the calling task that is having
         * its notification state cleared. */
        pxTCB = prvGetTCBFromHandle( xTask );

        taskENTER_CRITICAL( &xKernelLock );
        {
            /* Return the notification as it was before the bits were cleared,
             * then clear the bit mask. */
            ulReturn = pxTCB->ulNotifiedValue[ uxIndexToClear ];
            pxTCB->ulNotifiedValue[ uxIndexToClear ] &= ~ulBitsToClear;
        }
        taskEXIT_CRITICAL( &xKernelLock );

        return ulReturn;
    }

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

#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )

    uint32_t ulTaskGetIdleRunTimeCounter( void )
    {
        uint32_t ulRunTimeCounter;

        #if ( configNUM_CORES > 1 )

            /* For SMP, we need to take the kernel lock here as we are about to
             * access kernel data structures. */
            taskENTER_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        ulRunTimeCounter = xIdleTaskHandle[ xPortGetCoreID() ]->ulRunTimeCounter;

        #if ( configNUM_CORES > 1 )
            /* Release the previously taken kernel lock. */
            taskEXIT_CRITICAL( &xKernelLock );
        #endif /* ( configNUM_CORES > 1 ) */

        return ulRunTimeCounter;
    }

#endif /* if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) ) */
/*-----------------------------------------------------------*/

static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait,
                                            const BaseType_t xCanBlockIndefinitely )
{
    TickType_t xTimeToWake;
    const TickType_t xConstTickCount = xTickCount;
    BaseType_t xCurCoreID = xPortGetCoreID();

    #if ( configNUM_CORES > 1 )
        if( listIS_CONTAINED_WITHIN( &xTasksWaitingTermination, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) ) == pdTRUE )
        {
            /* vTaskDelete() has been called to delete this task. This would have happened from the other core while this task was spinning on xTaskQueueMutex,
             * so don't move the running task to the delayed list - as soon as this core re-enables interrupts this task will
             * be suspended permanently. Todo: IDF-5844. */
            return;
        }
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        {
            /* About to enter a delayed list, so ensure the ucDelayAborted flag is
             * reset to pdFALSE so it can be detected as having been set to pdTRUE
             * when the task leaves the Blocked state. */
            pxCurrentTCB[ xCurCoreID ]->ucDelayAborted = pdFALSE;
        }
    #endif

    /* Remove the task from the ready list before adding it to the blocked list
     * as the same list item is used for both lists. */
    if( uxListRemove( &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) ) == ( UBaseType_t ) 0 )
    {
        /* The current task must be in a ready list, so there is no need to
         * check, and the port reset macro can be called directly. */
        portRESET_READY_PRIORITY( pxCurrentTCB[ xCurCoreID ]->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task.  pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
    }
    else
    {
        mtCOVERAGE_TEST_MARKER();
    }

    #if ( INCLUDE_vTaskSuspend == 1 )
        {
            if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
            {
                /* Add the task to the suspended task list instead of a delayed task
                 * list to ensure it is not woken by a timing event.  It will block
                 * indefinitely. */
                vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) );
            }
            else
            {
                /* Calculate the time at which the task should be woken if the event
                 * does not occur.  This may overflow but this doesn't matter, the
                 * kernel will manage it correctly. */
                xTimeToWake = xConstTickCount + xTicksToWait;

                /* The list item will be inserted in wake time order. */
                listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ), xTimeToWake );

                if( xTimeToWake < xConstTickCount )
                {
                    /* Wake time has overflowed.  Place this item in the overflow
                     * list. */
                    vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) );
                }
                else
                {
                    /* The wake time has not overflowed, so the current block list
                     * is used. */
                    vListInsert( pxDelayedTaskList, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) );

                    /* If the task entering the blocked state was placed at the
                     * head of the list of blocked tasks then xNextTaskUnblockTime
                     * needs to be updated too. */
                    if( xTimeToWake < xNextTaskUnblockTime )
                    {
                        xNextTaskUnblockTime = xTimeToWake;
                    }
                    else
                    {
                        mtCOVERAGE_TEST_MARKER();
                    }
                }
            }
        }
    #else /* INCLUDE_vTaskSuspend */
        {
            /* Calculate the time at which the task should be woken if the event
             * does not occur.  This may overflow but this doesn't matter, the kernel
             * will manage it correctly. */
            xTimeToWake = xConstTickCount + xTicksToWait;

            /* The list item will be inserted in wake time order. */
            listSET_LIST_ITEM_VALUE( &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ), xTimeToWake );

            if( xTimeToWake < xConstTickCount )
            {
                /* Wake time has overflowed.  Place this item in the overflow list. */
                vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) );
            }
            else
            {
                /* The wake time has not overflowed, so the current block list is used. */
                vListInsert( pxDelayedTaskList, &( pxCurrentTCB[ xCurCoreID ]->xStateListItem ) );

                /* If the task entering the blocked state was placed at the head of the
                 * list of blocked tasks then xNextTaskUnblockTime needs to be updated
                 * too. */
                if( xTimeToWake < xNextTaskUnblockTime )
                {
                    xNextTaskUnblockTime = xTimeToWake;
                }
                else
                {
                    mtCOVERAGE_TEST_MARKER();
                }
            }

            /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
            ( void ) xCanBlockIndefinitely;
        }
    #endif /* INCLUDE_vTaskSuspend */
}

/* Code below here allows additional code to be inserted into this source file,
 * especially where access to file scope functions and data is needed (for example
 * when performing module tests). */

#ifdef FREERTOS_MODULE_TEST
    #include "tasks_test_access_functions.h"
#endif


#if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )

    #include "freertos_tasks_c_additions.h"

    #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
        static void freertos_tasks_c_additions_init( void )
        {
            FREERTOS_TASKS_C_ADDITIONS_INIT();
        }
    #endif

#endif /* if ( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 ) */

/* If timers.c is not referenced anywhere, don't create the timer task to save RAM */
BaseType_t __attribute__( ( weak ) ) xTimerCreateTimerTask( void )
{
    return pdPASS;
}