FreeRTOS-Kernel/include/FreeRTOS.h

/*
 * FreeRTOS Kernel <DEVELOPMENT BRANCH>
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * 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
 *
 */

#ifndef INC_FREERTOS_H
#define INC_FREERTOS_H

/*
 * Include the generic headers required for the FreeRTOS port being used.
 */
#include <stddef.h>

/*
 * If stdint.h cannot be located then:
 *   + If using GCC ensure the -nostdint options is *not* being used.
 *   + Ensure the project's include path includes the directory in which your
 *     compiler stores stdint.h.
 *   + Set any compiler options necessary for it to support C99, as technically
 *     stdint.h is only mandatory with C99 (FreeRTOS does not require C99 in any
 *     other way).
 *   + The FreeRTOS download includes a simple stdint.h definition that can be
 *     used in cases where none is provided by the compiler.  The files only
 *     contains the typedefs required to build FreeRTOS.  Read the instructions
 *     in FreeRTOS/source/stdint.readme for more information.
 */
#include <stdint.h> /* READ COMMENT ABOVE. */

/* *INDENT-OFF* */
#ifdef __cplusplus
    extern "C" {
#endif
/* *INDENT-ON* */

/* Acceptable values for configTICK_TYPE_WIDTH_IN_BITS. */
#define TICK_TYPE_WIDTH_16_BITS    0
#define TICK_TYPE_WIDTH_32_BITS    1
#define TICK_TYPE_WIDTH_64_BITS    2

/* Application specific configuration options. */
#include "FreeRTOSConfig.h"

#if !defined( configUSE_16_BIT_TICKS ) && !defined( configTICK_TYPE_WIDTH_IN_BITS )
    #error Missing definition:  One of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#if defined( configUSE_16_BIT_TICKS ) && defined( configTICK_TYPE_WIDTH_IN_BITS )
    #error Only one of configUSE_16_BIT_TICKS and configTICK_TYPE_WIDTH_IN_BITS must be defined in FreeRTOSConfig.h.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

/* Define configTICK_TYPE_WIDTH_IN_BITS according to the
 * value of configUSE_16_BIT_TICKS for backward compatibility. */
#ifndef configTICK_TYPE_WIDTH_IN_BITS
    #if ( configUSE_16_BIT_TICKS == 1 )
        #define configTICK_TYPE_WIDTH_IN_BITS    TICK_TYPE_WIDTH_16_BITS
    #else
        #define configTICK_TYPE_WIDTH_IN_BITS    TICK_TYPE_WIDTH_32_BITS
    #endif
#endif

/* Set configUSE_MPU_WRAPPERS_V1 to 1 to use MPU wrappers v1. */
#ifndef configUSE_MPU_WRAPPERS_V1
    #define configUSE_MPU_WRAPPERS_V1    0
#endif

/* Set default value of configNUMBER_OF_CORES to 1 to use single core FreeRTOS. */
#ifndef configNUMBER_OF_CORES
    #define configNUMBER_OF_CORES    1
#endif

/* Basic FreeRTOS definitions. */
#include "projdefs.h"

/* Definitions specific to the port being used. */
#include "portable.h"

/* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */
#ifndef configUSE_NEWLIB_REENTRANT
    #define configUSE_NEWLIB_REENTRANT    0
#endif

/* Required if struct _reent is used. */
#if ( configUSE_NEWLIB_REENTRANT == 1 )

    #include "newlib-freertos.h"

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

/* Must be defaulted before configUSE_PICOLIBC_TLS is used below. */
#ifndef configUSE_PICOLIBC_TLS
    #define configUSE_PICOLIBC_TLS    0
#endif

#if ( configUSE_PICOLIBC_TLS == 1 )

    #include "picolibc-freertos.h"

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

#ifndef configUSE_C_RUNTIME_TLS_SUPPORT
    #define configUSE_C_RUNTIME_TLS_SUPPORT    0
#endif

#if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )

    #ifndef configTLS_BLOCK_TYPE
        #error Missing definition:  configTLS_BLOCK_TYPE must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1.
    #endif

    #ifndef configINIT_TLS_BLOCK
        #error Missing definition:  configINIT_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1.
    #endif

    #ifndef configSET_TLS_BLOCK
        #error Missing definition:  configSET_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1.
    #endif

    #ifndef configDEINIT_TLS_BLOCK
        #error Missing definition:  configDEINIT_TLS_BLOCK must be defined in FreeRTOSConfig.h when configUSE_C_RUNTIME_TLS_SUPPORT is set to 1.
    #endif
#endif /* if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 ) */

/*
 * Check all the required application specific macros have been defined.
 * These macros are application specific and (as downloaded) are defined
 * within FreeRTOSConfig.h.
 */

#ifndef configMINIMAL_STACK_SIZE
    #error Missing definition:  configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h.  configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task.  Refer to the demo project provided for your port for a suitable value.
#endif

#ifndef configMAX_PRIORITIES
    #error Missing definition:  configMAX_PRIORITIES must be defined in FreeRTOSConfig.h.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#if configMAX_PRIORITIES < 1
    #error configMAX_PRIORITIES must be defined to be greater than or equal to 1.
#endif

#ifndef configUSE_PREEMPTION
    #error Missing definition:  configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#ifndef configUSE_IDLE_HOOK
    #error Missing definition:  configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#if ( configNUMBER_OF_CORES > 1 )
    #ifndef configUSE_MINIMAL_IDLE_HOOK
        #error Missing definition:  configUSE_MINIMAL_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
    #endif
#endif

#ifndef configUSE_TICK_HOOK
    #error Missing definition:  configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#if ( ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_16_BITS ) && \
    ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_32_BITS ) &&   \
    ( configTICK_TYPE_WIDTH_IN_BITS != TICK_TYPE_WIDTH_64_BITS ) )
    #error Macro configTICK_TYPE_WIDTH_IN_BITS is defined to incorrect value.  See the Configuration section of the FreeRTOS API documentation for details.
#endif

#ifndef configUSE_CO_ROUTINES
    #define configUSE_CO_ROUTINES    0
#endif

#ifndef INCLUDE_vTaskPrioritySet
    #define INCLUDE_vTaskPrioritySet    0
#endif

#ifndef INCLUDE_uxTaskPriorityGet
    #define INCLUDE_uxTaskPriorityGet    0
#endif

#ifndef INCLUDE_vTaskDelete
    #define INCLUDE_vTaskDelete    0
#endif

#ifndef INCLUDE_vTaskSuspend
    #define INCLUDE_vTaskSuspend    0
#endif

#ifdef INCLUDE_xTaskDelayUntil
    #ifdef INCLUDE_vTaskDelayUntil

/* INCLUDE_vTaskDelayUntil was replaced by INCLUDE_xTaskDelayUntil.  Backward
 * compatibility is maintained if only one or the other is defined, but
 * there is a conflict if both are defined. */
        #error INCLUDE_vTaskDelayUntil and INCLUDE_xTaskDelayUntil are both defined.  INCLUDE_vTaskDelayUntil is no longer required and should be removed
    #endif
#endif

#ifndef INCLUDE_xTaskDelayUntil
    #ifdef INCLUDE_vTaskDelayUntil

/* If INCLUDE_vTaskDelayUntil is set but INCLUDE_xTaskDelayUntil is not then
 * the project's FreeRTOSConfig.h probably pre-dates the introduction of
 * xTaskDelayUntil and setting INCLUDE_xTaskDelayUntil to whatever
 * INCLUDE_vTaskDelayUntil is set to will ensure backward compatibility.
 */
        #define INCLUDE_xTaskDelayUntil    INCLUDE_vTaskDelayUntil
    #endif
#endif

#ifndef INCLUDE_xTaskDelayUntil
    #define INCLUDE_xTaskDelayUntil    0
#endif

#ifndef INCLUDE_vTaskDelay
    #define INCLUDE_vTaskDelay    0
#endif

#ifndef INCLUDE_xTaskGetIdleTaskHandle
    #define INCLUDE_xTaskGetIdleTaskHandle    0
#endif

#ifndef INCLUDE_xTaskAbortDelay
    #define INCLUDE_xTaskAbortDelay    0
#endif

#ifndef INCLUDE_xQueueGetMutexHolder
    #define INCLUDE_xQueueGetMutexHolder    0
#endif

#ifndef INCLUDE_xSemaphoreGetMutexHolder
    #define INCLUDE_xSemaphoreGetMutexHolder    INCLUDE_xQueueGetMutexHolder
#endif

#ifndef INCLUDE_xTaskGetHandle
    #define INCLUDE_xTaskGetHandle    0
#endif

#ifndef INCLUDE_uxTaskGetStackHighWaterMark
    #define INCLUDE_uxTaskGetStackHighWaterMark    0
#endif

#ifndef INCLUDE_uxTaskGetStackHighWaterMark2
    #define INCLUDE_uxTaskGetStackHighWaterMark2    0
#endif

#ifndef INCLUDE_eTaskGetState
    #define INCLUDE_eTaskGetState    0
#endif

#ifndef INCLUDE_xTaskResumeFromISR
    #define INCLUDE_xTaskResumeFromISR    1
#endif

#ifndef INCLUDE_xTimerPendFunctionCall
    #define INCLUDE_xTimerPendFunctionCall    0
#endif

#ifndef INCLUDE_xTaskGetSchedulerState
    #define INCLUDE_xTaskGetSchedulerState    0
#endif

#ifndef INCLUDE_xTaskGetCurrentTaskHandle
    #define INCLUDE_xTaskGetCurrentTaskHandle    1
#endif

#if configUSE_CO_ROUTINES != 0
    #ifndef configMAX_CO_ROUTINE_PRIORITIES
        #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1.
    #endif
#endif

#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK
    #define configUSE_DAEMON_TASK_STARTUP_HOOK    0
#endif

#ifndef configUSE_APPLICATION_TASK_TAG
    #define configUSE_APPLICATION_TASK_TAG    0
#endif

#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS
    #define configNUM_THREAD_LOCAL_STORAGE_POINTERS    0
#endif

#ifndef configUSE_RECURSIVE_MUTEXES
    #define configUSE_RECURSIVE_MUTEXES    0
#endif

#ifndef configUSE_MUTEXES
    #define configUSE_MUTEXES    0
#endif

#ifndef configUSE_TIMERS
    #define configUSE_TIMERS    0
#endif

#ifndef configUSE_COUNTING_SEMAPHORES
    #define configUSE_COUNTING_SEMAPHORES    0
#endif

#ifndef configUSE_TASK_PREEMPTION_DISABLE
    #define configUSE_TASK_PREEMPTION_DISABLE    0
#endif

#ifndef configUSE_ALTERNATIVE_API
    #define configUSE_ALTERNATIVE_API    0
#endif

#ifndef portCRITICAL_NESTING_IN_TCB
    #define portCRITICAL_NESTING_IN_TCB    0
#endif

#ifndef configMAX_TASK_NAME_LEN
    #define configMAX_TASK_NAME_LEN    16
#endif

#ifndef configIDLE_SHOULD_YIELD
    #define configIDLE_SHOULD_YIELD    1
#endif

#if configMAX_TASK_NAME_LEN < 1
    #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
#endif

#ifndef configASSERT
    #define configASSERT( x )
    #define configASSERT_DEFINED    0
#else
    #define configASSERT_DEFINED    1
#endif

/* configPRECONDITION should be defined as configASSERT.
 * The CBMC proofs need a way to track assumptions and assertions.
 * A configPRECONDITION statement should express an implicit invariant or
 * assumption made.  A configASSERT statement should express an invariant that must
 * hold explicit before calling the code. */
#ifndef configPRECONDITION
    #define configPRECONDITION( X )    configASSERT( X )
    #define configPRECONDITION_DEFINED    0
#else
    #define configPRECONDITION_DEFINED    1
#endif

#ifndef portMEMORY_BARRIER
    #define portMEMORY_BARRIER()
#endif

#ifndef portSOFTWARE_BARRIER
    #define portSOFTWARE_BARRIER()
#endif

#ifndef configRUN_MULTIPLE_PRIORITIES
    #define configRUN_MULTIPLE_PRIORITIES    0
#endif

#ifndef portGET_CORE_ID

    #if ( configNUMBER_OF_CORES == 1 )
        #define portGET_CORE_ID()    0
    #else
        #error configNUMBER_OF_CORES is set to more than 1 then portGET_CORE_ID must also be defined.
    #endif /* configNUMBER_OF_CORES */

#endif /* portGET_CORE_ID */

#ifndef portYIELD_CORE

    #if ( configNUMBER_OF_CORES == 1 )
        #define portYIELD_CORE( x )    portYIELD()
    #else
        #error configNUMBER_OF_CORES is set to more than 1 then portYIELD_CORE must also be defined.
    #endif /* configNUMBER_OF_CORES */

#endif /* portYIELD_CORE */

#ifndef portSET_INTERRUPT_MASK

    #if ( configNUMBER_OF_CORES > 1 )
        #error portSET_INTERRUPT_MASK is required in SMP
    #endif

#endif /* portSET_INTERRUPT_MASK */

#ifndef portCLEAR_INTERRUPT_MASK

    #if ( configNUMBER_OF_CORES > 1 )
        #error portCLEAR_INTERRUPT_MASK is required in SMP
    #endif

#endif /* portCLEAR_INTERRUPT_MASK */

#ifndef portRELEASE_TASK_LOCK

    #if ( configNUMBER_OF_CORES == 1 )
        #define portRELEASE_TASK_LOCK()
    #else
        #error portRELEASE_TASK_LOCK is required in SMP
    #endif

#endif /* portRELEASE_TASK_LOCK */

#ifndef portGET_TASK_LOCK

    #if ( configNUMBER_OF_CORES == 1 )
        #define portGET_TASK_LOCK()
    #else
        #error portGET_TASK_LOCK is required in SMP
    #endif

#endif /* portGET_TASK_LOCK */

#ifndef portRELEASE_ISR_LOCK

    #if ( configNUMBER_OF_CORES == 1 )
        #define portRELEASE_ISR_LOCK()
    #else
        #error portRELEASE_ISR_LOCK is required in SMP
    #endif

#endif /* portRELEASE_ISR_LOCK */

#ifndef portGET_ISR_LOCK

    #if ( configNUMBER_OF_CORES == 1 )
        #define portGET_ISR_LOCK()
    #else
        #error portGET_ISR_LOCK is required in SMP
    #endif

#endif /* portGET_ISR_LOCK */

#ifndef portCHECK_IF_IN_ISR

    #if ( configNUMBER_OF_CORES > 1 )
        #error portCHECK_IF_IN_ISR is required in SMP
    #endif

#endif /* portCHECK_IF_IN_ISR */

#ifndef portENTER_CRITICAL_FROM_ISR

    #if ( configNUMBER_OF_CORES > 1 )
        #error portENTER_CRITICAL_FROM_ISR is required in SMP
    #endif

#endif

#ifndef portEXIT_CRITICAL_FROM_ISR

    #if ( configNUMBER_OF_CORES > 1 )
        #error portEXIT_CRITICAL_FROM_ISR is required in SMP
    #endif

#endif

#ifndef configUSE_CORE_AFFINITY
    #define configUSE_CORE_AFFINITY    0
#endif /* configUSE_CORE_AFFINITY */

#ifndef configUSE_MINIMAL_IDLE_HOOK
    #define configUSE_MINIMAL_IDLE_HOOK    0
#endif /* configUSE_MINIMAL_IDLE_HOOK */

/* The timers module relies on xTaskGetSchedulerState(). */
#if configUSE_TIMERS == 1

    #ifndef configTIMER_TASK_PRIORITY
        #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined.
    #endif /* configTIMER_TASK_PRIORITY */

    #ifndef configTIMER_QUEUE_LENGTH
        #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined.
    #endif /* configTIMER_QUEUE_LENGTH */

    #ifndef configTIMER_TASK_STACK_DEPTH
        #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined.
    #endif /* configTIMER_TASK_STACK_DEPTH */

    #ifndef portTIMER_CALLBACK_ATTRIBUTE
        #define portTIMER_CALLBACK_ATTRIBUTE
    #endif /* portTIMER_CALLBACK_ATTRIBUTE */

#endif /* configUSE_TIMERS */

#ifndef portSET_INTERRUPT_MASK_FROM_ISR
    #define portSET_INTERRUPT_MASK_FROM_ISR()    0
#endif

#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
    #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue )    ( void ) ( uxSavedStatusValue )
#endif

#ifndef portCLEAN_UP_TCB
    #define portCLEAN_UP_TCB( pxTCB )    ( void ) ( pxTCB )
#endif

#ifndef portPRE_TASK_DELETE_HOOK
    #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending )
#endif

#ifndef portSETUP_TCB
    #define portSETUP_TCB( pxTCB )    ( void ) ( pxTCB )
#endif

#ifndef configQUEUE_REGISTRY_SIZE
    #define configQUEUE_REGISTRY_SIZE    0U
#endif

#if ( configQUEUE_REGISTRY_SIZE < 1 )
    #define vQueueAddToRegistry( xQueue, pcName )
    #define vQueueUnregisterQueue( xQueue )
    #define pcQueueGetName( xQueue )
#endif

#ifndef configUSE_MINI_LIST_ITEM
    #define configUSE_MINI_LIST_ITEM    1
#endif

#ifndef portPOINTER_SIZE_TYPE
    #define portPOINTER_SIZE_TYPE    uint32_t
#endif

/* Remove any unused trace macros. */
#ifndef traceSTART

/* Used to perform any necessary initialisation - for example, open a file
 * into which trace is to be written. */
    #define traceSTART()
#endif

#ifndef traceEND

/* Use to close a trace, for example close a file into which trace has been
 * written. */
    #define traceEND()
#endif

#ifndef traceTASK_SWITCHED_IN

/* Called after a task has been selected to run.  pxCurrentTCB holds a pointer
 * to the task control block of the selected task. */
    #define traceTASK_SWITCHED_IN()
#endif

#ifndef traceINCREASE_TICK_COUNT

/* Called before stepping the tick count after waking from tickless idle
 * sleep. */
    #define traceINCREASE_TICK_COUNT( x )
#endif

#ifndef traceLOW_POWER_IDLE_BEGIN
    /* Called immediately before entering tickless idle. */
    #define traceLOW_POWER_IDLE_BEGIN()
#endif

#ifndef traceLOW_POWER_IDLE_END
    /* Called when returning to the Idle task after a tickless idle. */
    #define traceLOW_POWER_IDLE_END()
#endif

#ifndef traceTASK_SWITCHED_OUT

/* Called before a task has been selected to run.  pxCurrentTCB holds a pointer
 * to the task control block of the task being switched out. */
    #define traceTASK_SWITCHED_OUT()
#endif

#ifndef traceTASK_PRIORITY_INHERIT

/* Called when a task attempts to take a mutex that is already held by a
 * lower priority task.  pxTCBOfMutexHolder is a pointer to the TCB of the task
 * that holds the mutex.  uxInheritedPriority is the priority the mutex holder
 * will inherit (the priority of the task that is attempting to obtain the
 * muted. */
    #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority )
#endif

#ifndef traceTASK_PRIORITY_DISINHERIT

/* Called when a task releases a mutex, the holding of which had resulted in
 * the task inheriting the priority of a higher priority task.
 * pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the
 * mutex.  uxOriginalPriority is the task's configured (base) priority. */
    #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority )
#endif

#ifndef traceBLOCKING_ON_QUEUE_RECEIVE

/* Task is about to block because it cannot read from a
 * queue/mutex/semaphore.  pxQueue is a pointer to the queue/mutex/semaphore
 * upon which the read was attempted.  pxCurrentTCB points to the TCB of the
 * task that attempted the read. */
    #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
#endif

#ifndef traceBLOCKING_ON_QUEUE_PEEK

/* Task is about to block because it cannot read from a
 * queue/mutex/semaphore.  pxQueue is a pointer to the queue/mutex/semaphore
 * upon which the read was attempted.  pxCurrentTCB points to the TCB of the
 * task that attempted the read. */
    #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue )
#endif

#ifndef traceBLOCKING_ON_QUEUE_SEND

/* Task is about to block because it cannot write to a
 * queue/mutex/semaphore.  pxQueue is a pointer to the queue/mutex/semaphore
 * upon which the write was attempted.  pxCurrentTCB points to the TCB of the
 * task that attempted the write. */
    #define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
#endif

#ifndef configCHECK_FOR_STACK_OVERFLOW
    #define configCHECK_FOR_STACK_OVERFLOW    0
#endif

#ifndef configRECORD_STACK_HIGH_ADDRESS
    #define configRECORD_STACK_HIGH_ADDRESS    0
#endif

#ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H
    #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H    0
#endif

/* The following event macros are embedded in the kernel API calls. */

#ifndef traceMOVED_TASK_TO_READY_STATE
    #define traceMOVED_TASK_TO_READY_STATE( pxTCB )
#endif

#ifndef tracePOST_MOVED_TASK_TO_READY_STATE
    #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
#endif

#ifndef traceQUEUE_CREATE
    #define traceQUEUE_CREATE( pxNewQueue )
#endif

#ifndef traceQUEUE_CREATE_FAILED
    #define traceQUEUE_CREATE_FAILED( ucQueueType )
#endif

#ifndef traceCREATE_MUTEX
    #define traceCREATE_MUTEX( pxNewQueue )
#endif

#ifndef traceCREATE_MUTEX_FAILED
    #define traceCREATE_MUTEX_FAILED()
#endif

#ifndef traceGIVE_MUTEX_RECURSIVE
    #define traceGIVE_MUTEX_RECURSIVE( pxMutex )
#endif

#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
    #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
#endif

#ifndef traceTAKE_MUTEX_RECURSIVE
    #define traceTAKE_MUTEX_RECURSIVE( pxMutex )
#endif

#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED
    #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex )
#endif

#ifndef traceCREATE_COUNTING_SEMAPHORE
    #define traceCREATE_COUNTING_SEMAPHORE()
#endif

#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
    #define traceCREATE_COUNTING_SEMAPHORE_FAILED()
#endif

#ifndef traceQUEUE_SET_SEND
    #define traceQUEUE_SET_SEND    traceQUEUE_SEND
#endif

#ifndef traceQUEUE_SEND
    #define traceQUEUE_SEND( pxQueue )
#endif

#ifndef traceQUEUE_SEND_FAILED
    #define traceQUEUE_SEND_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_RECEIVE
    #define traceQUEUE_RECEIVE( pxQueue )
#endif

#ifndef traceQUEUE_PEEK
    #define traceQUEUE_PEEK( pxQueue )
#endif

#ifndef traceQUEUE_PEEK_FAILED
    #define traceQUEUE_PEEK_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_PEEK_FROM_ISR
    #define traceQUEUE_PEEK_FROM_ISR( pxQueue )
#endif

#ifndef traceQUEUE_RECEIVE_FAILED
    #define traceQUEUE_RECEIVE_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_SEND_FROM_ISR
    #define traceQUEUE_SEND_FROM_ISR( pxQueue )
#endif

#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
    #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_RECEIVE_FROM_ISR
    #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
#endif

#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
    #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_PEEK_FROM_ISR_FAILED
    #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue )
#endif

#ifndef traceQUEUE_DELETE
    #define traceQUEUE_DELETE( pxQueue )
#endif

#ifndef traceTASK_CREATE
    #define traceTASK_CREATE( pxNewTCB )
#endif

#ifndef traceTASK_CREATE_FAILED
    #define traceTASK_CREATE_FAILED()
#endif

#ifndef traceTASK_DELETE
    #define traceTASK_DELETE( pxTaskToDelete )
#endif

#ifndef traceTASK_DELAY_UNTIL
    #define traceTASK_DELAY_UNTIL( x )
#endif

#ifndef traceTASK_DELAY
    #define traceTASK_DELAY()
#endif

#ifndef traceTASK_PRIORITY_SET
    #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
#endif

#ifndef traceTASK_SUSPEND
    #define traceTASK_SUSPEND( pxTaskToSuspend )
#endif

#ifndef traceTASK_RESUME
    #define traceTASK_RESUME( pxTaskToResume )
#endif

#ifndef traceTASK_RESUME_FROM_ISR
    #define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
#endif

#ifndef traceTASK_INCREMENT_TICK
    #define traceTASK_INCREMENT_TICK( xTickCount )
#endif

#ifndef traceTIMER_CREATE
    #define traceTIMER_CREATE( pxNewTimer )
#endif

#ifndef traceTIMER_CREATE_FAILED
    #define traceTIMER_CREATE_FAILED()
#endif

#ifndef traceTIMER_COMMAND_SEND
    #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn )
#endif

#ifndef traceTIMER_EXPIRED
    #define traceTIMER_EXPIRED( pxTimer )
#endif

#ifndef traceTIMER_COMMAND_RECEIVED
    #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue )
#endif

#ifndef traceMALLOC
    #define traceMALLOC( pvAddress, uiSize )
#endif

#ifndef traceFREE
    #define traceFREE( pvAddress, uiSize )
#endif

#ifndef traceEVENT_GROUP_CREATE
    #define traceEVENT_GROUP_CREATE( xEventGroup )
#endif

#ifndef traceEVENT_GROUP_CREATE_FAILED
    #define traceEVENT_GROUP_CREATE_FAILED()
#endif

#ifndef traceEVENT_GROUP_SYNC_BLOCK
    #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor )
#endif

#ifndef traceEVENT_GROUP_SYNC_END
    #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred )    ( void ) ( xTimeoutOccurred )
#endif

#ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK
    #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor )
#endif

#ifndef traceEVENT_GROUP_WAIT_BITS_END
    #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred )    ( void ) ( xTimeoutOccurred )
#endif

#ifndef traceEVENT_GROUP_CLEAR_BITS
    #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear )
#endif

#ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR
    #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear )
#endif

#ifndef traceEVENT_GROUP_SET_BITS
    #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet )
#endif

#ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR
    #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet )
#endif

#ifndef traceEVENT_GROUP_DELETE
    #define traceEVENT_GROUP_DELETE( xEventGroup )
#endif

#ifndef tracePEND_FUNC_CALL
    #define tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, ret )
#endif

#ifndef tracePEND_FUNC_CALL_FROM_ISR
    #define tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, ret )
#endif

#ifndef traceQUEUE_REGISTRY_ADD
    #define traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName )
#endif

#ifndef traceTASK_NOTIFY_TAKE_BLOCK
    #define traceTASK_NOTIFY_TAKE_BLOCK( uxIndexToWait )
#endif

#ifndef traceTASK_NOTIFY_TAKE
    #define traceTASK_NOTIFY_TAKE( uxIndexToWait )
#endif

#ifndef traceTASK_NOTIFY_WAIT_BLOCK
    #define traceTASK_NOTIFY_WAIT_BLOCK( uxIndexToWait )
#endif

#ifndef traceTASK_NOTIFY_WAIT
    #define traceTASK_NOTIFY_WAIT( uxIndexToWait )
#endif

#ifndef traceTASK_NOTIFY
    #define traceTASK_NOTIFY( uxIndexToNotify )
#endif

#ifndef traceTASK_NOTIFY_FROM_ISR
    #define traceTASK_NOTIFY_FROM_ISR( uxIndexToNotify )
#endif

#ifndef traceTASK_NOTIFY_GIVE_FROM_ISR
    #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify )
#endif

#ifndef traceSTREAM_BUFFER_CREATE_FAILED
    #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer )
#endif

#ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED
    #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer )
#endif

#ifndef traceSTREAM_BUFFER_CREATE
    #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer )
#endif

#ifndef traceSTREAM_BUFFER_DELETE
    #define traceSTREAM_BUFFER_DELETE( xStreamBuffer )
#endif

#ifndef traceSTREAM_BUFFER_RESET
    #define traceSTREAM_BUFFER_RESET( xStreamBuffer )
#endif

#ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND
    #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer )
#endif

#ifndef traceSTREAM_BUFFER_SEND
    #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent )
#endif

#ifndef traceSTREAM_BUFFER_SEND_FAILED
    #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer )
#endif

#ifndef traceSTREAM_BUFFER_SEND_FROM_ISR
    #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent )
#endif

#ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE
    #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer )
#endif

#ifndef traceSTREAM_BUFFER_RECEIVE
    #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength )
#endif

#ifndef traceSTREAM_BUFFER_RECEIVE_FAILED
    #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer )
#endif

#ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR
    #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength )
#endif

#ifndef configGENERATE_RUN_TIME_STATS
    #define configGENERATE_RUN_TIME_STATS    0
#endif

#if ( configGENERATE_RUN_TIME_STATS == 1 )

    #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
        #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined.  portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
    #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */

    #ifndef portGET_RUN_TIME_COUNTER_VALUE
        #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE
            #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined.  See the examples provided and the FreeRTOS web site for more information.
        #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */
    #endif /* portGET_RUN_TIME_COUNTER_VALUE */

#endif /* configGENERATE_RUN_TIME_STATS */

#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
    #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
#endif

#ifndef configUSE_MALLOC_FAILED_HOOK
    #define configUSE_MALLOC_FAILED_HOOK    0
#endif

#ifndef portPRIVILEGE_BIT
    #define portPRIVILEGE_BIT    ( ( UBaseType_t ) 0x00 )
#endif

#ifndef portYIELD_WITHIN_API
    #define portYIELD_WITHIN_API    portYIELD
#endif

#ifndef portSUPPRESS_TICKS_AND_SLEEP
    #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
#endif

#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
    #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP    2
#endif

#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
    #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
#endif

#ifndef configUSE_TICKLESS_IDLE
    #define configUSE_TICKLESS_IDLE    0
#endif

#ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING
    #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x )
#endif

#ifndef configPRE_SLEEP_PROCESSING
    #define configPRE_SLEEP_PROCESSING( x )
#endif

#ifndef configPOST_SLEEP_PROCESSING
    #define configPOST_SLEEP_PROCESSING( x )
#endif

#ifndef configUSE_QUEUE_SETS
    #define configUSE_QUEUE_SETS    0
#endif

#ifndef portTASK_USES_FLOATING_POINT
    #define portTASK_USES_FLOATING_POINT()
#endif

#ifndef portALLOCATE_SECURE_CONTEXT
    #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
#endif

#ifndef portDONT_DISCARD
    #define portDONT_DISCARD
#endif

#ifndef configUSE_TIME_SLICING
    #define configUSE_TIME_SLICING    1
#endif

#ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
    #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS    0
#endif

#ifndef configUSE_STATS_FORMATTING_FUNCTIONS
    #define configUSE_STATS_FORMATTING_FUNCTIONS    0
#endif

#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID
    #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
#endif

#ifndef configUSE_TRACE_FACILITY
    #define configUSE_TRACE_FACILITY    0
#endif

#ifndef mtCOVERAGE_TEST_MARKER
    #define mtCOVERAGE_TEST_MARKER()
#endif

#ifndef mtCOVERAGE_TEST_DELAY
    #define mtCOVERAGE_TEST_DELAY()
#endif

#ifndef portASSERT_IF_IN_ISR
    #define portASSERT_IF_IN_ISR()
#endif

#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
    #define configUSE_PORT_OPTIMISED_TASK_SELECTION    0
#endif

#ifndef configAPPLICATION_ALLOCATED_HEAP
    #define configAPPLICATION_ALLOCATED_HEAP    0
#endif

#ifndef configENABLE_HEAP_PROTECTOR
    #define configENABLE_HEAP_PROTECTOR    0
#endif

#ifndef configUSE_TASK_NOTIFICATIONS
    #define configUSE_TASK_NOTIFICATIONS    1
#endif

#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES
    #define configTASK_NOTIFICATION_ARRAY_ENTRIES    1
#endif

#if configTASK_NOTIFICATION_ARRAY_ENTRIES < 1
    #error configTASK_NOTIFICATION_ARRAY_ENTRIES must be at least 1
#endif

#ifndef configUSE_POSIX_ERRNO
    #define configUSE_POSIX_ERRNO    0
#endif

#ifndef configUSE_SB_COMPLETED_CALLBACK

/* By default per-instance callbacks are not enabled for stream buffer or message buffer. */
    #define configUSE_SB_COMPLETED_CALLBACK    0
#endif

#ifndef portTICK_TYPE_IS_ATOMIC
    #define portTICK_TYPE_IS_ATOMIC    0
#endif

#ifndef configSUPPORT_STATIC_ALLOCATION
    /* Defaults to 0 for backward compatibility. */
    #define configSUPPORT_STATIC_ALLOCATION    0
#endif

#ifndef configSUPPORT_DYNAMIC_ALLOCATION
    /* Defaults to 1 for backward compatibility. */
    #define configSUPPORT_DYNAMIC_ALLOCATION    1
#endif

#if ( ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION != 1 ) )
    #error configUSE_STATS_FORMATTING_FUNCTIONS cannot be used without dynamic allocation, but configSUPPORT_DYNAMIC_ALLOCATION is not set to 1.
#endif

#if ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 )
    #if ( ( configUSE_TRACE_FACILITY != 1 ) && ( configGENERATE_RUN_TIME_STATS != 1 ) )
        #error configUSE_STATS_FORMATTING_FUNCTIONS is 1 but the functions it enables are not used because neither configUSE_TRACE_FACILITY or configGENERATE_RUN_TIME_STATS are 1.  Set configUSE_STATS_FORMATTING_FUNCTIONS to 0 in FreeRTOSConfig.h.
    #endif
#endif

#ifndef configSTACK_DEPTH_TYPE

/* Defaults to uint16_t for backward compatibility, but can be overridden
 * in FreeRTOSConfig.h if uint16_t is too restrictive. */
    #define configSTACK_DEPTH_TYPE    uint16_t
#endif

#ifndef configRUN_TIME_COUNTER_TYPE

/* Defaults to uint32_t for backward compatibility, but can be overridden in
 * FreeRTOSConfig.h if uint32_t is too restrictive. */

    #define configRUN_TIME_COUNTER_TYPE    uint32_t
#endif

#ifndef configMESSAGE_BUFFER_LENGTH_TYPE

/* Defaults to size_t for backward compatibility, but can be overridden
 * in FreeRTOSConfig.h if lengths will always be less than the number of bytes
 * in a size_t. */
    #define configMESSAGE_BUFFER_LENGTH_TYPE    size_t
#endif

/* Sanity check the configuration. */
#if ( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) )
    #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1.
#endif

#if ( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) )
    #error configUSE_MUTEXES must be set to 1 to use recursive mutexes
#endif

#if ( ( configRUN_MULTIPLE_PRIORITIES == 0 ) && ( configUSE_TASK_PREEMPTION_DISABLE != 0 ) )
    #error configRUN_MULTIPLE_PRIORITIES must be set to 1 to use task preemption disable
#endif

#if ( ( configUSE_PREEMPTION == 0 ) && ( configUSE_TASK_PREEMPTION_DISABLE != 0 ) )
    #error configUSE_PREEMPTION must be set to 1 to use task preemption disable
#endif

#if ( ( configNUMBER_OF_CORES == 1 ) && ( configUSE_TASK_PREEMPTION_DISABLE != 0 ) )
    #error configUSE_TASK_PREEMPTION_DISABLE is not supported in single core FreeRTOS
#endif

#if ( ( configNUMBER_OF_CORES == 1 ) && ( configUSE_CORE_AFFINITY != 0 ) )
    #error configUSE_CORE_AFFINITY is not supported in single core FreeRTOS
#endif

#if ( ( configNUMBER_OF_CORES > 1 ) && ( configUSE_PORT_OPTIMISED_TASK_SELECTION != 0 ) )
    #error configUSE_PORT_OPTIMISED_TASK_SELECTION is not supported in SMP FreeRTOS
#endif

#ifndef configINITIAL_TICK_COUNT
    #define configINITIAL_TICK_COUNT    0
#endif

#if ( portTICK_TYPE_IS_ATOMIC == 0 )

/* Either variables of tick type cannot be read atomically, or
 * portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when
 * the tick count is returned to the standard critical section macros. */
    #define portTICK_TYPE_ENTER_CRITICAL()                      portENTER_CRITICAL()
    #define portTICK_TYPE_EXIT_CRITICAL()                       portEXIT_CRITICAL()
    #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR()         portSET_INTERRUPT_MASK_FROM_ISR()
    #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x )    portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) )
#else

/* The tick type can be read atomically, so critical sections used when the
 * tick count is returned can be defined away. */
    #define portTICK_TYPE_ENTER_CRITICAL()
    #define portTICK_TYPE_EXIT_CRITICAL()
    #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR()         0
    #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x )    ( void ) ( x )
#endif /* if ( portTICK_TYPE_IS_ATOMIC == 0 ) */

/* Definitions to allow backward compatibility with FreeRTOS versions prior to
 * V8 if desired. */
#ifndef configENABLE_BACKWARD_COMPATIBILITY
    #define configENABLE_BACKWARD_COMPATIBILITY    1
#endif

#ifndef configPRINTF

/* configPRINTF() was not defined, so define it away to nothing.  To use
 * configPRINTF() then define it as follows (where MyPrintFunction() is
 * provided by the application writer):
 *
 * void MyPrintFunction(const char *pcFormat, ... );
 #define configPRINTF( X )   MyPrintFunction X
 *
 * Then call like a standard printf() function, but placing brackets around
 * all parameters so they are passed as a single parameter.  For example:
 * configPRINTF( ("Value = %d", MyVariable) ); */
    #define configPRINTF( X )
#endif

#ifndef configMAX

/* The application writer has not provided their own MAX macro, so define
 * the following generic implementation. */
    #define configMAX( a, b )    ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) )
#endif

#ifndef configMIN

/* The application writer has not provided their own MIN macro, so define
 * the following generic implementation. */
    #define configMIN( a, b )    ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) )
#endif

#if configENABLE_BACKWARD_COMPATIBILITY == 1
    #define eTaskStateGet                 eTaskGetState
    #define portTickType                  TickType_t
    #define xTaskHandle                   TaskHandle_t
    #define xQueueHandle                  QueueHandle_t
    #define xSemaphoreHandle              SemaphoreHandle_t
    #define xQueueSetHandle               QueueSetHandle_t
    #define xQueueSetMemberHandle         QueueSetMemberHandle_t
    #define xTimeOutType                  TimeOut_t
    #define xMemoryRegion                 MemoryRegion_t
    #define xTaskParameters               TaskParameters_t
    #define xTaskStatusType               TaskStatus_t
    #define xTimerHandle                  TimerHandle_t
    #define xCoRoutineHandle              CoRoutineHandle_t
    #define pdTASK_HOOK_CODE              TaskHookFunction_t
    #define portTICK_RATE_MS              portTICK_PERIOD_MS
    #define pcTaskGetTaskName             pcTaskGetName
    #define pcTimerGetTimerName           pcTimerGetName
    #define pcQueueGetQueueName           pcQueueGetName
    #define vTaskGetTaskInfo              vTaskGetInfo
    #define xTaskGetIdleRunTimeCounter    ulTaskGetIdleRunTimeCounter

/* Backward compatibility within the scheduler code only - these definitions
 * are not really required but are included for completeness. */
    #define tmrTIMER_CALLBACK             TimerCallbackFunction_t
    #define pdTASK_CODE                   TaskFunction_t
    #define xListItem                     ListItem_t
    #define xList                         List_t

/* For libraries that break the list data hiding, and access list structure
 * members directly (which is not supposed to be done). */
    #define pxContainer                   pvContainer
#endif /* configENABLE_BACKWARD_COMPATIBILITY */

#if ( configUSE_ALTERNATIVE_API != 0 )
    #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0
#endif

/* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even
 * if floating point hardware is otherwise supported by the FreeRTOS port in use.
 * This constant is not supported by all FreeRTOS ports that include floating
 * point support. */
#ifndef configUSE_TASK_FPU_SUPPORT
    #define configUSE_TASK_FPU_SUPPORT    1
#endif

/* Set configENABLE_MPU to 1 to enable MPU support and 0 to disable it. This is
 * currently used in ARMv8M ports. */
#ifndef configENABLE_MPU
    #define configENABLE_MPU    0
#endif

/* Set configENABLE_FPU to 1 to enable FPU support and 0 to disable it. This is
 * currently used in ARMv8M ports. */
#ifndef configENABLE_FPU
    #define configENABLE_FPU    1
#endif

/* Set configENABLE_MVE to 1 to enable MVE support and 0 to disable it. This is
 * currently used in ARMv8M ports. */
#ifndef configENABLE_MVE
    #define configENABLE_MVE    0
#endif

/* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it.
 * This is currently used in ARMv8M ports. */
#ifndef configENABLE_TRUSTZONE
    #define configENABLE_TRUSTZONE    1
#endif

/* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on
 * the Secure Side only. */
#ifndef configRUN_FREERTOS_SECURE_ONLY
    #define configRUN_FREERTOS_SECURE_ONLY    0
#endif

#ifndef configRUN_ADDITIONAL_TESTS
    #define configRUN_ADDITIONAL_TESTS    0
#endif

/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
 * dynamically allocated RAM, in which case when any task is deleted it is known
 * that both the task's stack and TCB need to be freed.  Sometimes the
 * FreeRTOSConfig.h settings only allow a task to be created using statically
 * allocated RAM, in which case when any task is deleted it is known that neither
 * the task's stack or TCB should be freed.  Sometimes the FreeRTOSConfig.h
 * settings allow a task to be created using either statically or dynamically
 * allocated RAM, in which case a member of the TCB is used to record whether the
 * stack and/or TCB were allocated statically or dynamically, so when a task is
 * deleted the RAM that was allocated dynamically is freed again and no attempt is
 * made to free the RAM that was allocated statically.
 * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
 * task to be created using either statically or dynamically allocated RAM.  Note
 * that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
 * a statically allocated stack and a dynamically allocated TCB.
 *
 * The following table lists various combinations of portUSING_MPU_WRAPPERS,
 * configSUPPORT_DYNAMIC_ALLOCATION and configSUPPORT_STATIC_ALLOCATION and
 * when it is possible to have both static and dynamic allocation:
 *  +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
 * | MPU | Dynamic | Static |     Available Functions     |       Possible Allocations        | Both Dynamic and | Need Free |
 * |     |         |        |                             |                                   | Static Possible  |           |
 * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
 * | 0   | 0       | 1      | xTaskCreateStatic           | TCB - Static, Stack - Static      | No               | No        |
 * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
 * | 0   | 1       | 0      | xTaskCreate                 | TCB - Dynamic, Stack - Dynamic    | No               | Yes       |
 * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
 * | 0   | 1       | 1      | xTaskCreate,                | 1. TCB - Dynamic, Stack - Dynamic | Yes              | Yes       |
 * |     |         |        | xTaskCreateStatic           | 2. TCB - Static, Stack - Static   |                  |           |
 * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
 * | 1   | 0       | 1      | xTaskCreateStatic,          | TCB - Static, Stack - Static      | No               | No        |
 * |     |         |        | xTaskCreateRestrictedStatic |                                   |                  |           |
 * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
 * | 1   | 1       | 0      | xTaskCreate,                | 1. TCB - Dynamic, Stack - Dynamic | Yes              | Yes       |
 * |     |         |        | xTaskCreateRestricted       | 2. TCB - Dynamic, Stack - Static  |                  |           |
 * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
 * | 1   | 1       | 1      | xTaskCreate,                | 1. TCB - Dynamic, Stack - Dynamic | Yes              | Yes       |
 * |     |         |        | xTaskCreateStatic,          | 2. TCB - Dynamic, Stack - Static  |                  |           |
 * |     |         |        | xTaskCreateRestricted,      | 3. TCB - Static, Stack - Static   |                  |           |
 * |     |         |        | xTaskCreateRestrictedStatic |                                   |                  |           |
 * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
 */
#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE                                                                                     \
    ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \
      ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) )

/*
 * In line with software engineering best practice, FreeRTOS implements a strict
 * data hiding policy, so the real structures used by FreeRTOS to maintain the
 * state of tasks, queues, semaphores, etc. are not accessible to the application
 * code.  However, if the application writer wants to statically allocate such
 * an object then the size of the object needs to be known.  Dummy structures
 * that are guaranteed to have the same size and alignment requirements of the
 * real objects are used for this purpose.  The dummy list and list item
 * structures below are used for inclusion in such a dummy structure.
 */
struct xSTATIC_LIST_ITEM
{
    #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
        TickType_t xDummy1;
    #endif
    TickType_t xDummy2;
    void * pvDummy3[ 4 ];
    #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
        TickType_t xDummy4;
    #endif
};
typedef struct xSTATIC_LIST_ITEM StaticListItem_t;

#if ( configUSE_MINI_LIST_ITEM == 1 )
    /* See the comments above the struct xSTATIC_LIST_ITEM definition. */
    struct xSTATIC_MINI_LIST_ITEM
    {
        #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
            TickType_t xDummy1;
        #endif
        TickType_t xDummy2;
        void * pvDummy3[ 2 ];
    };
    typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t;
#else /* if ( configUSE_MINI_LIST_ITEM == 1 ) */
    typedef struct xSTATIC_LIST_ITEM      StaticMiniListItem_t;
#endif /* if ( configUSE_MINI_LIST_ITEM == 1 ) */

/* See the comments above the struct xSTATIC_LIST_ITEM definition. */
typedef struct xSTATIC_LIST
{
    #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
        TickType_t xDummy1;
    #endif
    UBaseType_t uxDummy2;
    void * pvDummy3;
    StaticMiniListItem_t xDummy4;
    #if ( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
        TickType_t xDummy5;
    #endif
} StaticList_t;

/*
 * In line with software engineering best practice, especially when supplying a
 * library that is likely to change in future versions, FreeRTOS implements a
 * strict data hiding policy.  This means the Task structure used internally by
 * FreeRTOS is not accessible to application code.  However, if the application
 * writer wants to statically allocate the memory required to create a task then
 * the size of the task object needs to be known.  The StaticTask_t structure
 * below is provided for this purpose.  Its sizes and alignment requirements are
 * guaranteed to match those of the genuine structure, no matter which
 * architecture is being used, and no matter how the values in FreeRTOSConfig.h
 * are set.  Its contents are somewhat obfuscated in the hope users will
 * recognise that it would be unwise to make direct use of the structure members.
 */
typedef struct xSTATIC_TCB
{
    void * pxDummy1;
    #if ( portUSING_MPU_WRAPPERS == 1 )
        xMPU_SETTINGS xDummy2;
    #endif
    #if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 )
        UBaseType_t uxDummy26;
    #endif
    StaticListItem_t xDummy3[ 2 ];
    UBaseType_t uxDummy5;
    void * pxDummy6;
    #if ( configNUMBER_OF_CORES > 1 )
        BaseType_t xDummy23;
        UBaseType_t uxDummy24;
    #endif
    uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ];
    #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
        BaseType_t xDummy25;
    #endif
    #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
        void * pxDummy8;
    #endif
    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        UBaseType_t uxDummy9;
    #endif
    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxDummy10[ 2 ];
    #endif
    #if ( configUSE_MUTEXES == 1 )
        UBaseType_t uxDummy12[ 2 ];
    #endif
    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        void * pxDummy14;
    #endif
    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
        void * pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
    #endif
    #if ( configGENERATE_RUN_TIME_STATS == 1 )
        configRUN_TIME_COUNTER_TYPE ulDummy16;
    #endif
    #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
        configTLS_BLOCK_TYPE xDummy17;
    #endif
    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
        uint32_t ulDummy18[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
        uint8_t ucDummy19[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
    #endif
    #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
        uint8_t uxDummy20;
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        uint8_t ucDummy21;
    #endif
    #if ( configUSE_POSIX_ERRNO == 1 )
        int iDummy22;
    #endif
} StaticTask_t;

/*
 * In line with software engineering best practice, especially when supplying a
 * library that is likely to change in future versions, FreeRTOS implements a
 * strict data hiding policy.  This means the Queue structure used internally by
 * FreeRTOS is not accessible to application code.  However, if the application
 * writer wants to statically allocate the memory required to create a queue
 * then the size of the queue object needs to be known.  The StaticQueue_t
 * structure below is provided for this purpose.  Its sizes and alignment
 * requirements are guaranteed to match those of the genuine structure, no
 * matter which architecture is being used, and no matter how the values in
 * FreeRTOSConfig.h are set.  Its contents are somewhat obfuscated in the hope
 * users will recognise that it would be unwise to make direct use of the
 * structure members.
 */
typedef struct xSTATIC_QUEUE
{
    void * pvDummy1[ 3 ];

    union
    {
        void * pvDummy2;
        UBaseType_t uxDummy2;
    } u;

    StaticList_t xDummy3[ 2 ];
    UBaseType_t uxDummy4[ 3 ];
    uint8_t ucDummy5[ 2 ];

    #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
        uint8_t ucDummy6;
    #endif

    #if ( configUSE_QUEUE_SETS == 1 )
        void * pvDummy7;
    #endif

    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxDummy8;
        uint8_t ucDummy9;
    #endif
} StaticQueue_t;
typedef StaticQueue_t StaticSemaphore_t;

/*
 * In line with software engineering best practice, especially when supplying a
 * library that is likely to change in future versions, FreeRTOS implements a
 * strict data hiding policy.  This means the event group structure used
 * internally by FreeRTOS is not accessible to application code.  However, if
 * the application writer wants to statically allocate the memory required to
 * create an event group then the size of the event group object needs to be
 * know.  The StaticEventGroup_t structure below is provided for this purpose.
 * Its sizes and alignment requirements are guaranteed to match those of the
 * genuine structure, no matter which architecture is being used, and no matter
 * how the values in FreeRTOSConfig.h are set.  Its contents are somewhat
 * obfuscated in the hope users will recognise that it would be unwise to make
 * direct use of the structure members.
 */
typedef struct xSTATIC_EVENT_GROUP
{
    TickType_t xDummy1;
    StaticList_t xDummy2;

    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxDummy3;
    #endif

    #if ( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
        uint8_t ucDummy4;
    #endif
} StaticEventGroup_t;

/*
 * In line with software engineering best practice, especially when supplying a
 * library that is likely to change in future versions, FreeRTOS implements a
 * strict data hiding policy.  This means the software timer structure used
 * internally by FreeRTOS is not accessible to application code.  However, if
 * the application writer wants to statically allocate the memory required to
 * create a software timer then the size of the queue object needs to be known.
 * The StaticTimer_t structure below is provided for this purpose.  Its sizes
 * and alignment requirements are guaranteed to match those of the genuine
 * structure, no matter which architecture is being used, and no matter how the
 * values in FreeRTOSConfig.h are set.  Its contents are somewhat obfuscated in
 * the hope users will recognise that it would be unwise to make direct use of
 * the structure members.
 */
typedef struct xSTATIC_TIMER
{
    void * pvDummy1;
    StaticListItem_t xDummy2;
    TickType_t xDummy3;
    void * pvDummy5;
    TaskFunction_t pvDummy6;
    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxDummy7;
    #endif
    uint8_t ucDummy8;
} StaticTimer_t;

/*
 * In line with software engineering best practice, especially when supplying a
 * library that is likely to change in future versions, FreeRTOS implements a
 * strict data hiding policy.  This means the stream buffer structure used
 * internally by FreeRTOS is not accessible to application code.  However, if
 * the application writer wants to statically allocate the memory required to
 * create a stream buffer then the size of the stream buffer object needs to be
 * known.  The StaticStreamBuffer_t structure below is provided for this
 * purpose.  Its size and alignment requirements are guaranteed to match those
 * of the genuine structure, no matter which architecture is being used, and
 * no matter how the values in FreeRTOSConfig.h are set.  Its contents are
 * somewhat obfuscated in the hope users will recognise that it would be unwise
 * to make direct use of the structure members.
 */
typedef struct xSTATIC_STREAM_BUFFER
{
    size_t uxDummy1[ 4 ];
    void * pvDummy2[ 3 ];
    uint8_t ucDummy3;
    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxDummy4;
    #endif
    #if ( configUSE_SB_COMPLETED_CALLBACK == 1 )
        void * pvDummy5[ 2 ];
    #endif
} StaticStreamBuffer_t;

/* Message buffers are built on stream buffers. */
typedef StaticStreamBuffer_t StaticMessageBuffer_t;

/* *INDENT-OFF* */
#ifdef __cplusplus
    }
#endif
/* *INDENT-ON* */

#endif /* INC_FREERTOS_H */