From 75793bd8f3648d9dd0ff767dc2c1bf7eb8def2da Mon Sep 17 00:00:00 2001 From: hathach Date: Thu, 24 Apr 2014 23:33:42 +0700 Subject: [PATCH] update freertos to 7.6.0 --- vendor/freertos/FreeRTOSConfig_cm4f.h | 2 +- vendor/freertos/freertos/License/license.txt | 128 +- vendor/freertos/freertos/Source/croutine.c | 83 +- .../freertos/Source/include/FreeRTOS.h | 161 +- .../freertos/Source/include/StackMacros.h | 71 +- .../freertos/Source/include/croutine.h | 73 +- .../freertos/freertos/Source/include/list.h | 167 +- .../freertos/Source/include/mpu_wrappers.h | 82 +- .../freertos/Source/include/portable.h | 76 +- .../freertos/Source/include/projdefs.h | 83 +- .../freertos/freertos/Source/include/queue.h | 567 +++++- .../freertos/freertos/Source/include/semphr.h | 131 +- .../freertos/freertos/Source/include/task.h | 490 +++-- .../freertos/freertos/Source/include/timers.h | 112 +- vendor/freertos/freertos/Source/list.c | 112 +- .../portable/GCC/ARM7_AT91FR40008/port.c | 77 +- .../portable/GCC/ARM7_AT91FR40008/portISR.c | 85 +- .../portable/GCC/ARM7_AT91FR40008/portmacro.h | 77 +- .../Source/portable/GCC/ARM7_AT91SAM7S/port.c | 77 +- .../portable/GCC/ARM7_AT91SAM7S/portISR.c | 88 +- .../portable/GCC/ARM7_AT91SAM7S/portmacro.h | 77 +- .../Source/portable/GCC/ARM7_LPC2000/port.c | 77 +- .../portable/GCC/ARM7_LPC2000/portISR.c | 140 +- .../portable/GCC/ARM7_LPC2000/portmacro.h | 77 +- .../Source/portable/GCC/ARM7_LPC23xx/port.c | 77 +- .../portable/GCC/ARM7_LPC23xx/portISR.c | 89 +- .../portable/GCC/ARM7_LPC23xx/portmacro.h | 77 +- .../Source/portable/GCC/ARM_CM0/port.c | 225 ++- .../Source/portable/GCC/ARM_CM0/portmacro.h | 99 +- .../Source/portable/GCC/ARM_CM3/port.c | 438 +++-- .../Source/portable/GCC/ARM_CM3/portmacro.h | 91 +- .../Source/portable/GCC/ARM_CM3_MPU/port.c | 231 ++- .../portable/GCC/ARM_CM3_MPU/portmacro.h | 83 +- .../Source/portable/GCC/ARM_CM4F/port.c | 433 +++-- .../Source/portable/GCC/ARM_CM4F/portmacro.h | 103 +- .../Source/portable/IAR/ARM_CM0/port.c | 141 +- .../Source/portable/IAR/ARM_CM0/portasm.s | 194 +- .../Source/portable/IAR/ARM_CM0/portmacro.h | 101 +- .../Source/portable/IAR/ARM_CM3/port.c | 409 ++++- .../Source/portable/IAR/ARM_CM3/portasm.s | 88 +- .../Source/portable/IAR/ARM_CM3/portmacro.h | 93 +- .../Source/portable/IAR/ARM_CM4F/port.c | 414 ++++- .../Source/portable/IAR/ARM_CM4F/portasm.s | 85 +- .../Source/portable/IAR/ARM_CM4F/portmacro.h | 90 +- .../Source/portable/IAR/LPC2000/ISR_Support.h | 3 +- .../Source/portable/IAR/LPC2000/port.c | 92 +- .../Source/portable/IAR/LPC2000/portasm.s79 | 4 +- .../Source/portable/IAR/LPC2000/portmacro.h | 77 +- .../freertos/Source/portable/MemMang/heap_4.c | 270 +-- .../Source/portable/RVDS/ARM7_LPC21xx/port.c | 79 +- .../portable/RVDS/ARM7_LPC21xx/portASM.s | 13 +- .../portable/RVDS/ARM7_LPC21xx/portmacro.h | 77 +- .../portable/RVDS/ARM7_LPC21xx/portmacro.inc | 3 +- .../Source/portable/RVDS/ARM_CM0/port_cm0.c | 347 ++-- .../Source/portable/RVDS/ARM_CM0/portmacro.h | 100 +- .../Source/portable/RVDS/ARM_CM3/port_cm3.c | 421 +++-- .../Source/portable/RVDS/ARM_CM3/portmacro.h | 90 +- .../Source/portable/RVDS/ARM_CM4F/port_cm4f.c | 433 +++-- .../Source/portable/RVDS/ARM_CM4F/portmacro.h | 103 +- vendor/freertos/freertos/Source/queue.c | 1339 +++++++++----- vendor/freertos/freertos/Source/tasks.c | 1635 ++++++++++------- vendor/freertos/freertos/Source/timers.c | 139 +- 62 files changed, 7338 insertions(+), 4561 deletions(-) diff --git a/vendor/freertos/FreeRTOSConfig_cm4f.h b/vendor/freertos/FreeRTOSConfig_cm4f.h index 8a79104db..69ad2342f 100644 --- a/vendor/freertos/FreeRTOSConfig_cm4f.h +++ b/vendor/freertos/FreeRTOSConfig_cm4f.h @@ -82,7 +82,7 @@ //#define configCPU_CLOCK_HZ ( SystemCoreClock ) #define configCPU_CLOCK_HZ ( CGU_GetPCLKFrequency(CGU_PERIPHERAL_M4CORE)) #define configTICK_RATE_HZ ( ( portTickType ) 1000 ) -#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 16 ) +#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 8 ) #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 ) #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16*1024 ) ) #define configMAX_TASK_NAME_LEN ( 32 ) diff --git a/vendor/freertos/freertos/License/license.txt b/vendor/freertos/freertos/License/license.txt index e48ed809d..be959bb33 100644 --- a/vendor/freertos/freertos/License/license.txt +++ b/vendor/freertos/freertos/License/license.txt @@ -1,63 +1,54 @@ -The FreeRTOS.org source code is licensed by the *modified* GNU General Public -License (GPL), text provided below. A special exception to the GPL is -included to allow you to distribute a combined work that includes FreeRTOS -without being obliged to provide the source code for any proprietary -components. See the licensing section of http://www.FreeRTOS.org for full -details. The exception text is also included at the bottom of this file. +The FreeRTOS source code is licensed by a *modified* GNU General Public +License (GPL). The modification is provided in the form of an exception. -The FreeRTOS download also includes demo application source code, some of -which is provided by third parties AND IS LICENSED SEPARATELY FROM FREERTOS. - -For the avoidance of any doubt refer to the comment included at the top -of each source and header file for license and copyright information. - -This is a list of files for which Real Time Engineers Ltd are not the -copyright owner and are NOT COVERED BY THE GPL. - - -1) Various header files provided by silicon manufacturers and tool vendors - that define processor specific memory addresses and utility macros. - Permission has been granted by the various copyright holders for these - files to be included in the FreeRTOS download. Users must ensure license - conditions are adhered to for any use other than compilation of the - FreeRTOS demo applications. - -2) The uIP TCP/IP stack the copyright of which is held by Adam Dunkels. - Users must ensure the open source license conditions stated at the top - of each uIP source file is understood and adhered to. - -3) The lwIP TCP/IP stack the copyright of which is held by the Swedish - Institute of Computer Science. Users must ensure the open source license - conditions stated at the top of each lwIP source file is understood and - adhered to. - -4) Various peripheral driver source files and binaries provided by silicon - manufacturers and tool vendors. Permission has been granted by the - various copyright holders for these files to be included in the FreeRTOS - download. Users must ensure license conditions are adhered to for any - use other than compilation of the FreeRTOS demo applications. - -5) The files contained within FreeRTOS\Demo\WizNET_DEMO_TERN_186\tern_code, - which are slightly modified versions of code provided by and copyright to - Tern Inc. - -Errors and omissions should be reported to Richard Barry, contact details for -whom can be obtained from http://www.FreeRTOS.org. +NOTE: The modification to the GPL is included to allow you to distribute a +combined work that includes FreeRTOS without being obliged to provide the source +code for proprietary components outside of the FreeRTOS kernel. +---------------------------------------------------------------------------- +The FreeRTOS GPL Exception Text: -The GPL license text follows. +Any FreeRTOS source code, whether modified or in it's original release form, +or whether in whole or in part, can only be distributed by you under the terms +of the GNU General Public License plus this exception. An independent module is +a module which is not derived from or based on FreeRTOS. + +Clause 1: + +Linking FreeRTOS statically or dynamically with other modules is making a +combined work based on FreeRTOS. Thus, the terms and conditions of the GNU +General Public License cover the whole combination. + +As a special exception, the copyright holder of FreeRTOS gives you permission +to link FreeRTOS with independent modules that communicate with FreeRTOS +solely through the FreeRTOS API interface, regardless of the license terms of +these independent modules, and to copy and distribute the resulting combined +work under terms of your choice, provided that + + + Every copy of the combined work is accompanied by a written statement that + details to the recipient the version of FreeRTOS used and an offer by yourself + to provide the FreeRTOS source code (including any modifications you may have + made) should the recipient request it. + + + The combined work is not itself an RTOS, scheduler, kernel or related product. + + + The independent modules add significant and primary functionality to FreeRTOS + and do not merely extend the existing functionality already present in FreeRTOS. + +Clause 2: + +FreeRTOS may not be used for any competitive or comparative purpose, including the +publication of any form of run time or compile time metric, without the express +permission of Real Time Engineers Ltd. (this is the norm within the industry and +is intended to ensure information accuracy). -A special exception to the GPL is included to allow you to distribute a -combined work that includes FreeRTOS without being obliged to provide -the source code for any proprietary components. See the licensing section -of http://www.FreeRTOS.org for full details. The exception text is also -included at the bottom of this file. -------------------------------------------------------------------- +The standard GPL exception text: GNU GENERAL PUBLIC LICENSE @@ -401,40 +392,3 @@ consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Library General Public License instead of this License. ----------------------------------------------------------------------------- - -The FreeRTOS GPL Exception Text: - -Any FreeRTOS source code, whether modified or in it's original release form, -or whether in whole or in part, can only be distributed by you under the terms -of the GNU General Public License plus this exception. An independent module is -a module which is not derived from or based on FreeRTOS. - -Clause 1: - -Linking FreeRTOS statically or dynamically with other modules is making a -combined work based on FreeRTOS. Thus, the terms and conditions of the GNU -General Public License cover the whole combination. - -As a special exception, the copyright holder of FreeRTOS gives you permission -to link FreeRTOS with independent modules that communicate with FreeRTOS -solely through the FreeRTOS API interface, regardless of the license terms of -these independent modules, and to copy and distribute the resulting combined -work under terms of your choice, provided that - - + Every copy of the combined work is accompanied by a written statement that - details to the recipient the version of FreeRTOS used and an offer by yourself - to provide the FreeRTOS source code (including any modifications you may have - made) should the recipient request it. - - + The combined work is not itself an RTOS, scheduler, kernel or related product. - - + The independent modules add significant and primary functionality to FreeRTOS - and do not merely extend the existing functionality already present in FreeRTOS. - -Clause 2: - -FreeRTOS may not be used for any competitive or comparative purpose, including the -publication of any form of run time or compile time metric, without the express -permission of Real Time Engineers Ltd. (this is the norm within the industry and -is intended to ensure information accuracy). diff --git a/vendor/freertos/freertos/Source/croutine.c b/vendor/freertos/freertos/Source/croutine.c index 09880abf0..54d8b54c8 100644 --- a/vendor/freertos/freertos/Source/croutine.c +++ b/vendor/freertos/freertos/Source/croutine.c @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #include "FreeRTOS.h" @@ -85,7 +82,7 @@ static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */ static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ -static xList xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ +static xList xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ /* Other file private variables. --------------------------------*/ corCRCB * pxCurrentCoRoutine = NULL; @@ -205,7 +202,7 @@ portTickType xTimeToWake; /* We must remove ourselves from the ready list before adding ourselves to the blocked list as the same list item is used for both lists. */ - uxListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + ( void ) uxListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); /* The list item will be inserted in wake time order. */ listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); @@ -245,11 +242,11 @@ static void prvCheckPendingReadyList( void ) portDISABLE_INTERRUPTS(); { pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) ); - uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); } portENABLE_INTERRUPTS(); - uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); } } @@ -300,7 +297,7 @@ corCRCB *pxCRCB; /* Is the co-routine waiting on an event also? */ if( pxCRCB->xEventListItem.pvContainer ) { - uxListRemove( &( pxCRCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxCRCB->xEventListItem ) ); } } portENABLE_INTERRUPTS(); @@ -372,7 +369,7 @@ signed portBASE_TYPE xReturn; event lists and the pending ready list. This function assumes that a check has already been made to ensure pxEventList is not empty. */ pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); - uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) ); vListInsertEnd( ( xList * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) ); if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) diff --git a/vendor/freertos/freertos/Source/include/FreeRTOS.h b/vendor/freertos/freertos/Source/include/FreeRTOS.h index e2f0138a9..781db6264 100644 --- a/vendor/freertos/freertos/Source/include/FreeRTOS.h +++ b/vendor/freertos/freertos/Source/include/FreeRTOS.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #ifndef INC_FREERTOS_H @@ -161,6 +158,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define INCLUDE_xQueueGetMutexHolder 0 #endif +#ifndef INCLUDE_xSemaphoreGetMutexHolder + #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder +#endif + #ifndef INCLUDE_pcTaskGetTaskName #define INCLUDE_pcTaskGetTaskName 0 #endif @@ -173,8 +174,8 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define INCLUDE_uxTaskGetStackHighWaterMark 0 #endif -#ifndef INCLUDE_eTaskStateGet - #define INCLUDE_eTaskStateGet 0 +#ifndef INCLUDE_eTaskGetState + #define INCLUDE_eTaskGetState 0 #endif #ifndef configUSE_RECURSIVE_MUTEXES @@ -219,10 +220,9 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #ifndef configASSERT #define configASSERT( x ) -#endif - -#ifndef portALIGNMENT_ASSERT_pxCurrentTCB - #define portALIGNMENT_ASSERT_pxCurrentTCB configASSERT + #define configASSERT_DEFINED 0 +#else + #define configASSERT_DEFINED 1 #endif /* The timers module relies on xTaskGetSchedulerState(). */ @@ -299,6 +299,22 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #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. */ @@ -404,6 +420,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceQUEUE_PEEK( pxQueue ) #endif +#ifndef traceQUEUE_PEEK_FROM_ISR + #define traceQUEUE_PEEK_FROM_ISR( pxQueue ) +#endif + #ifndef traceQUEUE_RECEIVE_FAILED #define traceQUEUE_RECEIVE_FAILED( pxQueue ) #endif @@ -424,6 +444,10 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #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 @@ -488,6 +512,14 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue ) #endif +#ifndef traceMALLOC + #define traceMALLOC( pvAddress, uiSize ) +#endif + +#ifndef traceFREE + #define traceFREE( pvAddress, uiSize ) +#endif + #ifndef configGENERATE_RUN_TIME_STATS #define configGENERATE_RUN_TIME_STATS 0 #endif @@ -534,6 +566,18 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #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_SLEEP_PROCESSING #define configPRE_SLEEP_PROCESSING( x ) #endif @@ -542,5 +586,36 @@ typedef portBASE_TYPE (*pdTASK_HOOK_CODE)( void * ); #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 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_NEWLIB_REENTRANT + #define configUSE_NEWLIB_REENTRANT 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 + +/* For backward compatability. */ +#define eTaskStateGet eTaskGetState + #endif /* INC_FREERTOS_H */ diff --git a/vendor/freertos/freertos/Source/include/StackMacros.h b/vendor/freertos/freertos/Source/include/StackMacros.h index 92cec45bb..df46dfa1e 100644 --- a/vendor/freertos/freertos/Source/include/StackMacros.h +++ b/vendor/freertos/freertos/Source/include/StackMacros.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #ifndef STACK_MACROS_H diff --git a/vendor/freertos/freertos/Source/include/croutine.h b/vendor/freertos/freertos/Source/include/croutine.h index 317dd1a76..5179859b2 100644 --- a/vendor/freertos/freertos/Source/include/croutine.h +++ b/vendor/freertos/freertos/Source/include/croutine.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #ifndef CO_ROUTINE_H @@ -156,7 +153,7 @@ typedef struct corCoRoutineControlBlock { unsigned char ucParameterToPass; xTaskHandle xHandle; - + // Create two co-routines at priority 0. The first is given index 0 // so (from the code above) toggles LED 5 every 200 ticks. The second // is given index 1 so toggles LED 6 every 400 ticks. diff --git a/vendor/freertos/freertos/Source/include/list.h b/vendor/freertos/freertos/Source/include/list.h index facd702c3..fe9e5aa40 100644 --- a/vendor/freertos/freertos/Source/include/list.h +++ b/vendor/freertos/freertos/Source/include/list.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ /* @@ -98,6 +95,38 @@ #ifndef LIST_H #define LIST_H +/* + * The list structure members are modified from within interrupts, and therefore + * by rights should be declared volatile. However, they are only modified in a + * functionally atomic way (within critical sections of with the scheduler + * suspended) and are either passed by reference into a function or indexed via + * a volatile variable. Therefore, in all use cases tested so far, the volatile + * qualifier can be omitted in order to provide a moderate performance + * improvement without adversely affecting functional behaviour. The assembly + * instructions generated by the IAR, ARM and GCC compilers when the respective + * compiler's options were set for maximum optimisation has been inspected and + * deemed to be as intended. That said, as compiler technology advances, and + * especially if aggressive cross module optimisation is used (a use case that + * has not been exercised to any great extend) then it is feasible that the + * volatile qualifier will be needed for correct optimisation. It is expected + * that a compiler removing essential code because, without the volatile + * qualifier on the list structure members and with aggressive cross module + * optimisation, the compiler deemed the code unnecessary will result in + * complete and obvious failure of the scheduler. If this is ever experienced + * then the volatile qualifier can be inserted in the relevant places within the + * list structures by simply defining configLIST_VOLATILE to volatile in + * FreeRTOSConfig.h (as per the example at the bottom of this comment block). + * If configLIST_VOLATILE is not defined then the preprocessor directives below + * will simply #define configLIST_VOLATILE away completely. + * + * To use volatile list structure members then add the following line to + * FreeRTOSConfig.h (without the quotes): + * "#define configLIST_VOLATILE volatile" + */ +#ifndef configLIST_VOLATILE + #define configLIST_VOLATILE +#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */ + #ifdef __cplusplus extern "C" { #endif @@ -106,19 +135,19 @@ extern "C" { */ struct xLIST_ITEM { - portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ - volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */ - volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */ - void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ - void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ + configLIST_VOLATILE portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next xListItem in the list. */ + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;/*< Pointer to the previous xListItem in the list. */ + void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + void * configLIST_VOLATILE pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ }; -typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ +typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ struct xMINI_LIST_ITEM { - portTickType xItemValue; - volatile struct xLIST_ITEM *pxNext; - volatile struct xLIST_ITEM *pxPrevious; + configLIST_VOLATILE portTickType xItemValue; + struct xLIST_ITEM * configLIST_VOLATILE pxNext; + struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; }; typedef struct xMINI_LIST_ITEM xMiniListItem; @@ -127,9 +156,9 @@ typedef struct xMINI_LIST_ITEM xMiniListItem; */ typedef struct xLIST { - volatile unsigned portBASE_TYPE uxNumberOfItems; - volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ - volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ + configLIST_VOLATILE unsigned portBASE_TYPE uxNumberOfItems; + xListItem * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ + xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ } xList; /* @@ -139,7 +168,7 @@ typedef struct xLIST * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER * \ingroup LinkedList */ -#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) ) /* * Access macro to get the owner of a list item. The owner of a list item @@ -157,7 +186,7 @@ typedef struct xLIST * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE * \ingroup LinkedList */ -#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = ( xValue ) +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) ) /* * Access macro to retrieve the value of the list item. The value can @@ -185,7 +214,7 @@ typedef struct xLIST * \page listLIST_IS_EMPTY listLIST_IS_EMPTY * \ingroup LinkedList */ -#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) +#define listLIST_IS_EMPTY( pxList ) ( ( portBASE_TYPE ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) ) /* * Access macro to return the number of items in the list. @@ -211,17 +240,17 @@ typedef struct xLIST * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY * \ingroup LinkedList */ -#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ -{ \ -xList * const pxConstList = ( pxList ); \ - /* Increment the index to the next item and return the item, ensuring */ \ - /* we don't return the marker used at the end of the list. */ \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \ - { \ - ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ - } \ - ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ +{ \ +xList * const pxConstList = ( pxList ); \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + } \ + ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \ } @@ -253,7 +282,7 @@ xList * const pxConstList = ( pxList ); \ * @return pdTRUE is the list item is in the list, otherwise pdFALSE. * pointer against */ -#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( portBASE_TYPE ) ( ( pxListItem )->pvContainer == ( void * ) ( pxList ) ) ) /* * Return the list a list item is contained within (referenced from). @@ -280,7 +309,7 @@ xList * const pxConstList = ( pxList ); \ * \page vListInitialise vListInitialise * \ingroup LinkedList */ -void vListInitialise( xList *pxList ); +void vListInitialise( xList * const pxList ); /* * Must be called before a list item is used. This sets the list container to @@ -291,7 +320,7 @@ void vListInitialise( xList *pxList ); * \page vListInitialiseItem vListInitialiseItem * \ingroup LinkedList */ -void vListInitialiseItem( xListItem *pxItem ); +void vListInitialiseItem( xListItem * const pxItem ); /* * Insert a list item into a list. The item will be inserted into the list in @@ -304,7 +333,7 @@ void vListInitialiseItem( xListItem *pxItem ); * \page vListInsert vListInsert * \ingroup LinkedList */ -void vListInsert( xList *pxList, xListItem *pxNewListItem ); +void vListInsert( xList * const pxList, xListItem * const pxNewListItem ); /* * Insert a list item into a list. The item will be inserted in a position @@ -325,7 +354,7 @@ void vListInsert( xList *pxList, xListItem *pxNewListItem ); * \page vListInsertEnd vListInsertEnd * \ingroup LinkedList */ -void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ); +void vListInsertEnd( xList * const pxList, xListItem * const pxNewListItem ); /* * Remove an item from a list. The list item has a pointer to the list that @@ -340,7 +369,7 @@ void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ); * \page uxListRemove uxListRemove * \ingroup LinkedList */ -unsigned portBASE_TYPE uxListRemove( xListItem *pxItemToRemove ); +unsigned portBASE_TYPE uxListRemove( xListItem * const pxItemToRemove ); #ifdef __cplusplus } diff --git a/vendor/freertos/freertos/Source/include/mpu_wrappers.h b/vendor/freertos/freertos/Source/include/mpu_wrappers.h index 5ea46d95c..3a6712df8 100644 --- a/vendor/freertos/freertos/Source/include/mpu_wrappers.h +++ b/vendor/freertos/freertos/Source/include/mpu_wrappers.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #ifndef MPU_WRAPPERS_H @@ -85,7 +82,7 @@ only for ports that are using the MPU. */ #define vTaskDelay MPU_vTaskDelay #define uxTaskPriorityGet MPU_uxTaskPriorityGet #define vTaskPrioritySet MPU_vTaskPrioritySet - #define eTaskStateGet MPU_eTaskStateGet + #define eTaskGetState MPU_eTaskGetState #define vTaskSuspend MPU_vTaskSuspend #define xTaskIsTaskSuspended MPU_xTaskIsTaskSuspended #define vTaskResume MPU_vTaskResume @@ -101,6 +98,8 @@ only for ports that are using the MPU. */ #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState + #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle + #define uxTaskGetSystemState MPU_uxTaskGetSystemState #define xQueueGenericCreate MPU_xQueueGenericCreate #define xQueueCreateMutex MPU_xQueueCreateMutex @@ -113,6 +112,12 @@ only for ports that are using the MPU. */ #define xQueueGenericReceive MPU_xQueueGenericReceive #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting #define vQueueDelete MPU_vQueueDelete + #define xQueueGenericReset MPU_xQueueGenericReset + #define xQueueCreateSet MPU_xQueueCreateSet + #define xQueueSelectFromSet MPU_xQueueSelectFromSet + #define xQueueAddToSet MPU_xQueueAddToSet + #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet + #define xQueuePeekFromISR MPU_xQueuePeekFromISR #define pvPortMalloc MPU_pvPortMalloc #define vPortFree MPU_vPortFree @@ -132,7 +137,6 @@ only for ports that are using the MPU. */ /* Ensure API functions go in the privileged execution section. */ #define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions"))) #define PRIVILEGED_DATA __attribute__((section("privileged_data"))) - //#define PRIVILEGED_DATA #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */ diff --git a/vendor/freertos/freertos/Source/include/portable.h b/vendor/freertos/freertos/Source/include/portable.h index 0a4742808..0c9a52530 100644 --- a/vendor/freertos/freertos/Source/include/portable.h +++ b/vendor/freertos/freertos/Source/include/portable.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ /*----------------------------------------------------------- @@ -106,6 +103,7 @@ #include PORTMACRO_PATH /* Include the macro file relevant to the port being used. */ + #ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h" typedef void ( __interrupt __far *pxISR )(); @@ -137,7 +135,7 @@ #endif #ifdef MPLAB_PIC32MX_PORT - #include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h" + #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h" #endif #ifdef _FEDPICC @@ -392,7 +390,7 @@ extern "C" { #if( portUSING_MPU_WRAPPERS == 1 ) portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters, portBASE_TYPE xRunPrivileged ) PRIVILEGED_FUNCTION; #else - portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ); + portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) PRIVILEGED_FUNCTION; #endif /* diff --git a/vendor/freertos/freertos/Source/include/projdefs.h b/vendor/freertos/freertos/Source/include/projdefs.h index 6f2c1815e..a134c8f94 100644 --- a/vendor/freertos/freertos/Source/include/projdefs.h +++ b/vendor/freertos/freertos/Source/include/projdefs.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ #ifndef PROJDEFS_H @@ -72,13 +69,13 @@ /* Defines the prototype to which task functions must conform. */ typedef void (*pdTASK_CODE)( void * ); -#define pdTRUE ( 1 ) -#define pdFALSE ( 0 ) +#define pdFALSE ( ( portBASE_TYPE ) 0 ) +#define pdTRUE ( ( portBASE_TYPE ) 1 ) -#define pdPASS ( 1 ) -#define pdFAIL ( 0 ) -#define errQUEUE_EMPTY ( 0 ) -#define errQUEUE_FULL ( 0 ) +#define pdPASS ( pdTRUE ) +#define pdFAIL ( pdFALSE ) +#define errQUEUE_EMPTY ( ( portBASE_TYPE ) 0 ) +#define errQUEUE_FULL ( ( portBASE_TYPE ) 0 ) /* Error definitions. */ #define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) diff --git a/vendor/freertos/freertos/Source/include/queue.h b/vendor/freertos/freertos/Source/include/queue.h index a7e13d1e6..23ee775ae 100644 --- a/vendor/freertos/freertos/Source/include/queue.h +++ b/vendor/freertos/freertos/Source/include/queue.h @@ -1,45 +1,38 @@ /* - FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd. + FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. + All rights reserved - FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME. PLEASE VISIT - http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. + VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION. *************************************************************************** * * - * FreeRTOS tutorial books are available in pdf and paperback. * - * Complete, revised, and edited pdf reference manuals are also * - * available. * + * FreeRTOS provides completely free yet professionally developed, * + * robust, strictly quality controlled, supported, and cross * + * platform software that has become a de facto standard. * * * - * Purchasing FreeRTOS documentation will not only help you, by * - * ensuring you get running as quickly as possible and with an * - * in-depth knowledge of how to use FreeRTOS, it will also help * - * the FreeRTOS project to continue with its mission of providing * - * professional grade, cross platform, de facto standard solutions * - * for microcontrollers - completely free of charge! * + * Help yourself get started quickly and support the FreeRTOS * + * project by purchasing a FreeRTOS tutorial book, reference * + * manual, or both from: http://www.FreeRTOS.org/Documentation * * * - * >>> See http://www.FreeRTOS.org/Documentation for details. <<< * - * * - * Thank you for using FreeRTOS, and thank you for your support! * + * Thank you! * * * *************************************************************************** - This file is part of the FreeRTOS distribution. FreeRTOS is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (version 2) as published by the - Free Software Foundation AND MODIFIED BY the FreeRTOS exception. - >>>NOTE<<< The modification to the GPL is included to allow you to - distribute a combined work that includes FreeRTOS without being obliged to - provide the source code for proprietary components outside of the FreeRTOS - kernel. FreeRTOS is distributed in the hope that it will be useful, but - WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for - more details. You should have received a copy of the GNU General Public - License and the FreeRTOS license exception along with FreeRTOS; if not it - can be viewed here: http://www.freertos.org/a00114.html and also obtained - by writing to Richard Barry, contact details for whom are available on the - FreeRTOS WEB site. + Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception. + + >>! NOTE: The modification to the GPL is included to allow you to distribute + >>! a combined work that includes FreeRTOS without being obliged to provide + >>! the source code for proprietary components outside of the FreeRTOS + >>! kernel. + + FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY + WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS + FOR A PARTICULAR PURPOSE. Full license text is available from the following + link: http://www.freertos.org/a00114.html 1 tab == 4 spaces! @@ -52,18 +45,22 @@ * * *************************************************************************** - - http://www.FreeRTOS.org - Documentation, training, latest versions, license - and contact details. + http://www.FreeRTOS.org - Documentation, books, training, latest versions, + license and Real Time Engineers Ltd. contact details. http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products, - including FreeRTOS+Trace - an indispensable productivity tool. + including FreeRTOS+Trace - an indispensable productivity tool, a DOS + compatible FAT file system, and our tiny thread aware UDP/IP stack. - Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell - the code with commercial support, indemnification, and middleware, under - the OpenRTOS brand: http://www.OpenRTOS.com. High Integrity Systems also - provide a safety engineered and independently SIL3 certified version under - the SafeRTOS brand: http://www.SafeRTOS.com. + http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High + Integrity Systems to sell under the OpenRTOS brand. Low cost OpenRTOS + licenses offer ticketed support, indemnification and middleware. + + http://www.SafeRTOS.com - High Integrity Systems also provide a safety + engineered and independently SIL3 certified version for use in safety and + mission critical applications that require provable dependability. + + 1 tab == 4 spaces! */ @@ -79,26 +76,39 @@ extern "C" { #endif -#include "mpu_wrappers.h" - /** - * Type by which queues are referenced. For example, a call to xQueueCreate - * returns (via a pointer parameter) an xQueueHandle variable that can then - * be used as a parameter to xQueueSend(), xQueueReceive(), etc. + * Type by which queues are referenced. For example, a call to xQueueCreate() + * returns an xQueueHandle variable that can then be used as a parameter to + * xQueueSend(), xQueueReceive(), etc. */ typedef void * xQueueHandle; +/** + * Type by which queue sets are referenced. For example, a call to + * xQueueCreateSet() returns an xQueueSet variable that can then be used as a + * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc. + */ +typedef void * xQueueSetHandle; + +/** + * Queue sets can contain both queues and semaphores, so the + * xQueueSetMemberHandle is defined as a type to be used where a parameter or + * return value can be either an xQueueHandle or an xSemaphoreHandle. + */ +typedef void * xQueueSetMemberHandle; /* For internal use only. */ -#define queueSEND_TO_BACK ( 0 ) -#define queueSEND_TO_FRONT ( 1 ) +#define queueSEND_TO_BACK ( ( portBASE_TYPE ) 0 ) +#define queueSEND_TO_FRONT ( ( portBASE_TYPE ) 1 ) +#define queueOVERWRITE ( ( portBASE_TYPE ) 2 ) /* For internal use only. These definitions *must* match those in queue.c. */ -#define queueQUEUE_TYPE_BASE ( 0U ) -#define queueQUEUE_TYPE_MUTEX ( 1U ) -#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( 2U ) -#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( 3U ) -#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( 4U ) +#define queueQUEUE_TYPE_BASE ( ( unsigned char ) 0U ) +#define queueQUEUE_TYPE_SET ( ( unsigned char ) 0U ) +#define queueQUEUE_TYPE_MUTEX ( ( unsigned char ) 1U ) +#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( unsigned char ) 2U ) +#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( unsigned char ) 3U ) +#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( unsigned char ) 4U ) /** * queue. h @@ -406,6 +416,89 @@ typedef void * xQueueHandle; */ #define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK ) +/** + * queue. h + * 
+ portBASE_TYPE xQueueOverwrite(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue
+						 );
+ *
+ * + * Only for use with queues that have a length of one - so the queue is either + * empty or full. + * + * Post an item on a queue. If the queue is already full then overwrite the + * value held in the queue. The item is queued by copy, not by reference. + * + * This function must not be called from an interrupt service routine. + * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle of the queue to which the data is being sent. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and + * therefore has the same return values as xQueueSendToFront(). However, pdPASS + * is the only value that can be returned because xQueueOverwrite() will write + * to the queue even when the queue is already full. + * + * Example usage: + 
+
+ void vFunction( void *pvParameters )
+ {
+ xQueueHandle xQueue;
+ unsigned long ulVarToSend, ulValReceived;
+
+	// Create a queue to hold one unsigned long value.  It is strongly
+	// recommended *not* to use xQueueOverwrite() on queues that can
+	// contain more than one value, and doing so will trigger an assertion
+	// if configASSERT() is defined.
+	xQueue = xQueueCreate( 1, sizeof( unsigned long ) );
+
+	// Write the value 10 to the queue using xQueueOverwrite().
+	ulVarToSend = 10;
+	xQueueOverwrite( xQueue, &ulVarToSend );
+
+	// Peeking the queue should now return 10, but leave the value 10 in
+	// the queue.  A block time of zero is used as it is known that the
+	// queue holds a value.
+	ulValReceived = 0;
+	xQueuePeek( xQueue, &ulValReceived, 0 );
+
+	if( ulValReceived != 10 )
+	{
+		// Error unless the item was removed by a different task.
+	}
+
+	// The queue is still full.  Use xQueueOverwrite() to overwrite the
+	// value held in the queue with 100.
+	ulVarToSend = 100;
+	xQueueOverwrite( xQueue, &ulVarToSend );
+
+	// This time read from the queue, leaving the queue empty once more.
+	// A block time of 0 is used again.
+	xQueueReceive( xQueue, &ulValReceived, 0 );
+
+	// The value read should be the last value written, even though the
+	// queue was already full when the value was written.
+	if( ulValReceived != 100 )
+	{
+		// Error!
+	}
+
+	// ...
+}
+
+ * \defgroup xQueueOverwrite xQueueOverwrite + * \ingroup QueueManagement + */ +#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE ) + /** * queue. h @@ -492,7 +585,7 @@ typedef void * xQueueHandle; * \defgroup xQueueSend xQueueSend * \ingroup QueueManagement */ -signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION; /** * queue. h @@ -513,9 +606,11 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const * Successfully received items remain on the queue so will be returned again * by the next call, or a call to xQueueReceive(). * - * This macro must not be used in an interrupt service routine. + * This macro must not be used in an interrupt service routine. See + * xQueuePeekFromISR() for an alternative that can be called from an interrupt + * service routine. * - * @param pxQueue The handle to the queue from which the item is to be + * @param xQueue The handle to the queue from which the item is to be * received. * * @param pvBuffer Pointer to the buffer into which the received item will @@ -588,6 +683,39 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const */ #define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdTRUE ) +/** + * queue. h + * 
+ portBASE_TYPE xQueuePeekFromISR(
+									xQueueHandle xQueue,
+									void *pvBuffer,
+								);
+ * + * A version of xQueuePeek() that can be called from an interrupt service + * routine (ISR). + * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * @param xQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * \defgroup xQueuePeekFromISR xQueuePeekFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION; + /** * queue. h * 
@@ -608,7 +736,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -702,7 +830,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  * This function must not be used in an interrupt service routine.  See
  * xQueueReceiveFromISR for an alternative that can.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -778,7 +906,7 @@ signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const
  * \defgroup xQueueReceive xQueueReceive
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek );
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -790,10 +918,27 @@ signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvB
  *
  * @return The number of messages available in the queue.
  *
- * \page uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
  * \ingroup QueueManagement
  */
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+
+/**
+ * queue. h
+ * 
unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue );

+ *
+ * Return the number of free spaces available in a queue.  This is equal to the
+ * number of items that can be sent to the queue before the queue becomes full
+ * if no items are removed.
+ *
+ * @param xQueue A handle to the queue being queried.
+ *
+ * @return The number of spaces available in the queue.
+ *
+ * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
+ * \ingroup QueueManagement
+ */
+unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
@@ -804,16 +949,16 @@ unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
  *
  * @param xQueue A handle to the queue to be deleted.
  *
- * \page vQueueDelete vQueueDelete
+ * \defgroup vQueueDelete vQueueDelete
  * \ingroup QueueManagement
  */
-void vQueueDelete( xQueueHandle pxQueue );
+void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendToFrontFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -877,14 +1022,14 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
+#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
 
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendToBackFromISR(
-										 xQueueHandle pxQueue,
+										 xQueueHandle xQueue,
 										 const void *pvItemToQueue,
 										 portBASE_TYPE *pxHigherPriorityTaskWoken
 									  );
@@ -948,13 +1093,100 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+
+/**
+ * queue. h
+ * 
+ portBASE_TYPE xQueueOverwriteFromISR(
+							  xQueueHandle xQueue,
+							  const void * pvItemToQueue,
+							  portBASE_TYPE *pxHigherPriorityTaskWoken
+						 );
+ * 

+ *
+ * A version of xQueueOverwrite() that can be used in an interrupt service
+ * routine (ISR).
+ *
+ * Only for use with queues that can hold a single item - so the queue is either
+ * empty or full.
+ *
+ * Post an item on a queue.  If the queue is already full then overwrite the
+ * value held in the queue.  The item is queued by copy, not by reference.
+ *
+ * @param xQueue The handle to the queue on which the item is to be posted.
+ *
+ * @param pvItemToQueue A pointer to the item that is to be placed on the
+ * queue.  The size of the items the queue will hold was defined when the
+ * queue was created, so this many bytes will be copied from pvItemToQueue
+ * into the queue storage area.
+ *
+ * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set
+ * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
+ * to unblock, and the unblocked task has a priority higher than the currently
+ * running task.  If xQueueOverwriteFromISR() sets this value to pdTRUE then
+ * a context switch should be requested before the interrupt is exited.
+ *
+ * @return xQueueOverwriteFromISR() is a macro that calls
+ * xQueueGenericSendFromISR(), and therefore has the same return values as
+ * xQueueSendToFrontFromISR().  However, pdPASS is the only value that can be
+ * returned because xQueueOverwriteFromISR() will write to the queue even when
+ * the queue is already full.
+ *
+ * Example usage:
+   
+
+ xQueueHandle xQueue;
+ 
+ void vFunction( void *pvParameters )
+ {
+ 	// Create a queue to hold one unsigned long value.  It is strongly
+	// recommended *not* to use xQueueOverwriteFromISR() on queues that can
+	// contain more than one value, and doing so will trigger an assertion
+	// if configASSERT() is defined.
+	xQueue = xQueueCreate( 1, sizeof( unsigned long ) );
+}
+
+void vAnInterruptHandler( void )
+{
+// xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
+portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+unsigned long ulVarToSend, ulValReceived;
+
+	// Write the value 10 to the queue using xQueueOverwriteFromISR().
+	ulVarToSend = 10;
+	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+
+	// The queue is full, but calling xQueueOverwriteFromISR() again will still
+	// pass because the value held in the queue will be overwritten with the
+	// new value.
+	ulVarToSend = 100;
+	xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
+
+	// Reading from the queue will now return 100.
+
+	// ...
+	
+	if( xHigherPrioritytaskWoken == pdTRUE )
+	{
+		// Writing to the queue caused a task to unblock and the unblocked task
+		// has a priority higher than or equal to the priority of the currently
+		// executing task (the task this interrupt interrupted).  Perform a context
+		// switch so this interrupt returns directly to the unblocked task.
+		portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
+	}
+}
+ 

+ * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
+ * \ingroup QueueManagement
+ */
+#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueSendFromISR(
-									 xQueueHandle pxQueue,
+									 xQueueHandle xQueue,
 									 const void *pvItemToQueue,
 									 portBASE_TYPE *pxHigherPriorityTaskWoken
 								);
@@ -1014,7 +1246,7 @@ void vQueueDelete( xQueueHandle pxQueue );
 	if( xHigherPriorityTaskWoken )
 	{
 		// Actual macro used here is port specific.
-		taskYIELD_FROM_ISR ();
+		portYIELD_FROM_ISR ();
 	}
  }
  

@@ -1022,13 +1254,13 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-#define xQueueSendFromISR( pxQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
+#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueGenericSendFromISR(
-										   xQueueHandle	pxQueue,
+										   xQueueHandle		xQueue,
 										   const	void	*pvItemToQueue,
 										   portBASE_TYPE	*pxHigherPriorityTaskWoken,
 										   portBASE_TYPE	xCopyPosition
@@ -1100,22 +1332,22 @@ void vQueueDelete( xQueueHandle pxQueue );
  * \defgroup xQueueSendFromISR xQueueSendFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
 
 /**
  * queue. h
  * 
  portBASE_TYPE xQueueReceiveFromISR(
-									   xQueueHandle	pxQueue,
+									   xQueueHandle	xQueue,
 									   void	*pvBuffer,
-									   portBASE_TYPE	*pxTaskWoken
+									   portBASE_TYPE *pxTaskWoken
 								   );
  * 

  *
  * Receive an item from a queue.  It is safe to use this function from within an
  * interrupt service routine.
  *
- * @param pxQueue The handle to the queue from which the item is to be
+ * @param xQueue The handle to the queue from which the item is to be
  * received.
  *
  * @param pvBuffer Pointer to the buffer into which the received item will
@@ -1189,15 +1421,15 @@ signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void
  * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
  * \ingroup QueueManagement
  */
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken );
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
 
 /*
  * Utilities to query queues that are safe to use from an ISR.  These utilities
  * should be used only from witin an ISR, or within a critical section.
  */
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue );
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue );
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue );
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 
 /*
@@ -1214,8 +1446,8 @@ unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue
  * responsiveness to gain execution speed, whereas the fully featured API
  * sacrifices execution speed to ensure better interrupt responsiveness.
  */
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
+signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
 #define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
 #define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
 #define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( ( xQueue ), ( pvBuffer ), ( xTicksToWait ), pdFALSE )
@@ -1230,26 +1462,26 @@ signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const
  * should not be called directly from application code.  Instead use the macro
  * wrappers defined within croutine.h.
  */
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait );
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken );
+signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken );
+signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait );
+signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait );
 
 /*
  * For internal use only.  Use xSemaphoreCreateMutex(),
  * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
  * these functions directly.
  */
-xQueueHandle xQueueCreateMutex( unsigned char ucQueueType );
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount );
-void* xQueueGetMutexHolder( xQueueHandle xSemaphore );
+xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
+xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
+void* xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
 
 /*
  * For internal use only.  Use xSemaphoreTakeMutexRecursive() or
  * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
  */
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime );
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
+portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) PRIVILEGED_FUNCTION;
 
 /*
  * Reset a queue back to its original empty state.  pdPASS is returned if the
@@ -1257,7 +1489,7 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
  * reset because there are tasks blocked on the queue waiting to either
  * receive from the queue or send to the queue.
  */
-#define xQueueReset( pxQueue ) xQueueGenericReset( pxQueue, pdFALSE )
+#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
 
 /*
  * The registry is provided as a means for kernel aware debuggers to
@@ -1279,19 +1511,170 @@ portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex );
  * @param pcName The name to be associated with the handle.  This is the
  * name that the kernel aware debugger will display.
  */
-#if configQUEUE_REGISTRY_SIZE > 0U
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName );
+#if configQUEUE_REGISTRY_SIZE > 0
+	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcName ) PRIVILEGED_FUNCTION;
+#endif
+
+/*
+ * The registry is provided as a means for kernel aware debuggers to
+ * locate queues, semaphores and mutexes.  Call vQueueAddToRegistry() add
+ * a queue, semaphore or mutex handle to the registry if you want the handle
+ * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to
+ * remove the queue, semaphore or mutex from the register.  If you are not using
+ * a kernel aware debugger then this function can be ignored.
+ *
+ * @param xQueue The handle of the queue being removed from the registry.
+ */
+#if configQUEUE_REGISTRY_SIZE > 0
+	void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 #endif
 
 /*
  * Generic version of the queue creation function, which is in turn called by
  * any queue, semaphore or mutex creation function or macro.
  */
-xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType );
+xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
+
+/*
+ * Queue sets provide a mechanism to allow a task to block (pend) on a read
+ * operation from multiple queues or semaphores simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * A queue set must be explicitly created using a call to xQueueCreateSet()
+ * before it can be used.  Once created, standard FreeRTOS queues and semaphores
+ * can be added to the set using calls to xQueueAddToSet().
+ * xQueueSelectFromSet() is then used to determine which, if any, of the queues
+ * or semaphores contained in the set is in a state where a queue read or
+ * semaphore take operation would be successful.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  An additional 4 bytes of RAM is required for each space in a every
+ * queue added to a queue set.  Therefore counting semaphores that have a high
+ * maximum count value should not be added to a queue set.
+ *
+ * Note 4:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param uxEventQueueLength Queue sets store events that occur on
+ * the queues and semaphores contained in the set.  uxEventQueueLength specifies
+ * the maximum number of events that can be queued at once.  To be absolutely
+ * certain that events are not lost uxEventQueueLength should be set to the
+ * total sum of the length of the queues added to the set, where binary
+ * semaphores and mutexes have a length of 1, and counting semaphores have a
+ * length set by their maximum count value.  Examples:
+ *  + If a queue set is to hold a queue of length 5, another queue of length 12,
+ *    and a binary semaphore, then uxEventQueueLength should be set to
+ *    (5 + 12 + 1), or 18.
+ *  + If a queue set is to hold three binary semaphores then uxEventQueueLength
+ *    should be set to (1 + 1 + 1 ), or 3.
+ *  + If a queue set is to hold a counting semaphore that has a maximum count of
+ *    5, and a counting semaphore that has a maximum count of 3, then
+ *    uxEventQueueLength should be set to (5 + 3), or 8.
+ *
+ * @return If the queue set is created successfully then a handle to the created
+ * queue set is returned.  Otherwise NULL is returned.
+ */
+xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength ) PRIVILEGED_FUNCTION;
+
+/*
+ * Adds a queue or semaphore to a queue set that was previously created by a
+ * call to xQueueCreateSet().
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being added to
+ * the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set to which the queue or semaphore
+ * is being added.
+ *
+ * @return If the queue or semaphore was successfully added to the queue set
+ * then pdPASS is returned.  If the queue could not be successfully added to the
+ * queue set because it is already a member of a different queue set then pdFAIL
+ * is returned.
+ */
+portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
+
+/*
+ * Removes a queue or semaphore from a queue set.  A queue or semaphore can only
+ * be removed from a set if the queue or semaphore is empty.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * @param xQueueOrSemaphore The handle of the queue or semaphore being removed
+ * from the queue set (cast to an xQueueSetMemberHandle type).
+ *
+ * @param xQueueSet The handle of the queue set in which the queue or semaphore
+ * is included.
+ *
+ * @return If the queue or semaphore was successfully removed from the queue set
+ * then pdPASS is returned.  If the queue was not in the queue set, or the
+ * queue (or semaphore) was not empty, then pdFAIL is returned.
+ */
+portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
+
+/*
+ * xQueueSelectFromSet() selects from the members of a queue set a queue or
+ * semaphore that either contains data (in the case of a queue) or is available
+ * to take (in the case of a semaphore).  xQueueSelectFromSet() effectively
+ * allows a task to block (pend) on a read operation on all the queues and
+ * semaphores in a queue set simultaneously.
+ *
+ * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
+ * function.
+ *
+ * Note 1:  See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
+ * for reasons why queue sets are very rarely needed in practice as there are
+ * simpler methods of blocking on multiple objects.
+ *
+ * Note 2:  Blocking on a queue set that contains a mutex will not cause the
+ * mutex holder to inherit the priority of the blocked task.
+ *
+ * Note 3:  A receive (in the case of a queue) or take (in the case of a
+ * semaphore) operation must not be performed on a member of a queue set unless
+ * a call to xQueueSelectFromSet() has first returned a handle to that set member.
+ *
+ * @param xQueueSet The queue set on which the task will (potentially) block.
+ *
+ * @param xBlockTimeTicks The maximum time, in ticks, that the calling task will
+ * remain in the Blocked state (with other tasks executing) to wait for a member
+ * of the queue set to be ready for a successful queue read or semaphore take
+ * operation.
+ *
+ * @return xQueueSelectFromSet() will return the handle of a queue (cast to
+ * a xQueueSetMemberHandle type) contained in the queue set that contains data,
+ * or the handle of a semaphore (cast to a xQueueSetMemberHandle type) contained
+ * in the queue set that is available, or NULL if no such queue or semaphore
+ * exists before before the specified block time expires.
+ */
+xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks ) PRIVILEGED_FUNCTION;
+
+/*
+ * A version of xQueueSelectFromSet() that can be used from an ISR.
+ */
+xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet ) PRIVILEGED_FUNCTION;
 
 /* Not public API functions. */
-void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait );
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue );
+void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION;
+void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
+unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
+unsigned char ucQueueGetQueueType( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
 
 
 #ifdef __cplusplus
diff --git a/vendor/freertos/freertos/Source/include/semphr.h b/vendor/freertos/freertos/Source/include/semphr.h
index 837804f67..f2a410170 100644
--- a/vendor/freertos/freertos/Source/include/semphr.h
+++ b/vendor/freertos/freertos/Source/include/semphr.h
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 #ifndef SEMAPHORE_H
@@ -86,6 +83,13 @@ typedef xQueueHandle xSemaphoreHandle;
  * semphr. h
  * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )

  *
+ * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
+ * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
+ * the vSemaphoreCreateBinary() macro are created in a state such that the
+ * first call to 'take' the semaphore would pass, whereas binary semaphores
+ * created using xSemaphoreCreateBinary() are created in a state such that the
+ * the semaphore must first be 'given' before it can be 'taken'.
+ *
  * Macro that implements a semaphore by using the existing queue mechanism.
  * The queue length is 1 as this is a binary semaphore.  The data size is 0
  * as we don't want to actually store any data - we just want to know if the
@@ -102,7 +106,7 @@ typedef xQueueHandle xSemaphoreHandle;
  *
  * Example usage:
  
- xSemaphoreHandle xSemaphore;
+ xSemaphoreHandle xSemaphore = NULL;
 
  void vATask( void * pvParameters )
  {
@@ -125,10 +129,57 @@ typedef xQueueHandle xSemaphoreHandle;
 		( xSemaphore ) = xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE );	\
 		if( ( xSemaphore ) != NULL )																											\
 		{																																		\
-			xSemaphoreGive( ( xSemaphore ) );																									\
+			( void ) xSemaphoreGive( ( xSemaphore ) );																							\
 		}																																		\
 	}
 
+/**
+ * semphr. h
+ * 
xSemaphoreHandle xSemaphoreCreateBinary( void )

+ *
+ * The old vSemaphoreCreateBinary() macro is now deprecated in favour of this
+ * xSemaphoreCreateBinary() function.  Note that binary semaphores created using
+ * the vSemaphoreCreateBinary() macro are created in a state such that the
+ * first call to 'take' the semaphore would pass, whereas binary semaphores
+ * created using xSemaphoreCreateBinary() are created in a state such that the
+ * the semaphore must first be 'given' before it can be 'taken'.
+ *
+ * Function that creates a semaphore by using the existing queue mechanism.
+ * The queue length is 1 as this is a binary semaphore.  The data size is 0
+ * as nothing is actually stored - all that is important is whether the queue is
+ * empty or full (the binary semaphore is available or not).
+ *
+ * This type of semaphore can be used for pure synchronisation between tasks or
+ * between an interrupt and a task.  The semaphore need not be given back once
+ * obtained, so one task/interrupt can continuously 'give' the semaphore while
+ * another continuously 'takes' the semaphore.  For this reason this type of
+ * semaphore does not use a priority inheritance mechanism.  For an alternative
+ * that does use priority inheritance see xSemaphoreCreateMutex().
+ *
+ * @return Handle to the created semaphore.
+ *
+ * Example usage:
+ 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateBinary();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.
+    }
+ }
+ 

+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
+ * \ingroup Semaphores
+ */
+#define xSemaphoreCreateBinary() xQueueGenericCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
+
 /**
  * semphr. h
  * 
xSemaphoreTake(
@@ -764,7 +815,7 @@ typedef xQueueHandle xSemaphoreHandle;
  *
  * @param xSemaphore A handle to the semaphore to be deleted.
  *
- * \page vSemaphoreDelete vSemaphoreDelete
+ * \defgroup vSemaphoreDelete vSemaphoreDelete
  * \ingroup Semaphores
  */
 #define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( xQueueHandle ) ( xSemaphore ) )
diff --git a/vendor/freertos/freertos/Source/include/task.h b/vendor/freertos/freertos/Source/include/task.h
index ac55813b6..ae03a5338 100644
--- a/vendor/freertos/freertos/Source/include/task.h
+++ b/vendor/freertos/freertos/Source/include/task.h
@@ -1,79 +1,76 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
-
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-	 *    not run, what could be wrong?                                      *
-	 *                                                                       *
-	 *    http://www.FreeRTOS.org/FAQHelp.html                               *
-	 *                                                                       *
+     *    not run, what could be wrong?"                                     *
+     *                                                                       *
+     *    http://www.FreeRTOS.org/FAQHelp.html                               *
+     *                                                                       *
     ***************************************************************************
 
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    http://www.FreeRTOS.org - Documentation, training, latest information,
-    license and contact details.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-	http://www.FreeRTOS.org/plus - Selection of FreeRTOS ecosystem products,
-	including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
 
-	Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-	the code with commercial support, indemnification, and middleware, under
-	the OpenRTOS brand:  http://www.OpenRTOS.com.  High Integrity Systems also
-	provide a safety engineered and independently SIL3 certified version under
-	the	SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
-#ifndef TASK_H
-#define TASK_H
+#ifndef INC_TASK_H
+#define INC_TASK_H
 
 #ifndef INC_FREERTOS_H
 	#error "include FreeRTOS.h must appear in source files before include task.h"
 #endif
 
-#include "portable.h"
 #include "list.h"
 
 #ifdef __cplusplus
@@ -84,7 +81,7 @@ extern "C" {
  * MACROS AND DEFINITIONS
  *----------------------------------------------------------*/
 
-#define tskKERNEL_VERSION_NUMBER "V7.3.0"
+#define tskKERNEL_VERSION_NUMBER "V7.6.0"
 
 /**
  * task. h
@@ -93,11 +90,21 @@ extern "C" {
  * returns (via a pointer parameter) an xTaskHandle variable that can then
  * be used as a parameter to vTaskDelete to delete the task.
  *
- * \page xTaskHandle xTaskHandle
+ * \defgroup xTaskHandle xTaskHandle
  * \ingroup Tasks
  */
 typedef void * xTaskHandle;
 
+/* Task states returned by eTaskGetState. */
+typedef enum
+{
+	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
+	eReady,			/* The task being queried is in a read or pending ready list. */
+	eBlocked,		/* The task being queried is in the Blocked state. */
+	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
+	eDeleted		/* The task being queried has been deleted, but its TCB has not yet been freed. */
+} eTaskState;
+
 /*
  * Used internally only.
  */
@@ -131,15 +138,28 @@ typedef struct xTASK_PARAMTERS
 	xMemoryRegion xRegions[ portNUM_CONFIGURABLE_REGIONS ];
 } xTaskParameters;
 
-/* Task states returned by eTaskStateGet. */
+/* Used with the uxTaskGetSystemState() function to return the state of each task
+in the system. */
+typedef struct xTASK_STATUS
+{
+	xTaskHandle xHandle;						/* The handle of the task to which the rest of the information in the structure relates. */
+	const signed char *pcTaskName;				/* A pointer to the task's name.  This value will be invalid if the task was deleted since the structure was populated! */
+	unsigned portBASE_TYPE xTaskNumber;			/* A number unique to the task. */
+	eTaskState eCurrentState;					/* The state in which the task existed when the structure was populated. */
+	unsigned portBASE_TYPE uxCurrentPriority;	/* The priority at which the task was running (may be inherited) when the structure was populated. */
+	unsigned portBASE_TYPE uxBasePriority;		/* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex.  Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
+	unsigned long ulRunTimeCounter;				/* The total run time allocated to the task so far, as defined by the run time stats clock.  See http://www.freertos.org/rtos-run-time-stats.html.  Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
+	unsigned short usStackHighWaterMark;		/* The minimum amount of stack space that has remained for the task since the task was created.  The closer this value is to zero the closer the task has come to overflowing its stack. */
+} xTaskStatusType;
+
+/* Possible return values for eTaskConfirmSleepModeStatus(). */
 typedef enum
 {
-	eRunning = 0,	/* A task is querying the state of itself, so must be running. */
-	eReady,			/* The task being queried is in a read or pending ready list. */
-	eBlocked,		/* The task being queried is in the Blocked state. */
-	eSuspended,		/* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
-	eDeleted		/* The task being queried has been deleted, but its TCB has not yet been freed. */
-} eTaskState;
+	eAbortSleep = 0,		/* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
+	eStandardSleep,			/* Enter a sleep mode that will not last any longer than the expected idle time. */
+	eNoTasksWaitingTimeout	/* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
+} eSleepModeStatus;
+
 
 /*
  * Defines the priority used by the idle task.  This must not be modified.
@@ -153,7 +173,7 @@ typedef enum
  *
  * Macro for forcing a context switch.
  *
- * \page taskYIELD taskYIELD
+ * \defgroup taskYIELD taskYIELD
  * \ingroup SchedulerControl
  */
 #define taskYIELD()					portYIELD()
@@ -167,7 +187,7 @@ typedef enum
  * NOTE: This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * \page taskENTER_CRITICAL taskENTER_CRITICAL
+ * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
  * \ingroup SchedulerControl
  */
 #define taskENTER_CRITICAL()		portENTER_CRITICAL()
@@ -181,7 +201,7 @@ typedef enum
  * NOTE: This may alter the stack (depending on the portable implementation)
  * so must be used with care!
  *
- * \page taskEXIT_CRITICAL taskEXIT_CRITICAL
+ * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
  * \ingroup SchedulerControl
  */
 #define taskEXIT_CRITICAL()			portEXIT_CRITICAL()
@@ -191,7 +211,7 @@ typedef enum
  *
  * Macro to disable all maskable interrupts.
  *
- * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
+ * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
 #define taskDISABLE_INTERRUPTS()	portDISABLE_INTERRUPTS()
@@ -201,15 +221,15 @@ typedef enum
  *
  * Macro to enable microcontroller interrupts.
  *
- * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
+ * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
  * \ingroup SchedulerControl
  */
 #define taskENABLE_INTERRUPTS()		portENABLE_INTERRUPTS()
 
 /* Definitions returned by xTaskGetSchedulerState(). */
-#define taskSCHEDULER_NOT_STARTED	0
-#define taskSCHEDULER_RUNNING		1
-#define taskSCHEDULER_SUSPENDED		2
+#define taskSCHEDULER_NOT_STARTED	( ( portBASE_TYPE ) 0 )
+#define taskSCHEDULER_RUNNING		( ( portBASE_TYPE ) 1 )
+#define taskSCHEDULER_SUSPENDED		( ( portBASE_TYPE ) 2 )
 
 /*-----------------------------------------------------------
  * TASK CREATION API
@@ -412,7 +432,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
 
 /**
  * task. h
- * 
void vTaskDelete( xTaskHandle pxTask );

+ * 
void vTaskDelete( xTaskHandle xTask );

  *
  * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -430,7 +450,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * See the demo application file death.c for sample code that utilises
  * vTaskDelete ().
  *
- * @param pxTask The handle of the task to be deleted.  Passing NULL will
+ * @param xTask The handle of the task to be deleted.  Passing NULL will
  * cause the calling task to be deleted.
  *
  * Example usage:
@@ -449,7 +469,7 @@ void vTaskAllocateMPURegions( xTaskHandle xTask, const xMemoryRegion * const pxR
  * \defgroup vTaskDelete vTaskDelete
  * \ingroup Tasks
  */
-void vTaskDelete( xTaskHandle pxTaskToDelete ) PRIVILEGED_FUNCTION;
+void vTaskDelete( xTaskHandle xTaskToDelete ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * TASK CONTROL API
@@ -566,17 +586,17 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
 
 /**
  * task. h
- * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );

+ * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask );

  *
  * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Obtain the priority of any task.
  *
- * @param pxTask Handle of the task to be queried.  Passing a NULL
+ * @param xTask Handle of the task to be queried.  Passing a NULL
  * handle results in the priority of the calling task being returned.
  *
- * @return The priority of pxTask.
+ * @return The priority of xTask.
  *
  * Example usage:
    
@@ -609,29 +629,29 @@ void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTim
  * \defgroup uxTaskPriorityGet uxTaskPriorityGet
  * \ingroup TaskCtrl
  */
-unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
+unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
eTaskState eTaskStateGet( xTaskHandle pxTask );

+ * 
eTaskState eTaskGetState( xTaskHandle xTask );

  *
- * INCLUDE_eTaskStateGet must be defined as 1 for this function to be available.
+ * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
  * See the configuration section for more information.
  *
  * Obtain the state of any task.  States are encoded by the eTaskState
  * enumerated type.
  *
- * @param pxTask Handle of the task to be queried.
+ * @param xTask Handle of the task to be queried.
  *
- * @return The state of pxTask at the time the function was called.  Note the
+ * @return The state of xTask at the time the function was called.  Note the
  * state of the task might change between the function being called, and the
  * functions return value being tested by the calling task.
  */
-eTaskState eTaskStateGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
+eTaskState eTaskGetState( xTaskHandle xTask ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );

+ * 
void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority );

  *
  * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -641,7 +661,7 @@ eTaskState eTaskStateGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
  * A context switch will occur before the function returns if the priority
  * being set is higher than the currently executing task.
  *
- * @param pxTask Handle to the task for which the priority is being set.
+ * @param xTask Handle to the task for which the priority is being set.
  * Passing a NULL handle results in the priority of the calling task being set.
  *
  * @param uxNewPriority The priority to which the task will be set.
@@ -669,11 +689,11 @@ eTaskState eTaskStateGet( xTaskHandle pxTask ) PRIVILEGED_FUNCTION;
  * \defgroup vTaskPrioritySet vTaskPrioritySet
  * \ingroup TaskCtrl
  */
-void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
+void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );

+ * 
void vTaskSuspend( xTaskHandle xTaskToSuspend );

  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -685,7 +705,7 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * i.e. calling vTaskSuspend () twice on the same task still only requires one
  * call to vTaskResume () to ready the suspended task.
  *
- * @param pxTaskToSuspend Handle to the task being suspended.  Passing a NULL
+ * @param xTaskToSuspend Handle to the task being suspended.  Passing a NULL
  * handle will cause the calling task to be suspended.
  *
  * Example usage:
@@ -720,11 +740,11 @@ void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority
  * \defgroup vTaskSuspend vTaskSuspend
  * \ingroup TaskCtrl
  */
-void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
+void vTaskSuspend( xTaskHandle xTaskToSuspend ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void vTaskResume( xTaskHandle pxTaskToResume );

+ * 
void vTaskResume( xTaskHandle xTaskToResume );

  *
  * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
  * See the configuration section for more information.
@@ -735,7 +755,7 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * vTaskResume ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * Example usage:
    
@@ -769,11 +789,11 @@ void vTaskSuspend( xTaskHandle pxTaskToSuspend ) PRIVILEGED_FUNCTION;
  * \defgroup vTaskResume vTaskResume
  * \ingroup TaskCtrl
  */
-void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+void vTaskResume( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );

+ * 
void xTaskResumeFromISR( xTaskHandle xTaskToResume );

  *
  * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
  * available.  See the configuration section for more information.
@@ -784,12 +804,12 @@ void vTaskResume( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
  * will be made available for running again by a single call to
  * xTaskResumeFromISR ().
  *
- * @param pxTaskToResume Handle to the task being readied.
+ * @param xTaskToResume Handle to the task being readied.
  *
  * \defgroup vTaskResumeFromISR vTaskResumeFromISR
  * \ingroup TaskCtrl
  */
-portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume ) PRIVILEGED_FUNCTION;
 
 /*-----------------------------------------------------------
  * SCHEDULER CONTROL
@@ -987,7 +1007,7 @@ signed portBASE_TYPE xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
 
 /**
  * task. h
- * 
signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask );

+ * 
signed portBASE_TYPE xTaskIsTaskSuspended( const xTaskHandle xTask );

  *
  * 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
@@ -1006,7 +1026,7 @@ signed portBASE_TYPE xTaskIsTaskSuspended( xTaskHandle xTask ) PRIVILEGED_FUNCTI
  *
  * @return The count of ticks since vTaskStartScheduler was called.
  *
- * \page xTaskGetTickCount xTaskGetTickCount
+ * \defgroup xTaskGetTickCount xTaskGetTickCount
  * \ingroup TaskUtils
  */
 portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
@@ -1022,7 +1042,7 @@ portTickType xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
  * microcontroller being used or interrupt nesting is either not supported or
  * not being used.
  *
- * \page xTaskGetTickCount xTaskGetTickCount
+ * \defgroup xTaskGetTickCount xTaskGetTickCount
  * \ingroup TaskUtils
  */
 portTickType xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
@@ -1036,7 +1056,7 @@ portTickType xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
  * has been deleted but not yet freed by the idle task will also be
  * included in the count.
  *
- * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
+ * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
  * \ingroup TaskUtils
  */
 unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
@@ -1050,69 +1070,11 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
  * handle, or by setting xTaskToQuery to NULL.  INCLUDE_pcTaskGetTaskName must be
  * set to 1 in FreeRTOSConfig.h for pcTaskGetTaskName() to be available.
  *
- * \page pcTaskGetTaskName pcTaskGetTaskName
+ * \defgroup pcTaskGetTaskName pcTaskGetTaskName
  * \ingroup TaskUtils
  */
 signed char *pcTaskGetTaskName( xTaskHandle xTaskToQuery );
 
-/**
- * task. h
- * 
void vTaskList( char *pcWriteBuffer );

- *
- * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
- * available.  See the configuration section for more information.
- *
- * NOTE: This function will disable interrupts for its duration.  It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Lists all the current tasks, along with their current state and stack
- * usage high water mark.
- *
- * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
- * suspended ('S').
- *
- * @param pcWriteBuffer A buffer into which the above mentioned details
- * will be written, in ascii form.  This buffer is assumed to be large
- * enough to contain the generated report.  Approximately 40 bytes per
- * task should be sufficient.
- *
- * \page vTaskList vTaskList
- * \ingroup TaskUtils
- */
-void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );

- *
- * configGENERATE_RUN_TIME_STATS must be defined as 1 for this function
- * to be available.  The application must also then provide definitions
- * for portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
- * portGET_RUN_TIME_COUNTER_VALUE to configure a peripheral timer/counter
- * and return the timers current count value respectively.  The counter
- * should be at least 10 times the frequency of the tick count.
- *
- * NOTE: This function will disable interrupts for its duration.  It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
- * accumulated execution time being stored for each task.  The resolution
- * of the accumulated time value depends on the frequency of the timer
- * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
- * Calling vTaskGetRunTimeStats() writes the total execution time of each
- * task into a buffer, both as an absolute count value and as a percentage
- * of the total system execution time.
- *
- * @param pcWriteBuffer A buffer into which the execution times will be
- * written, in ascii form.  This buffer is assumed to be large enough to
- * contain the generated report.  Approximately 40 bytes per task should
- * be sufficient.
- *
- * \page vTaskGetRunTimeStats vTaskGetRunTimeStats
- * \ingroup TaskUtils
- */
-void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
-
 /**
  * task.h
  * 
unsigned portBASE_TYPE uxTaskGetStackHighWaterMark( xTaskHandle xTask );

@@ -1182,6 +1144,206 @@ portBASE_TYPE xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParameter
  */
 xTaskHandle xTaskGetIdleTaskHandle( void );
 
+/**
+ * configUSE_TRACE_FACILITY must bet defined as 1 in FreeRTOSConfig.h for
+ * uxTaskGetSystemState() to be available.
+ *
+ * uxTaskGetSystemState() populates an xTaskStatusType structure for each task in
+ * the system.  xTaskStatusType structures contain, among other things, members
+ * for the task handle, task name, task priority, task state, and total amount
+ * of run time consumed by the task.  See the xTaskStatusType structure
+ * definition in this file for the full member list.
+ *
+ * NOTE:  This function is intended for debugging use only as its use results in
+ * the scheduler remaining suspended for an extended period.
+ *
+ * @param pxTaskStatusArray A pointer to an array of xTaskStatusType structures.
+ * The array must contain at least one xTaskStatusType structure for each task
+ * that is under the control of the RTOS.  The number of tasks under the control
+ * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function.
+ *
+ * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray
+ * parameter.  The size is specified as the number of indexes in the array, or
+ * the number of xTaskStatusType structures contained in the array, not by the
+ * number of bytes in the array.
+ *
+ * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in
+ * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the
+ * total run time (as defined by the run time stats clock, see
+ * http://www.freertos.org/rtos-run-time-stats.html) since the target booted.
+ * pulTotalRunTime can be set to NULL to omit the total run time information.
+ *
+ * @return The number of xTaskStatusType structures that were populated by
+ * uxTaskGetSystemState().  This should equal the number returned by the
+ * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed
+ * in the uxArraySize parameter was too small.
+ *
+ * Example usage:
+   
+    // This example demonstrates how a human readable table of run time stats
+	// information is generated from raw data provided by uxTaskGetSystemState().
+	// The human readable table is written to pcWriteBuffer
+	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE uxArraySize, x;
+	unsigned long ulTotalRunTime, ulStatsAsPercentage;
+
+		// Make sure the write buffer does not contain a string.
+		*pcWriteBuffer = 0x00;
+
+		// Take a snapshot of the number of tasks in case it changes while this
+		// function is executing.
+		uxArraySize = uxCurrentNumberOfTasks();
+
+		// Allocate a xTaskStatusType structure for each task.  An array could be
+		// allocated statically at compile time.
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		if( pxTaskStatusArray != NULL )
+		{
+			// Generate raw status information about each task.
+			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
+
+			// For percentage calculations.
+			ulTotalRunTime /= 100UL;
+
+			// Avoid divide by zero errors.
+			if( ulTotalRunTime > 0 )
+			{
+				// For each populated position in the pxTaskStatusArray array,
+				// format the raw data as human readable ASCII 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 / ulTotalRunTime;
+
+					if( ulStatsAsPercentage > 0UL )
+					{
+						sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+					}
+					else
+					{
+						// If the percentage is zero here then the task has
+						// consumed less than 1% of the total run time.
+						sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+					}
+
+					pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+				}
+			}
+
+			// The array is no longer needed, free the memory it consumes.
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+	

+ */
+unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime );
+
+/**
+ * task. h
+ * 
void vTaskList( char *pcWriteBuffer );

+ *
+ * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must
+ * both be defined as 1 for this function to be available.  See the
+ * configuration section of the FreeRTOS.org website for more information.
+ *
+ * NOTE 1: This function will disable interrupts for its duration.  It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * Lists all the current tasks, along with their current state and stack
+ * usage high water mark.
+ *
+ * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
+ * suspended ('S').
+ *
+ * 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().
+ *
+ * @param pcWriteBuffer A buffer into which the above mentioned details
+ * will be written, in ascii form.  This buffer is assumed to be large
+ * enough to contain the generated report.  Approximately 40 bytes per
+ * task should be sufficient.
+ *
+ * \defgroup vTaskList vTaskList
+ * \ingroup TaskUtils
+ */
+void vTaskList( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
+
+/**
+ * task. h
+ * 
void vTaskGetRunTimeStats( char *pcWriteBuffer );

+ *
+ * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
+ * must both be defined as 1 for this function to be available.  The application
+ * must also then provide definitions for
+ * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE
+ * to configure a peripheral timer/counter and return the timers current count
+ * value respectively.  The counter should be at least 10 times the frequency of
+ * the tick count.
+ *
+ * NOTE 1: This function will disable interrupts for its duration.  It is
+ * not intended for normal application runtime use but as a debug aid.
+ *
+ * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
+ * accumulated execution time being stored for each task.  The resolution
+ * of the accumulated time value depends on the frequency of the timer
+ * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
+ * Calling vTaskGetRunTimeStats() writes the total execution time of each
+ * task into a buffer, both as an absolute count value and as a percentage
+ * of the total system execution time.
+ *
+ * NOTE 2:
+ *
+ * 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().
+ *
+ * @param pcWriteBuffer A buffer into which the execution times will be
+ * written, in ascii form.  This buffer is assumed to be large enough to
+ * contain the generated report.  Approximately 40 bytes per task should
+ * be sufficient.
+ *
+ * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
+ * \ingroup TaskUtils
+ */
+void vTaskGetRunTimeStats( signed char *pcWriteBuffer ) PRIVILEGED_FUNCTION;
+
 /*-----------------------------------------------------------
  * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
  *----------------------------------------------------------*/
@@ -1194,9 +1356,14 @@ xTaskHandle xTaskGetIdleTaskHandle( void );
  * Called from the real time kernel tick (either preemptive or cooperative),
  * this increments the tick count and checks if any tasks that are blocked
  * for a finite period required removing from a blocked list and placing on
- * a ready list.
+ * a ready list.  If a non-zero value is returned then a context switch is
+ * required because either:
+ *   + A task was removed from a blocked list because its timeout had expired,
+ *     or
+ *   + Time slicing is in use and there is a task of equal priority to the
+ *     currently running task.
  */
-void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
+portBASE_TYPE xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -1219,7 +1386,7 @@ void vTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
  * portTICK_RATE_MS can be used to convert kernel ticks into a real time
  * period.
  */
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -1234,7 +1401,7 @@ void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicks
  * @return pdTRUE if the task being removed has a higher priority than the task
  * making the call, otherwise pdFALSE.
  */
-void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
+void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
 
 /*
  * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE.  IT IS AN
@@ -1295,13 +1462,13 @@ portBASE_TYPE xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
  * Raises the priority of the mutex holder to that of the calling task should
  * the mutex holder have a priority less than the calling task.
  */
-void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
+void vTaskPriorityInherit( xTaskHandle const pxMutexHolder ) PRIVILEGED_FUNCTION;
 
 /*
  * Set the priority of a task back to its proper priority in the case that it
  * inherited a higher priority while it was holding a semaphore.
  */
-void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) PRIVILEGED_FUNCTION;
+void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder ) PRIVILEGED_FUNCTION;
 
 /*
  * Generic version of the task creation function which is in turn called by the
@@ -1329,10 +1496,25 @@ void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle );
  */
 void vTaskStepTick( portTickType xTicksToJump );
 
+/*
+ * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
+ * specific sleep function to determine if it is ok to proceed with the sleep,
+ * and if it is ok to proceed, if it is ok to sleep indefinitely.
+ *
+ * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
+ * called with the scheduler suspended, not from within a critical section.  It
+ * is therefore possible for an interrupt to request a context switch between
+ * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
+ * entered.  eTaskConfirmSleepModeStatus() should be called from a short
+ * critical section between the timer being stopped and the sleep mode being
+ * entered to ensure it is ok to proceed into the sleep mode.
+ */
+eSleepModeStatus eTaskConfirmSleepModeStatus( void );
+
 #ifdef __cplusplus
 }
 #endif
-#endif /* TASK_H */
+#endif /* INC_TASK_H */
 
 
 
diff --git a/vendor/freertos/freertos/Source/include/timers.h b/vendor/freertos/freertos/Source/include/timers.h
index 81240a6c4..e9100a467 100644
--- a/vendor/freertos/freertos/Source/include/timers.h
+++ b/vendor/freertos/freertos/Source/include/timers.h
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -74,9 +71,10 @@
 	#error "include FreeRTOS.h must appear in source files before include timers.h"
 #endif
 
-#include "portable.h"
-#include "list.h"
+/*lint -e537 This headers are only multiply included if the application code
+happens to also be including task.h. */
 #include "task.h"
+/*lint +e956 */
 
 #ifdef __cplusplus
 extern "C" {
@@ -85,10 +83,10 @@ extern "C" {
 /* IDs for commands that can be sent/received on the timer queue.  These are to
 be used solely through the macros that make up the public software timer API,
 as defined below. */
-#define tmrCOMMAND_START					0
-#define tmrCOMMAND_STOP						1
-#define tmrCOMMAND_CHANGE_PERIOD			2
-#define tmrCOMMAND_DELETE					3
+#define tmrCOMMAND_START					( ( portBASE_TYPE ) 0 )
+#define tmrCOMMAND_STOP						( ( portBASE_TYPE ) 1 )
+#define tmrCOMMAND_CHANGE_PERIOD			( ( portBASE_TYPE ) 2 )
+#define tmrCOMMAND_DELETE					( ( portBASE_TYPE ) 3 )
 
 /*-----------------------------------------------------------
  * MACROS AND DEFINITIONS
@@ -152,7 +150,7 @@ typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
  * structures, or the timer period was set to 0) then 0 is returned.
  *
  * Example usage:
- *
+ * @verbatim
  * #define NUM_TIMERS 5
  *
  * // An array to hold handles to the created timers.
@@ -172,7 +170,7 @@ typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
  *
  * 	   // Optionally do something if the pxTimer parameter is NULL.
  * 	   configASSERT( pxTimer );
- *
+ * 	
  *     // Which timer expired?
  *     lArrayIndex = ( long ) pvTimerGetTimerID( pxTimer );
  *
@@ -231,6 +229,7 @@ typedef void (*tmrTIMER_CALLBACK)( xTimerHandle xTimer );
  *     // Should not reach here.
  *     for( ;; );
  * }
+ * @endverbatim
  */
 xTimerHandle xTimerCreate( const signed char * const pcTimerName, portTickType xTimerPeriodInTicks, unsigned portBASE_TYPE uxAutoReload, void * pvTimerID, tmrTIMER_CALLBACK pxCallbackFunction ) PRIVILEGED_FUNCTION;
 
@@ -276,7 +275,7 @@ void *pvTimerGetTimerID( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
  * pdFALSE will be returned if the timer is active.
  *
  * Example usage:
- *
+ * @verbatim
  * // This function assumes xTimer has already been created.
  * void vAFunction( xTimerHandle xTimer )
  * {
@@ -289,11 +288,12 @@ void *pvTimerGetTimerID( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
  *         // xTimer is not active, do something else.
  *     }
  * }
+ * @endverbatim
  */
 portBASE_TYPE xTimerIsTimerActive( xTimerHandle xTimer ) PRIVILEGED_FUNCTION;
 
 /**
- * xTimerGetTimerDaemonTaskHandle() is only available if
+ * xTimerGetTimerDaemonTaskHandle() is only available if 
  * INCLUDE_xTimerGetTimerDaemonTaskHandle is set to 1 in FreeRTOSConfig.h.
  *
  * Simply returns the handle of the timer service/daemon task.  It it not valid
@@ -441,7 +441,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // This function assumes xTimer has already been created.  If the timer
  * // referenced by xTimer is already active when it is called, then the timer
  * // is deleted.  If the timer referenced by xTimer is not active when it is
@@ -471,6 +471,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *         }
  *     }
  * }
+ * @endverbatim
  */
  #define xTimerChangePeriod( xTimer, xNewPeriod, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xBlockTime ) )
 
@@ -560,7 +561,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // When a key is pressed, an LCD back-light is switched on.  If 5 seconds pass
  * // without a key being pressed, then the LCD back-light is switched off.  In
  * // this case, the timer is a one-shot timer.
@@ -632,6 +633,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *     // Should not reach here.
  *     for( ;; );
  * }
+ * @endverbatim
  */
 #define xTimerReset( xTimer, xBlockTime ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xBlockTime ) )
 
@@ -665,7 +667,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // This scenario assumes xBacklightTimer has already been created.  When a
  * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
  * // without a key being pressed, then the LCD back-light is switched off.  In
@@ -716,6 +718,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *         // depends on the FreeRTOS port being used.
  *     }
  * }
+ * @endverbatim
  */
 #define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
@@ -748,7 +751,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // This scenario assumes xTimer has already been created and started.  When
  * // an interrupt occurs, the timer should be simply stopped.
  *
@@ -778,6 +781,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *         // depends on the FreeRTOS port being used.
  *     }
  * }
+ * @endverbatim
  */
 #define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0, ( pxHigherPriorityTaskWoken ), 0U )
 
@@ -820,7 +824,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // This scenario assumes xTimer has already been created and started.  When
  * // an interrupt occurs, the period of xTimer should be changed to 500ms.
  *
@@ -850,6 +854,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *         // depends on the FreeRTOS port being used.
  *     }
  * }
+ * @endverbatim
  */
 #define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
 
@@ -884,7 +889,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
  *
  * Example usage:
- *
+ * @verbatim
  * // This scenario assumes xBacklightTimer has already been created.  When a
  * // key is pressed, an LCD back-light is switched on.  If 5 seconds pass
  * // without a key being pressed, then the LCD back-light is switched off.  In
@@ -935,6 +940,7 @@ xTaskHandle xTimerGetTimerDaemonTaskHandle( void );
  *         // depends on the FreeRTOS port being used.
  *     }
  * }
+ * @endverbatim
  */
 #define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
 
diff --git a/vendor/freertos/freertos/Source/list.c b/vendor/freertos/freertos/Source/list.c
index 0e0dd9d60..b716c117a 100644
--- a/vendor/freertos/freertos/Source/list.c
+++ b/vendor/freertos/freertos/Source/list.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -75,12 +72,12 @@
  * PUBLIC LIST API documented in list.h
  *----------------------------------------------------------*/
 
-void vListInitialise( xList *pxList )
+void vListInitialise( xList * const pxList )
 {
 	/* The list structure contains a list item which is used to mark the
 	end of the list.  To initialise the list the list end is inserted
 	as the only list entry. */
-	pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );
+	pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd );			/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
 	/* The list end value is the highest possible value in the list to
 	ensure it remains at the end of the list. */
@@ -88,35 +85,33 @@ void vListInitialise( xList *pxList )
 
 	/* The list end next and previous pointers point to itself so we know
 	when the list is empty. */
-	pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );
-	pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );
+	pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd );	/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
+	pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd );/*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 
 	pxList->uxNumberOfItems = ( unsigned portBASE_TYPE ) 0U;
 }
 /*-----------------------------------------------------------*/
 
-void vListInitialiseItem( xListItem *pxItem )
+void vListInitialiseItem( xListItem * const pxItem )
 {
 	/* Make sure the list item is not recorded as being on a list. */
 	pxItem->pvContainer = NULL;
 }
 /*-----------------------------------------------------------*/
 
-void vListInsertEnd( xList *pxList, xListItem *pxNewListItem )
+void vListInsertEnd( xList * const pxList, xListItem * const pxNewListItem )
 {
-volatile xListItem * pxIndex;
+xListItem * pxIndex;
 
 	/* Insert a new list item into pxList, but rather than sort the list,
 	makes the new list item the last item to be removed by a call to
-	pvListGetOwnerOfNextEntry.  This means it has to be the item pointed to by
-	the pxIndex member. */
+	pvListGetOwnerOfNextEntry. */
 	pxIndex = pxList->pxIndex;
 
-	pxNewListItem->pxNext = pxIndex->pxNext;
-	pxNewListItem->pxPrevious = pxList->pxIndex;
-	pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
-	pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem;
-	pxList->pxIndex = ( volatile xListItem * ) pxNewListItem;
+	pxNewListItem->pxNext = pxIndex;
+	pxNewListItem->pxPrevious = pxIndex->pxPrevious;
+	pxIndex->pxPrevious->pxNext = pxNewListItem;
+	pxIndex->pxPrevious = pxNewListItem;
 
 	/* Remember which list the item is in. */
 	pxNewListItem->pvContainer = ( void * ) pxList;
@@ -125,9 +120,9 @@ volatile xListItem * pxIndex;
 }
 /*-----------------------------------------------------------*/
 
-void vListInsert( xList *pxList, xListItem *pxNewListItem )
+void vListInsert( xList * const pxList, xListItem * const pxNewListItem )
 {
-volatile xListItem *pxIterator;
+xListItem *pxIterator;
 portTickType xValueOfInsertion;
 
 	/* Insert the new list item into the list, sorted in ulListItem order. */
@@ -155,14 +150,15 @@ portTickType xValueOfInsertion;
 			   interrupt priories, which can seem counter intuitive.  See
 			   configMAX_SYSCALL_INTERRUPT_PRIORITY on http://www.freertos.org/a00110.html
 			3) Calling an API function from within a critical section or when
-			   the scheduler is suspended.
+			   the scheduler is suspended, or calling an API function that does
+			   not end in "FromISR" from an interrupt.
 			4) Using a queue or semaphore before it has been initialised or
 			   before the scheduler has been started (are interrupts firing
 			   before vTaskStartScheduler() has been called?).
 		See http://www.freertos.org/FAQHelp.html for more tips.
 		**********************************************************************/
 
-		for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext )
+		for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 The mini list structure is used as the list end to save RAM.  This is checked and valid. */
 		{
 			/* There is nothing to do here, we are just iterating to the
 			wanted insertion position. */
@@ -170,9 +166,9 @@ portTickType xValueOfInsertion;
 	}
 
 	pxNewListItem->pxNext = pxIterator->pxNext;
-	pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem;
+	pxNewListItem->pxNext->pxPrevious = pxNewListItem;
 	pxNewListItem->pxPrevious = pxIterator;
-	pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem;
+	pxIterator->pxNext = pxNewListItem;
 
 	/* Remember which list the item is in.  This allows fast removal of the
 	item later. */
@@ -182,7 +178,7 @@ portTickType xValueOfInsertion;
 }
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxListRemove( xListItem *pxItemToRemove )
+unsigned portBASE_TYPE uxListRemove( xListItem * const pxItemToRemove )
 {
 xList * pxList;
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/port.c
index 961de6fec..3c280adaf 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portISR.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portISR.c
index 52237e149..05fe16881 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portISR.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portISR.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -155,7 +152,7 @@ void vPortYieldProcessor( void )
 		/* Clear tick timer interrupt indication. */
 		ulDummy = portTIMER_REG_BASE_PTR->TC_SR;  
 
-		vTaskIncrementTick();
+		xTaskIncrementTick();
 
 		/* Acknowledge the interrupt at AIC level... */
 		AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
@@ -180,8 +177,10 @@ void vPortYieldProcessor( void )
 
 		/* Increment the RTOS tick count, then look for the highest priority 
 		task that is ready to run. */
-		vTaskIncrementTick();
-		vTaskSwitchContext();
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			vTaskSwitchContext();
+		}
 
 		/* Acknowledge the interrupt at AIC level... */
 		AT91C_BASE_AIC->AIC_EOICR = portCLEAR_AIC_INTERRUPT;
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h
index 67170f726..dc077bce6 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91FR40008/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/port.c
index a316c6ac6..db2acb543 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c
index e6fddfd8a..bd4adadb1 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portISR.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -157,7 +154,7 @@ void vPortYieldProcessor( void )
 		/* Increment the tick count - which may wake some tasks but as the
 		preemptive scheduler is not being used any woken task is not given
 		processor time no matter what its priority. */
-		vTaskIncrementTick();
+		xTaskIncrementTick();
 		
 		/* Clear the PIT interrupt. */
 		ulDummy = AT91C_BASE_PITC->PITC_PIVR;
@@ -177,10 +174,11 @@ void vPortYieldProcessor( void )
 		portSAVE_CONTEXT();			
 
 		/* Increment the tick count - this may wake a task. */
-		vTaskIncrementTick();
-
-		/* Find the highest priority task that is ready to run. */
-		vTaskSwitchContext();
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Find the highest priority task that is ready to run. */
+			vTaskSwitchContext();
+		}
 		
 		/* End the interrupt in the AIC. */
 		AT91C_BASE_AIC->AIC_EOICR = AT91C_BASE_PITC->PITC_PIVR;;
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h
index 1e817d90d..6a4879cf3 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/port.c
index 1fe9a2538..cff7d0e14 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portISR.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portISR.c
index 51c485986..9a328a470 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portISR.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portISR.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -75,14 +72,14 @@
 
 /*
 	Changes from V2.5.2
-		
+
 	+ The critical section management functions have been changed.  These no
 	  longer modify the stack and are safe to use at all optimisation levels.
 	  The functions are now also the same for both ARM and THUMB modes.
 
 	Changes from V2.6.0
 
-	+ Removed the 'static' from the definition of vNonPreemptiveTick() to 
+	+ Removed the 'static' from the definition of vNonPreemptiveTick() to
 	  allow the demo to link when using the cooperative scheduler.
 
 	Changes from V3.2.4
@@ -108,7 +105,7 @@ volatile unsigned long ulCriticalNesting = 9999UL;
 /* ISR to handle manual context switches (from a call to taskYIELD()). */
 void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));
 
-/* 
+/*
  * The scheduler can only be started from ARM mode, hence the inclusion of this
  * function here.
  */
@@ -126,15 +123,15 @@ void vPortISRStartFirstTask( void )
 /*
  * Called by portYIELD() or taskYIELD() to manually force a context switch.
  *
- * When a context switch is performed from the task level the saved task 
+ * When a context switch is performed from the task level the saved task
  * context is made to look as if it occurred from within the tick ISR.  This
  * way the same restore context function can be used when restoring the context
  * saved from the ISR or that saved from a call to vPortYieldProcessor.
  */
 void vPortYieldProcessor( void )
 {
-	/* Within an IRQ ISR the link register has an offset from the true return 
-	address, but an SWI ISR does not.  Add the offset manually so the same 
+	/* Within an IRQ ISR the link register has an offset from the true return
+	address, but an SWI ISR does not.  Add the offset manually so the same
 	ISR return code can be used in both cases. */
 	__asm volatile ( "ADD		LR, LR, #4" );
 
@@ -145,31 +142,34 @@ void vPortYieldProcessor( void )
 	__asm volatile ( "bl vTaskSwitchContext" );
 
 	/* Restore the context of the new task. */
-	portRESTORE_CONTEXT();	
+	portRESTORE_CONTEXT();
 }
 /*-----------------------------------------------------------*/
 
-/* 
+/*
  * The ISR used for the scheduler tick.
  */
 void vTickISR( void ) __attribute__((naked));
 void vTickISR( void )
 {
 	/* Save the context of the interrupted task. */
-	portSAVE_CONTEXT();	
+	portSAVE_CONTEXT();
 
-	/* Increment the RTOS tick count, then look for the highest priority 
+	/* Increment the RTOS tick count, then look for the highest priority
 	task that is ready to run. */
-	__asm volatile( "bl vTaskIncrementTick" );
-
-	#if configUSE_PREEMPTION == 1
-		__asm volatile( "bl vTaskSwitchContext" );
-	#endif
+	__asm volatile
+	(
+		"	bl xTaskIncrementTick	\t\n" \
+		"	cmp r0, #0				\t\n" \
+		"	beq SkipContextSwitch	\t\n" \
+		"	bl vTaskSwitchContext	\t\n" \
+		"SkipContextSwitch:			\t\n"
+	);
 
 	/* Ready for the next interrupt. */
 	T0_IR = portTIMER_MATCH_ISR_BIT;
 	VICVectAddr = portCLEAR_VIC_INTERRUPT;
-	
+
 	/* Restore the context of the new task. */
 	portRESTORE_CONTEXT();
 }
@@ -188,7 +188,7 @@ void vTickISR( void )
 
 	void vPortDisableInterruptsFromThumb( void )
 	{
-		__asm volatile ( 
+		__asm volatile (
 			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
 			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
 			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
@@ -196,14 +196,14 @@ void vTickISR( void )
 			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
 			"BX		R14" );					/* Return back to thumb.					*/
 	}
-			
+
 	void vPortEnableInterruptsFromThumb( void )
 	{
-		__asm volatile ( 
-			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/	
-			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/	
-			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/	
-			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/	
+		__asm volatile (
+			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
+			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
+			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/
+			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
 			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
 			"BX		R14" );					/* Return back to thumb.					*/
 	}
@@ -217,14 +217,14 @@ in a variable, which is then saved as part of the stack context. */
 void vPortEnterCritical( void )
 {
 	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
-	__asm volatile ( 
+	__asm volatile (
 		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
 		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
 		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
 		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
 		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/
 
-	/* Now interrupts are disabled ulCriticalNesting can be accessed 
+	/* Now interrupts are disabled ulCriticalNesting can be accessed
 	directly.  Increment ulCriticalNesting to keep a count of how many times
 	portENTER_CRITICAL() has been called. */
 	ulCriticalNesting++;
@@ -242,11 +242,11 @@ void vPortExitCritical( void )
 		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
 		{
 			/* Enable interrupts as per portEXIT_CRITICAL().					*/
-			__asm volatile ( 
-				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	
-				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	
-				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	
-				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	
+			__asm volatile (
+				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/
+				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/
+				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/
+				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/
 				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
 		}
 	}
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portmacro.h
index 1208ed230..e3f3a4b95 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC2000/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 #ifndef PORTMACRO_H
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/port.c
index e2478ff1e..bd6731180 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portISR.c b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portISR.c
index 29f2360e1..d1786847a 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portISR.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portISR.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -144,7 +141,7 @@ void vPortYieldProcessor( void )
 	void vNonPreemptiveTick( void ) __attribute__ ((interrupt ("IRQ")));
 	void vNonPreemptiveTick( void )
 	{	
-		vTaskIncrementTick();
+		xTaskIncrementTick();
 		T0IR = 2;
 		VICVectAddr = portCLEAR_VIC_INTERRUPT;
 	}
@@ -161,8 +158,14 @@ void vPortYieldProcessor( void )
 
 		/* Increment the RTOS tick count, then look for the highest priority 
 		task that is ready to run. */
-		__asm volatile( "bl vTaskIncrementTick" );
-		__asm volatile( "bl vTaskSwitchContext" );
+		__asm volatile
+		(
+			"	bl xTaskIncrementTick	\t\n" \
+			"	cmp r0, #0				\t\n" \
+			"	beq SkipContextSwitch	\t\n" \
+			"	bl vTaskSwitchContext	\t\n" \
+			"SkipContextSwitch:			\t\n"
+		);
 
 		/* Ready for the next interrupt. */
 		T0IR = 2;
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portmacro.h
index 40594ac52..bc7dda5d4 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM7_LPC23xx/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/port.c
index dd868aded..1b7b8c73a 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -90,29 +87,41 @@
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR			( 0x01000000 )
 
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
+
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
-#if configUSE_CUSTOM_TICK == 0
 /*
  * Setup the timer to generate the tick interrupts.
  */
 static void prvSetupTimerInterrupt( void );
-#endif
 
 /*
  * Exception handlers.
  */
 void xPortPendSVHandler( void ) __attribute__ (( naked ));
 void xPortSysTickHandler( void );
-void vPortSVCHandler( void ) __attribute__ (( naked ));
+void vPortSVCHandler( void );
 
 /*
  * Start first task is a separate function so it can be tested in isolation.
  */
 static void vPortStartFirstTask( void ) __attribute__ (( naked ));
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -126,7 +135,9 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
-	pxTopOfStack -= 6;	/* LR, R12, R3..R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8; /* R11..R4. */
 
@@ -134,44 +145,48 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 void vPortSVCHandler( void )
 {
-	__asm volatile (
-					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
-					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
-					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
-					"	add r0, r0, #16					\n" /* Move to the high registers. */
-					"	ldmia r0!, {r4-r7}				\n" /* Pop the high registers. */
-					" 	mov r8, r4						\n"
-					" 	mov r9, r5						\n"
-					" 	mov r10, r6						\n"
-					" 	mov r11, r7						\n"
-					"									\n"
-					"	msr psp, r0						\n" /* Remember the new top of stack for the task. */
-					"									\n"
-					"	sub r0, r0, #32					\n" /* Go back for the low registers that are not automatically restored. */
-					" 	ldmia r0!, {r4-r7}              \n" /* Pop low registers.  */
-					"	mov r1, r14						\n" /* OR R14 with 0x0d. */
-					"	movs r0, #0x0d					\n"
-					"	orr r1, r0						\n"
-					"	bx r1							\n"
-					"									\n"
-					"	.align 2						\n"
-					"pxCurrentTCBConst2: .word pxCurrentTCB	\n"
-				);
+	/* This function is no longer used, but retained for backward
+	compatibility. */
 }
 /*-----------------------------------------------------------*/
 
 void vPortStartFirstTask( void )
 {
+	/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
+	table offset register that can be used to locate the initial stack value.
+	Not all M0 parts have the application vector table at address 0. */
 	__asm volatile(
-					" movs r0, #0x00 	\n" /* Locate the top of stack. */
-					" ldr r0, [r0] 		\n"
-					" msr msp, r0		\n" /* Set the msp back to the start of the stack. */
-					" cpsie i			\n" /* Globally enable interrupts. */
-					" svc 0				\n" /* System call to start first task. */
-					" nop				\n"
-				);
+	"	ldr	r2, pxCurrentTCBConst2	\n" /* Obtain location of pxCurrentTCB. */
+	"	ldr r3, [r2]				\n"
+	"	ldr r0, [r3]				\n" /* The first item in pxCurrentTCB is the task top of stack. */
+	"	add r0, #32					\n" /* Discard everything up to r0. */
+	"	msr psp, r0					\n" /* This is now the new top of stack to use in the task. */
+	"	movs r0, #2					\n" /* Switch to the psp stack. */
+	"	msr CONTROL, r0				\n"
+	"	pop {r0-r5}					\n" /* Pop the registers that are saved automatically. */
+	"	mov lr, r5					\n" /* lr is now in r5. */
+	"	cpsie i						\n" /* The first task has its context and interrupts can be enabled. */
+	"	pop {pc}					\n" /* Finally, pop the PC to jump to the user defined task code. */
+	"								\n"
+	"	.align 2					\n"
+	"pxCurrentTCBConst2: .word pxCurrentTCB	  "					
+				  );
 }
 /*-----------------------------------------------------------*/
 
@@ -184,17 +199,21 @@ portBASE_TYPE xPortStartScheduler( void )
 	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
 	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
 
-#if configUSE_CUSTOM_TICK == 0
 	/* Start the timer that generates the tick ISR.  Interrupts are disabled
 	here already. */
 	prvSetupTimerInterrupt();
-#endif    
 
 	/* Initialise the critical nesting count ready for the first task. */
 	uxCriticalNesting = 0;
 
 	/* Start the first task. */
 	vPortStartFirstTask();
+	
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS. */
+	prvTaskExitError();
 
 	/* Should not get here! */
 	return 0;
@@ -208,10 +227,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -219,6 +243,8 @@ void vPortEnterCritical( void )
 {
     portDISABLE_INTERRUPTS();
     uxCriticalNesting++;
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -232,6 +258,31 @@ void vPortExitCritical( void )
 }
 /*-----------------------------------------------------------*/
 
+unsigned long ulSetInterruptMaskFromISR( void )
+{
+	__asm volatile(
+					" mrs r0, PRIMASK	\n"
+					" cpsid i			\n"
+					" bx lr				  "
+				  );
+
+	/* To avoid compiler warnings.  This line will never be reached. */
+	return 0;
+}
+/*-----------------------------------------------------------*/
+
+void vClearInterruptMaskFromISR( unsigned long ulMask )
+{
+	__asm volatile(
+					" msr PRIMASK, r0	\n"
+					" bx lr				  "
+				  );
+
+	/* Just to avoid compiler warning. */
+	( void ) ulMask;
+}
+/*-----------------------------------------------------------*/
+
 void xPortPendSVHandler( void )
 {
 	/* This is a naked function. */
@@ -280,21 +331,20 @@ void xPortPendSVHandler( void )
 }
 /*-----------------------------------------------------------*/
 
-#if configUSE_CUSTOM_TICK == 0
 void xPortSysTickHandler( void )
 {
-unsigned long ulDummy;
+unsigned long ulPreviousMask;
 
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
-	#endif
-
-	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		}
 	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
 /*-----------------------------------------------------------*/
 
@@ -308,6 +358,5 @@ void prvSetupTimerInterrupt( void )
 	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
 	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
 }
-#endif
 /*-----------------------------------------------------------*/
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/portmacro.h
index f47c71bf0..0450d55e5 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM0/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -110,21 +107,25 @@ extern "C" {
 
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()									vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) 	if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 
 /* Critical section management. */
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
-#define portSET_INTERRUPT_MASK()				__asm volatile 	( " cpsid i " )
-#define portCLEAR_INTERRUPT_MASK()				__asm volatile 	( " cpsie i " )
-#define portSET_INTERRUPT_MASK_FROM_ISR()		0;portSET_INTERRUPT_MASK()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portCLEAR_INTERRUPT_MASK();(void)x
-#define portDISABLE_INTERRUPTS()				portSET_INTERRUPT_MASK()
-#define portENABLE_INTERRUPTS()					portCLEAR_INTERRUPT_MASK()
+extern unsigned long ulSetInterruptMaskFromISR( void ) __attribute__((naked));
+extern void vClearInterruptMaskFromISR( unsigned long ulMask )  __attribute__((naked));
+
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulSetInterruptMaskFromISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vClearInterruptMaskFromISR( x )
+#define portDISABLE_INTERRUPTS()				__asm volatile 	( " cpsid i " )
+#define portENABLE_INTERRUPTS()					__asm volatile 	( " cpsie i " )
 #define portENTER_CRITICAL()					vPortEnterCritical()
 #define portEXIT_CRITICAL()						vPortExitCritical()
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/port.c
index cddb3eaa6..752268b45 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -89,26 +86,47 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
-#define portNVIC_SYSTICK_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to set up the initial stack. */
-#define portINITIAL_XPSR			( 0x01000000 )
+#define portINITIAL_XPSR					( 0x01000000UL )
 
-/* The priority used by the kernel is assigned to a variable to make access
-from inline assembler easier. */
-const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
 
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
@@ -116,7 +134,7 @@ static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
  * Setup the timer to generate the tick interrupts.  The implementation in this
- * file is weak to allow application writers to change the timer used to 
+ * file is weak to allow application writers to change the timer used to
  * generate the tick interrupt.
  */
 void vPortSetupTimerInterrupt( void );
@@ -133,14 +151,19 @@ void vPortSVCHandler( void ) __attribute__ (( naked ));
  */
 static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -158,6 +181,17 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -172,7 +206,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS;	/* LR */
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
@@ -181,6 +215,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 void vPortSVCHandler( void )
 {
 	__asm volatile (
@@ -223,7 +271,51 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
-	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
@@ -237,6 +329,12 @@ portBASE_TYPE xPortStartScheduler( void )
 	/* Start the first task. */
 	prvPortStartFirstTask();
 
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS. */
+	prvTaskExitError();
+
 	/* Should not get here! */
 	return 0;
 }
@@ -249,10 +347,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -260,6 +363,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -298,7 +403,7 @@ __attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskVa
 		"	bx lr												\n" \
 		:::"r0"														\
 	);
-	
+
 	/* Just to avoid compiler warnings. */
 	( void ) ulNewMaskValue;
 }
@@ -341,22 +446,19 @@ void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a 
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -366,7 +468,8 @@ void xPortSysTickHandler( void )
 
 	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -374,35 +477,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -412,11 +527,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__asm volatile( "dsb" );
 				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -426,13 +548,29 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
 
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
@@ -444,25 +582,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -475,12 +621,12 @@ void xPortSysTickHandler( void )
  */
 __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 {
-	/* Calculate the constants required to configure the tick interrupt. */		
+	/* Calculate the constants required to configure the tick interrupt. */
 	#if configUSE_TICKLESS_IDLE == 1
 	{
-		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 	}
 	#endif /* configUSE_TICKLESS_IDLE */
 
@@ -489,4 +635,84 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/portmacro.h
index 305adead4..4269895d9 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -110,9 +107,12 @@ extern "C" {
 
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */
@@ -171,6 +171,11 @@ not necessary for to use this port.  They are defined so the common demo files
 
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/port.c
index 4a683c8f3..ce15b146d 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -180,7 +177,7 @@ void MPU_vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType
 void MPU_vTaskDelay( portTickType xTicksToDelay );
 unsigned portBASE_TYPE MPU_uxTaskPriorityGet( xTaskHandle pxTask );
 void MPU_vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
-eTaskState MPU_eTaskStateGet( xTaskHandle pxTask );
+eTaskState MPU_eTaskGetState( xTaskHandle pxTask );
 void MPU_vTaskSuspend( xTaskHandle pxTaskToSuspend );
 signed portBASE_TYPE MPU_xTaskIsTaskSuspended( xTaskHandle xTask );
 void MPU_vTaskResume( xTaskHandle pxTaskToResume );
@@ -196,8 +193,11 @@ portBASE_TYPE MPU_xTaskCallApplicationTaskHook( xTaskHandle xTask, void *pvParam
 unsigned portBASE_TYPE MPU_uxTaskGetStackHighWaterMark( xTaskHandle xTask );
 xTaskHandle MPU_xTaskGetCurrentTaskHandle( void );
 portBASE_TYPE MPU_xTaskGetSchedulerState( void );
+xTaskHandle MPU_xTaskGetIdleTaskHandle( void );
+unsigned portBASE_TYPE MPU_uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime );
 xQueueHandle MPU_xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType );
 signed portBASE_TYPE MPU_xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition );
+portBASE_TYPE MPU_xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue );
 unsigned portBASE_TYPE MPU_uxQueueMessagesWaiting( const xQueueHandle pxQueue );
 signed portBASE_TYPE MPU_xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking );
 xQueueHandle MPU_xQueueCreateMutex( void );
@@ -212,6 +212,11 @@ void *MPU_pvPortMalloc( size_t xSize );
 void MPU_vPortFree( void *pv );
 void MPU_vPortInitialiseBlocks( void );
 size_t MPU_xPortGetFreeHeapSize( void );
+xQueueSetHandle MPU_xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength );
+xQueueSetMemberHandle MPU_xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks );
+portBASE_TYPE MPU_xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+portBASE_TYPE MPU_xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet );
+signed portBASE_TYPE MPU_xQueuePeekFromISR( xQueueHandle xQueue, void * const pvBuffer );
 
 /*-----------------------------------------------------------*/
 
@@ -278,6 +283,13 @@ unsigned char ucSVCNumber;
 											break;
 
 		case portSVC_YIELD				:	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+											/* Barriers are normally not required
+											but do ensure the code is completely
+											within the specified behaviour for the
+											architecture. */
+											__asm volatile( "dsb" );
+											__asm volatile( "isb" );
+
 											break;
 
 		case portSVC_RAISE_PRIVILEGE	:	__asm volatile
@@ -433,14 +445,14 @@ void xPortSysTickHandler( void )
 {
 unsigned long ulDummy;
 
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
-	#endif
-
 	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
 }
@@ -736,13 +748,26 @@ portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 #endif
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_eTaskStateGet == 1 )
-	eTaskState MPU_eTaskStateGet( xTaskHandle pxTask )
+#if ( INCLUDE_eTaskGetState == 1 )
+	eTaskState MPU_eTaskGetState( xTaskHandle pxTask )
 	{
     portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 	eTaskState eReturn;
 
-		eReturn = eTaskStateGet( pxTask );
+		eReturn = eTaskGetState( pxTask );
+        portRESET_PRIVILEGE( xRunningPrivileged );
+		return eReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
+	xTaskHandle MPU_xTaskGetIdleTaskHandle( void )
+	{
+	xTaskHandle xReturn;
+    portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		xReturn = xTaskGetIdleTaskHandle();
         portRESET_PRIVILEGE( xRunningPrivileged );
 		return eReturn;
 	}
@@ -885,6 +910,19 @@ portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 #endif
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_TRACE_FACILITY == 1 )
+	unsigned portBASE_TYPE MPU_uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
+	{
+	unsigned portBASE_TYPE uxReturn;
+	portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		uxReturn = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, pulTotalRunTime );
+		portRESET_PRIVILEGE( xRunningPrivileged );
+		return xReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
 	unsigned portBASE_TYPE MPU_uxTaskGetStackHighWaterMark( xTaskHandle xTask )
 	{
@@ -935,6 +973,17 @@ portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 }
 /*-----------------------------------------------------------*/
 
+portBASE_TYPE MPU_xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue )
+{
+portBASE_TYPE xReturn;
+portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+	xReturn = xQueueGenericReset( pxQueue, xNewQueue );
+	portRESET_PRIVILEGE( xRunningPrivileged );
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
 signed portBASE_TYPE MPU_xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xReturn;
@@ -968,6 +1017,17 @@ signed portBASE_TYPE xReturn;
 }
 /*-----------------------------------------------------------*/
 
+signed portBASE_TYPE MPU_xQueuePeekFromISR( xQueueHandle pxQueue, void * const pvBuffer )
+{
+portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+signed portBASE_TYPE xReturn;
+
+	xReturn = xQueuePeekFromISR( pxQueue, pvBuffer );
+	portRESET_PRIVILEGE( xRunningPrivileged );
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
 #if ( configUSE_MUTEXES == 1 )
 	xQueueHandle MPU_xQueueCreateMutex( void )
 	{
@@ -1020,6 +1080,58 @@ signed portBASE_TYPE xReturn;
 #endif
 /*-----------------------------------------------------------*/
 
+#if ( configUSE_QUEUE_SETS == 1 )
+	xQueueSetHandle MPU_xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
+	{
+	xQueueSetHandle xReturn;
+	portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		xReturn = xQueueCreateSet( uxEventQueueLength );
+		portRESET_PRIVILEGE( xRunningPrivileged );
+		return xReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	xQueueSetMemberHandle MPU_xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
+	{
+	xQueueSetMemberHandle xReturn;
+	portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		xReturn = xQueueSelectFromSet( xQueueSet, xBlockTimeTicks );
+		portRESET_PRIVILEGE( xRunningPrivileged );
+		return xReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	portBASE_TYPE MPU_xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+	portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		xReturn = xQueueAddToSet( xQueueOrSemaphore, xQueueSet );
+		portRESET_PRIVILEGE( xRunningPrivileged );
+		return xReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	portBASE_TYPE MPU_xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+	portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+		xReturn = xQueueRemoveFromSet( xQueueOrSemaphore, xQueueSet );
+		portRESET_PRIVILEGE( xRunningPrivileged );
+		return xReturn;
+	}
+#endif
+/*-----------------------------------------------------------*/
+
 #if configUSE_ALTERNATIVE_API == 1
 	signed portBASE_TYPE MPU_xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 	{
@@ -1113,3 +1225,22 @@ portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
 	return xReturn;
 }
 
+/* Functions that the application writer wants to execute in privileged mode
+can be defined in application_defined_privileged_functions.h.  The functions
+must take the same format as those above whereby the privilege state on exit
+equals the privilege state on entry.  For example:
+
+void MPU_FunctionName( [parameters ] )
+{
+portBASE_TYPE xRunningPrivileged = prvRaisePrivilege();
+
+	FunctionName( [parameters ] );
+
+	portRESET_PRIVILEGE( xRunningPrivileged );
+}
+*/
+
+#if configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS == 1
+	#include "application_defined_privileged_functions.h"
+#endif
+
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/portmacro.h
index 69af98dd9..9a5b64373 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM3_MPU/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -156,6 +153,7 @@ typedef struct MPU_SETTINGS
 #define portNVIC_INT_CTRL			( ( volatile unsigned portLONG *) 0xe000ed04 )
 #define portNVIC_PENDSVSET			0x10000000
 #define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) *(portNVIC_INT_CTRL) = portNVIC_PENDSVSET
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 
@@ -175,7 +173,7 @@ typedef struct MPU_SETTINGS
 
 /*
  * Set basepri back to 0 without effective other registers.
- * r0 is clobbered.  FAQ:  Setting BASEPRI to 0 is not a bug.  Please see 
+ * r0 is clobbered.  FAQ:  Setting BASEPRI to 0 is not a bug.  Please see
  * http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing.
  */
 #define portCLEAR_INTERRUPT_MASK()			\
@@ -186,7 +184,7 @@ typedef struct MPU_SETTINGS
 		:::"r0"								\
 	)
 
-/* FAQ:  Setting BASEPRI to 0 is not a bug.  Please see 
+/* FAQ:  Setting BASEPRI to 0 is not a bug.  Please see
 http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html before disagreeing. */
 #define portSET_INTERRUPT_MASK_FROM_ISR()		0;portSET_INTERRUPT_MASK()
 #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portCLEAR_INTERRUPT_MASK();(void)x
@@ -208,7 +206,6 @@ extern void vPortExitCritical( void );
 #define portNOP()
 
 
-
 #ifdef __cplusplus
 }
 #endif
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/port.c b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/port.c
index 66b2b43a8..d0ed0a218 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/port.c
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -86,19 +83,27 @@
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
-#define portNVIC_SYSTICK_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
@@ -108,9 +113,22 @@
 #define portINITIAL_XPSR			( 0x01000000 )
 #define portINITIAL_EXEC_RETURN		( 0xfffffffd )
 
-/* The priority used by the kernel is assigned to a variable to make access
-from inline assembler easier. */
-const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
+/* Let the user override the pre-loading of the initial LR with the address of
+prvTaskExitError() in case is messes up unwinding of the stack in the
+debugger. */
+#ifdef configTASK_RETURN_ADDRESS
+	#define portTASK_RETURN_ADDRESS	configTASK_RETURN_ADDRESS
+#else
+	#define portTASK_RETURN_ADDRESS	prvTaskExitError
+#endif
 
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
@@ -118,7 +136,7 @@ static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
  * Setup the timer to generate the tick interrupts.  The implementation in this
- * file is weak to allow application writers to change the timer used to 
+ * file is weak to allow application writers to change the timer used to
  * generate the tick interrupt.
  */
 void vPortSetupTimerInterrupt( void );
@@ -140,14 +158,19 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
  */
  static void vPortEnableVFP( void ) __attribute__ (( naked ));
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -165,6 +188,17 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -183,7 +217,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) portTASK_RETURN_ADDRESS;	/* LR */
 
 	/* Save code space by skipping register initialisation. */
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
@@ -200,6 +234,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 void vPortSVCHandler( void )
 {
 	__asm volatile (
@@ -241,7 +289,51 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );
 
-	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
@@ -261,6 +353,12 @@ portBASE_TYPE xPortStartScheduler( void )
 	/* Start the first task. */
 	prvPortStartFirstTask();
 
+	/* Should never get here as the tasks will now be executing!  Call the task
+	exit error function to prevent compiler warnings about a static function
+	not being called in the case that the application writer overrides this
+	functionality by defining configTASK_RETURN_ADDRESS. */
+	prvTaskExitError();
+
 	/* Should not get here! */
 	return 0;
 }
@@ -273,10 +371,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -284,6 +387,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__asm volatile( "dsb" );
+	__asm volatile( "isb" );
 }
 /*-----------------------------------------------------------*/
 
@@ -322,6 +427,9 @@ __attribute__(( naked )) void vPortClearInterruptMask( unsigned long ulNewMaskVa
 		"	bx lr												\n" \
 		:::"r0"														\
 	);
+
+	/* Just to avoid compiler warnings. */
+	( void ) ulNewMaskValue;
 }
 /*-----------------------------------------------------------*/
 
@@ -333,7 +441,7 @@ void xPortPendSVHandler( void )
 	(
 	"	mrs r0, psp							\n"
 	"										\n"
-	"	ldr	r3, pxCurrentTCBConst				\n" /* Get the location of the current TCB. */
+	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
 	"	ldr	r2, [r3]						\n"
 	"										\n"
 	"	tst r14, #0x10						\n" /* Is the task using the FPU context?  If so, push high vfp registers. */
@@ -344,13 +452,13 @@ void xPortPendSVHandler( void )
 	"										\n"
 	"	str r0, [r2]						\n" /* Save the new top of stack into the first member of the TCB. */
 	"										\n"
-	"	stmdb sp!, {r3, r14}				\n"
+	"	stmdb sp!, {r3}						\n"
 	"	mov r0, %0 							\n"
 	"	msr basepri, r0						\n"
 	"	bl vTaskSwitchContext				\n"
 	"	mov r0, #0							\n"
 	"	msr basepri, r0						\n"
-	"	ldmia sp!, {r3, r14}				\n"
+	"	ldmia sp!, {r3}						\n"
 	"										\n"
 	"	ldr r1, [r3]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
 	"	ldr r0, [r1]						\n"
@@ -362,6 +470,14 @@ void xPortPendSVHandler( void )
 	"	vldmiaeq r0!, {s16-s31}				\n"
 	"										\n"
 	"	msr psp, r0							\n"
+	"										\n"
+	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata workaround. */
+		#if WORKAROUND_PMU_CM001 == 1
+	"			push { r14 }				\n"
+	"			pop { pc }					\n"
+		#endif
+	#endif
+	"										\n"
 	"	bx r14								\n"
 	"										\n"
 	"	.align 2							\n"
@@ -373,22 +489,19 @@ void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a 
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -398,7 +511,8 @@ void xPortSysTickHandler( void )
 
 	__attribute__((weak)) void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -406,35 +520,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__asm volatile( "cpsid i" );
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -444,11 +570,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__asm volatile( "dsb" );
 				__asm volatile( "wfi" );
+				__asm volatile( "isb" );
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -458,13 +591,29 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above the cpsid instruction()
+			above. */
+			__asm volatile( "cpsie i" );
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
 
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
@@ -476,25 +625,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -507,12 +664,12 @@ void xPortSysTickHandler( void )
  */
 __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 {
-	/* Calculate the constants required to configure the tick interrupt. */		
+	/* Calculate the constants required to configure the tick interrupt. */
 	#if configUSE_TICKLESS_IDLE == 1
 	{
-		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 	}
 	#endif /* configUSE_TICKLESS_IDLE */
 
@@ -535,4 +692,66 @@ static void vPortEnableVFP( void )
 		"	bx r14						"
 	);
 }
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
 
diff --git a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/portmacro.h b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/portmacro.h
index fcd8b1649..deccf42d2 100644
--- a/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -75,7 +72,7 @@ extern "C" {
 #endif
 
 /*-----------------------------------------------------------
- * Port specific definitions.  
+ * Port specific definitions.
  *
  * The settings in this file configure FreeRTOS correctly for the
  * given hardware and compiler.
@@ -100,19 +97,22 @@ extern "C" {
 	typedef unsigned portLONG portTickType;
 	#define portMAX_DELAY ( portTickType ) 0xffffffff
 #endif
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
 #define portBYTE_ALIGNMENT			8
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */
@@ -127,10 +127,6 @@ extern void vPortClearInterruptMask( unsigned long ulNewMaskValue );
 #define portENTER_CRITICAL()					vPortEnterCritical()
 #define portEXIT_CRITICAL()						vPortExitCritical()
 
-/* There are an uneven number of items on the initial stack, so 
-portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
-#define portALIGNMENT_ASSERT_pxCurrentTCB ( void )
-
 /*-----------------------------------------------------------*/
 
 /* Task function macros as described on the FreeRTOS.org WEB site.  These are
@@ -176,6 +172,11 @@ not necessary for to use this port.  They are defined so the common demo files
 
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/port.c b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/port.c
index ba0814f76..ed0df4399 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/port.c
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,24 +45,31 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
  * Implementation of functions defined in portable.h for the ARM CM0 port.
  *----------------------------------------------------------*/
 
+/* IAR includes. */
+#include "intrinsics.h"
+
 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"
@@ -77,12 +77,10 @@
 /* Constants required to manipulate the NVIC. */
 #define portNVIC_SYSTICK_CTRL		( ( volatile unsigned long *) 0xe000e010 )
 #define portNVIC_SYSTICK_LOAD		( ( volatile unsigned long *) 0xe000e014 )
-#define portNVIC_INT_CTRL			( ( volatile unsigned long *) 0xe000ed04 )
 #define portNVIC_SYSPRI2			( ( volatile unsigned long *) 0xe000ed20 )
 #define portNVIC_SYSTICK_CLK		0x00000004
 #define portNVIC_SYSTICK_INT		0x00000002
 #define portNVIC_SYSTICK_ENABLE		0x00000001
-#define portNVIC_PENDSVSET			0x10000000
 #define portMIN_INTERRUPT_PRIORITY	( 255UL )
 #define portNVIC_PENDSV_PRI			( portMIN_INTERRUPT_PRIORITY << 16UL )
 #define portNVIC_SYSTICK_PRI		( portMIN_INTERRUPT_PRIORITY << 24UL )
@@ -101,12 +99,10 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
 variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
-#if configUSE_CUSTOM_TICK == 0
 /*
  * Setup the timer to generate the tick interrupts.
  */
 static void prvSetupTimerInterrupt( void );
-#endif
 
 /*
  * Exception handlers.
@@ -118,6 +114,11 @@ void xPortSysTickHandler( void );
  */
 extern void vPortStartFirstTask( void );
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -131,7 +132,9 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
-	pxTopOfStack -= 6;	/* LR, R12, R3..R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8; /* R11..R4. */
 
@@ -139,6 +142,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it 
+	should instead call vTaskDelete( NULL ).
+	
+	Artificially force an assert() to be triggered if configASSERT() is 
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();	
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 /*
  * See header file for description.
  */
@@ -148,12 +165,10 @@ portBASE_TYPE xPortStartScheduler( void )
 	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
 	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
 
-#if configUSE_CUSTOM_TICK == 0
 	/* Start the timer that generates the tick ISR.  Interrupts are disabled
 	here already. */
 	prvSetupTimerInterrupt();
-#endif    
-	
+
 	/* Initialise the critical nesting count ready for the first task. */
 	uxCriticalNesting = 0;
 
@@ -172,10 +187,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -183,6 +203,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -194,24 +216,22 @@ void vPortExitCritical( void )
 		portENABLE_INTERRUPTS();
 	}
 }
-
 /*-----------------------------------------------------------*/
 
-#if configUSE_CUSTOM_TICK == 0
 void xPortSysTickHandler( void )
 {
-unsigned long ulDummy;
+unsigned long ulPreviousMask;
 
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;	
-	#endif
-
-	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		}
 	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
 /*-----------------------------------------------------------*/
 
@@ -225,6 +245,5 @@ static void prvSetupTimerInterrupt( void )
 	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
 	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
 }
-#endif
 /*-----------------------------------------------------------*/
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portasm.s b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portasm.s
index 1499dfa10..0283795e1 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portasm.s
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portasm.s
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,30 +45,26 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 #include 
 
-/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
-defined.  The value zero should also ensure backward compatibility.
-FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
-#ifndef configKERNEL_INTERRUPT_PRIORITY
-	#define configKERNEL_INTERRUPT_PRIORITY 0
-#endif
-
-	
 	RSEG    CODE:CODE(2)
 	thumb
 
@@ -87,84 +76,91 @@ FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
 	PUBLIC xPortPendSVHandler
 	PUBLIC vPortSVCHandler
 	PUBLIC vPortStartFirstTask
-
+	PUBLIC ulSetInterruptMaskFromISR
+	PUBLIC vClearInterruptMaskFromISR
 
 /*-----------------------------------------------------------*/
 
 vSetMSP
 	msr msp, r0
 	bx lr
-	
+
 /*-----------------------------------------------------------*/
 
 xPortPendSVHandler:
-	mrs r0, psp							
-											
+	mrs r0, psp
+
 	ldr	r3, =pxCurrentTCB	/* Get the location of the current TCB. */
-	ldr	r2, [r3]						
-											
+	ldr	r2, [r3]
+
 	subs r0, r0, #32		/* Make space for the remaining low registers. */
 	str r0, [r2]			/* Save the new top of stack. */
 	stmia r0!, {r4-r7}		/* Store the low registers that are not saved automatically. */
 	mov r4, r8				/* Store the high registers. */
-	mov r5, r9							
-	mov r6, r10							
-	mov r7, r11							
-	stmia r0!, {r4-r7}              	
-											
-	push {r3, r14}						
-	cpsid i								
-	bl vTaskSwitchContext				
-	cpsie i								
+	mov r5, r9
+	mov r6, r10
+	mov r7, r11
+	stmia r0!, {r4-r7}
+
+	push {r3, r14}
+	cpsid i
+	bl vTaskSwitchContext
+	cpsie i
 	pop {r2, r3}			/* lr goes in r3. r2 now holds tcb pointer. */
-											
-	ldr r1, [r2]						
+
+	ldr r1, [r2]
 	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
 	adds r0, r0, #16		/* Move to the high registers. */
 	ldmia r0!, {r4-r7}		/* Pop the high registers. */
-	mov r8, r4							
-	mov r9, r5							
-	mov r10, r6							
-	mov r11, r7							
-											
+	mov r8, r4
+	mov r9, r5
+	mov r10, r6
+	mov r11, r7
+
 	msr psp, r0				/* Remember the new top of stack for the task. */
-											
+
 	subs r0, r0, #32		/* Go back for the low registers that are not automatically restored. */
 	ldmia r0!, {r4-r7}		/* Pop low registers.  */
-											
-	bx r3								
+
+	bx r3
 
 /*-----------------------------------------------------------*/
 
 vPortSVCHandler;
-	ldr	r3, =pxCurrentTCB	/* Restore the context. */
-	ldr r1, [r3]			/* Get the pxCurrentTCB address. */
-	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
-	adds r0, r0, #16		/* Move to the high registers. */
-	ldmia r0!, {r4-r7}		/* Pop the high registers. */
-	mov r8, r4						
-	mov r9, r5						
-	mov r10, r6						
-	mov r11, r7						
-										
-	msr psp, r0				/* Remember the new top of stack for the task. */
-										
-	subs r0, r0, #32		/* Go back for the low registers that are not automatically restored. */
-	ldmia r0!, {r4-r7}		/* Pop low registers.  */
-	mov r1, r14				/* OR R14 with 0x0d. */
-	movs r0, #0x0d					
-	orrs r1, r0						
-	bx r1							
+	/* This function is no longer used, but retained for backward
+	compatibility. */
+	bx lr
 
 /*-----------------------------------------------------------*/
 
 vPortStartFirstTask
-	movs r0, #0x00 	 		/* Locate the top of stack. */
-	ldr r0, [r0] 		
-	msr msp, r0		 		/* Set the msp back to the start of the stack. */
-	cpsie i			 		/* Globally enable interrupts. */
-	svc 0			 		/* System call to start first task. */
-	nop				
-	
+	/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
+	table offset register that can be used to locate the initial stack value.
+	Not all M0 parts have the application vector table at address 0. */
+
+	ldr	r3, =pxCurrentTCB	/* Obtain location of pxCurrentTCB. */
+	ldr r1, [r3]
+	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
+	adds r0, #32			/* Discard everything up to r0. */
+	msr psp, r0				/* This is now the new top of stack to use in the task. */
+	movs r0, #2				/* Switch to the psp stack. */
+	msr CONTROL, r0
+	pop {r0-r5}				/* Pop the registers that are saved automatically. */
+	mov lr, r5				/* lr is now in r5. */
+	cpsie i					/* The first task has its context and interrupts can be enabled. */
+	pop {pc}				/* Finally, pop the PC to jump to the user defined task code. */
+
+/*-----------------------------------------------------------*/
+
+ulSetInterruptMaskFromISR
+	mrs r0, PRIMASK
+	cpsid i
+	bx lr
+
+/*-----------------------------------------------------------*/
+
+vClearInterruptMaskFromISR
+	msr PRIMASK, r0
+	bx lr
+
 	END
-	
\ No newline at end of file
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portmacro.h b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portmacro.h
index 7135fad6c..3809deaa0 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM0/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -100,21 +97,22 @@ extern "C" {
 	typedef unsigned portLONG portTickType;
 	#define portMAX_DELAY ( portTickType ) 0xffffffff
 #endif
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
 #define portBYTE_ALIGNMENT			8
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-
-#define portYIELD()					vPortYieldFromISR()
-
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL			( ( volatile unsigned long *) 0xe000ed04 )
+#define portNVIC_PENDSVSET			0x10000000
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) 	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 
@@ -122,13 +120,15 @@ extern void vPortYieldFromISR( void );
 
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
+extern unsigned long ulSetInterruptMaskFromISR( void );
+extern void vClearInterruptMaskFromISR( unsigned long ulMask );
 
 #define portDISABLE_INTERRUPTS()				__asm volatile( "cpsid i" )
 #define portENABLE_INTERRUPTS()					__asm volatile( "cpsie i" )
 #define portENTER_CRITICAL()					vPortEnterCritical()
 #define portEXIT_CRITICAL()						vPortExitCritical()
-#define portSET_INTERRUPT_MASK_FROM_ISR()		0;portDISABLE_INTERRUPTS()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portENABLE_INTERRUPTS();(void)x
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulSetInterruptMaskFromISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vClearInterruptMaskFromISR( x )
 
 /*-----------------------------------------------------------*/
 
@@ -141,7 +141,6 @@ extern void vPortExitCritical( void );
 /* Suppress warnings that are generated by the IAR tools, but cannot be fixed in
 the source code because to do so would cause other compilers to generate
 warnings. */
-#pragma diag_suppress=Pe191
 #pragma diag_suppress=Pa082
 
 #ifdef __cplusplus
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/port.c b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/port.c
index 24c9fdeee..6bb74fa93 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/port.c
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/port.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -89,28 +86,44 @@
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI		( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to set up the initial stack. */
-#define portINITIAL_XPSR			( 0x01000000 )
+#define portINITIAL_XPSR					( 0x01000000 )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
 
 /* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
 defined.  The value 255 should also ensure backward compatibility.
 FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
 #ifndef configKERNEL_INTERRUPT_PRIORITY
-	#define configKERNEL_INTERRUPT_PRIORITY 0
+	#define configKERNEL_INTERRUPT_PRIORITY 255
 #endif
 
 /* Each task maintains its own interrupt status in the critical nesting
@@ -134,14 +147,19 @@ void xPortSysTickHandler( void );
  */
 extern void vPortStartFirstTask( void );
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -159,6 +177,17 @@ extern void vPortStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -173,7 +202,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
@@ -182,11 +211,69 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it 
+	should instead call vTaskDelete( NULL ).
+	
+	Artificially force an assert() to be triggered if configASSERT() is 
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();	
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 /*
  * See header file for description.
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -213,10 +300,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -224,6 +316,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -239,22 +333,19 @@ void vPortExitCritical( void )
 
 void xPortSysTickHandler( void )
 {
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -264,7 +355,8 @@ void xPortSysTickHandler( void )
 
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -272,35 +364,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__disable_interrupt();
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+			
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+			
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above __disable_interrupt()
+			call above. */
+			__enable_interrupt();
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -310,11 +414,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__DSB();
 				__WFI();
+				__ISB();
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -324,14 +435,30 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above __disable_interrupt()
+			call above. */
+			__enable_interrupt();
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+				
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
 
+				/* Don't allow a tiny value, or values that have somehow 
+				underflowed because the post sleep hook did something 
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+				
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+				
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
 				processed as soon as this function exits, the tick value
@@ -342,25 +469,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -376,9 +511,9 @@ __weak void vPortSetupTimerInterrupt( void )
 	/* Calculate the constants required to configure the tick interrupt. */
 	#if configUSE_TICKLESS_IDLE == 1
 	{
-		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 	}
 	#endif /* configUSE_TICKLESS_IDLE */
 
@@ -387,4 +522,84 @@ __weak void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portasm.s b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portasm.s
index 2f0697707..5b4af0c5c 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portasm.s
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portasm.s
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,21 +45,25 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
-#include 
+#include 
 
 	RSEG    CODE:CODE(2)
 	thumb
@@ -85,9 +82,9 @@
 /*-----------------------------------------------------------*/
 
 xPortPendSVHandler:
-	mrs r0, psp
+	mrs r0, psp						
 	ldr	r3, =pxCurrentTCB			/* Get the location of the current TCB. */
-	ldr	r2, [r3]
+	ldr	r2, [r3]						
 
 	stmdb r0!, {r4-r11}				/* Save the remaining registers. */
 	str r0, [r2]					/* Save the new top of stack into the first member of the TCB. */
@@ -95,16 +92,16 @@ xPortPendSVHandler:
 	stmdb sp!, {r3, r14}
 	mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
 	msr basepri, r0
-	bl vTaskSwitchContext
+	bl vTaskSwitchContext			
 	mov r0, #0
 	msr basepri, r0
 	ldmia sp!, {r3, r14}
 
-	ldr r1, [r3]
+	ldr r1, [r3]					
 	ldr r0, [r1]					/* The first item in pxCurrentTCB is the task top of stack. */
 	ldmia r0!, {r4-r11}				/* Pop the registers. */
-	msr psp, r0
-	bx r14
+	msr psp, r0						
+	bx r14							
 
 
 /*-----------------------------------------------------------*/
@@ -114,7 +111,7 @@ ulPortSetInterruptMask:
 	mov r1, #configMAX_SYSCALL_INTERRUPT_PRIORITY
 	msr basepri, r1
 	bx r14
-
+	
 /*-----------------------------------------------------------*/
 
 vPortClearInterruptMask:
@@ -150,3 +147,4 @@ vPortStartFirstTask
 	svc 0
 
 	END
+	
\ No newline at end of file
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portmacro.h b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portmacro.h
index add5e4369..5ad142e76 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM3/portmacro.h
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -95,10 +92,10 @@ extern "C" {
 
 #if( configUSE_16_BIT_TICKS == 1 )
 	typedef unsigned portSHORT portTickType;
-	#define portMAX_DELAY ( portTickType ) 0xffff
+	#define portMAX_DELAY 0xffff
 #else
 	typedef unsigned portLONG portTickType;
-	#define portMAX_DELAY ( portTickType ) 0xffffffff
+	#define portMAX_DELAY 0xffffffffUL
 #endif
 /*-----------------------------------------------------------*/
 
@@ -109,9 +106,12 @@ extern "C" {
 /*-----------------------------------------------------------*/
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04UL ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Architecture specific optimisations. */
@@ -123,8 +123,8 @@ extern void vPortYieldFromISR( void );
 	#endif
 
 	/* Store/clear the ready priorities in a bit map. */
-	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
-	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
+	#define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) ) )
+	#define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) ) )
 
 	/*-----------------------------------------------------------*/
 
@@ -162,6 +162,11 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/port.c b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/port.c
index 12827021b..fbd74a1ef 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/port.c
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/port.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -93,27 +90,44 @@
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI		( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to manipulate the VFP. */
-#define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
-#define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )
+#define portFPCCR							( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
+#define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )
 
 /* Constants required to set up the initial stack. */
-#define portINITIAL_XPSR			( 0x01000000 )
-#define portINITIAL_EXEC_RETURN		( 0xfffffffd )
+#define portINITIAL_XPSR					( 0x01000000 )
+#define portINITIAL_EXEC_RETURN				( 0xfffffffd )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
 
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
@@ -141,14 +155,19 @@ extern void vPortStartFirstTask( void );
  */
 extern void vPortEnableVFP( void );
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -166,6 +185,17 @@ extern void vPortEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -184,7 +214,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
 
 	/* Save code space by skipping register initialisation. */
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
@@ -201,11 +231,69 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 /*
  * See header file for description.
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
 	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
@@ -238,10 +326,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -249,6 +342,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__DSB();
+	__ISB();
 }
 /*-----------------------------------------------------------*/
 
@@ -264,22 +359,19 @@ void vPortExitCritical( void )
 
 void xPortSysTickHandler( void )
 {
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -289,7 +381,8 @@ void xPortSysTickHandler( void )
 
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -297,35 +390,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__disable_interrupt();
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above __disable_interrupt()
+			call above. */
+			__enable_interrupt();
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -335,11 +440,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__DSB();
 				__WFI();
+				__ISB();
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -349,14 +461,30 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above __disable_interrupt()
+			call above. */
+			__enable_interrupt();
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+				
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
 
+				/* Don't allow a tiny value, or values that have somehow 
+				underflowed because the post sleep hook did something 
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+				
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+				
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
 				processed as soon as this function exits, the tick value
@@ -367,25 +495,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -401,9 +537,9 @@ __weak void vPortSetupTimerInterrupt( void )
 	/* Calculate the constants required to configure the tick interrupt. */
 	#if configUSE_TICKLESS_IDLE == 1
 	{
-		ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-		xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-		ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+		ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+		xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+		ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 	}
 	#endif /* configUSE_TICKLESS_IDLE */
 
@@ -412,4 +548,84 @@ __weak void vPortSetupTimerInterrupt( void )
 	portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 }
 /*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portasm.s b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portasm.s
index 122195b30..72bf98e33 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portasm.s
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portasm.s
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,21 +45,25 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
-#include 
+#include 
 
 	RSEG    CODE:CODE(2)
 	thumb
@@ -102,13 +99,13 @@ xPortPendSVHandler:
 	/* Save the new top of stack into the first member of the TCB. */
 	str r0, [r2]
 
-	stmdb sp!, {r3, r14}
+	stmdb sp!, {r3}
 	mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
 	msr basepri, r0
 	bl vTaskSwitchContext
 	mov r0, #0
 	msr basepri, r0
-	ldmia sp!, {r3, r14}
+	ldmia sp!, {r3}
 
 	/* The first item in pxCurrentTCB is the task top of stack. */
 	ldr r1, [r3]
@@ -124,6 +121,14 @@ xPortPendSVHandler:
 	vldmiaeq r0!, {s16-s31}
 
 	msr psp, r0
+
+	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
+		#if WORKAROUND_PMU_CM001 == 1
+			push { r14 }
+			pop { pc }
+		#endif
+	#endif
+
 	bx r14
 
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portmacro.h b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portmacro.h
index 0d243d4d4..08bb288e3 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/IAR/ARM_CM4F/portmacro.h
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -109,9 +106,12 @@ extern "C" {
 /*-----------------------------------------------------------*/
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Architecture specific optimisations. */
@@ -148,11 +148,6 @@ extern void vPortClearInterruptMask( unsigned long ulNewMask );
 #define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vPortClearInterruptMask( x )
 /*-----------------------------------------------------------*/
 
-/* There are an uneven number of items on the initial stack, so
-portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
-#define portALIGNMENT_ASSERT_pxCurrentTCB ( void )
-/*-----------------------------------------------------------*/
-
 /* Tickless idle/low power functionality. */
 #ifndef portSUPPRESS_TICKS_AND_SLEEP
 	extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
@@ -168,6 +163,11 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/ISR_Support.h b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/ISR_Support.h
index 1d503ae21..bd87e658d 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/ISR_Support.h
+++ b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/ISR_Support.h
@@ -1,5 +1,6 @@
 ;/*
-;    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+;    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+;    All rights reserved
 ;
 ;
 ;    ***************************************************************************
diff --git a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/port.c b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/port.c
index 3363b0818..93d0dadeb 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/port.c
+++ b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -238,7 +235,7 @@ void vPortEndScheduler( void )
 		/* Increment the tick count - which may wake some tasks but as the
 		preemptive scheduler is not being used any woken task is not given
 		processor time no matter what its priority. */
-		vTaskIncrementTick();
+		xTaskIncrementTick();
 		
 		/* Ready for the next interrupt. */
 		T0IR = portTIMER_MATCH_ISR_BIT;
@@ -253,12 +250,13 @@ void vPortEndScheduler( void )
 	void vPortPreemptiveTick( void )
 	{
 		/* Increment the tick counter. */
-		vTaskIncrementTick();
-	
-		/* The new tick value might unblock a task.  Ensure the highest task that
-		is ready to execute is the task that will execute when the tick ISR
-		exits. */
-		vTaskSwitchContext();
+		if( xTaskIncrementTick() != pdFALSE )
+		{	
+			/* The new tick value might unblock a task.  Ensure the highest task that
+			is ready to execute is the task that will execute when the tick ISR
+			exits. */
+			vTaskSwitchContext();
+		}
 	
 		/* Ready for the next interrupt. */
 		T0IR = portTIMER_MATCH_ISR_BIT;
diff --git a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portasm.s79 b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portasm.s79
index c41178102..4c963e95f 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portasm.s79
+++ b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portasm.s79
@@ -1,5 +1,6 @@
 ;/*
-;    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+;    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+;    All rights reserved
 ;
 ;
 ;    ***************************************************************************
@@ -54,7 +55,6 @@
 		CODE32
 
 	EXTERN vTaskSwitchContext
-	EXTERN vTaskIncrementTick
 	EXTERN vPortPreemptiveTick
 	
 	PUBLIC vPortPreemptiveTickEntry
diff --git a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portmacro.h b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portmacro.h
index 549363998..3fdf4b91c 100644
--- a/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/IAR/LPC2000/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/MemMang/heap_4.c b/vendor/freertos/freertos/Source/portable/MemMang/heap_4.c
index eb2cb7cf9..757263f3d 100644
--- a/vendor/freertos/freertos/Source/portable/MemMang/heap_4.c
+++ b/vendor/freertos/freertos/Source/portable/MemMang/heap_4.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,26 +45,30 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*
- * A sample implementation of pvPortMalloc() and vPortFree() that combines
- * (coalescences) adjacent memory blocks as they are freed, and in so doing
+ * A sample implementation of pvPortMalloc() and vPortFree() that combines 
+ * (coalescences) adjacent memory blocks as they are freed, and in so doing 
  * limits memory fragmentation.
  *
- * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the
+ * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the 
  * memory management pages of http://www.FreeRTOS.org for more information.
  */
 #include 
@@ -89,17 +86,14 @@ task.h is included from an application file. */
 /* Block sizes must not get too small. */
 #define heapMINIMUM_BLOCK_SIZE	( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
 
-/* Allocate the memory for the heap.  The struct is used to force byte
-alignment without using any non-portable code. */
-static union xRTOS_HEAP
-{
-	#if portBYTE_ALIGNMENT == 8
-		volatile portDOUBLE dDummy;
-	#else
-		volatile unsigned long ulDummy;
-	#endif
-	unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
-} xHeap;
+/* Assumes 8bit bytes! */
+#define heapBITS_PER_BYTE		( ( size_t ) 8 )
+
+/* A few bytes might be lost to byte aligning the heap start address. */
+#define heapADJUSTED_HEAP_SIZE	( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
+
+/* Allocate the memory for the heap. */
+static unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
 
 /* Define the linked list structure.  This is used to link free blocks in order
 of their memory address. */
@@ -112,7 +106,7 @@ typedef struct A_BLOCK_LINK
 /*-----------------------------------------------------------*/
 
 /*
- * Inserts a block of memory that is being freed into the correct position in
+ * Inserts a block of memory that is being freed into the correct position in 
  * the list of free memory blocks.  The block being freed will be merged with
  * the block in front it and/or the block behind it if the memory blocks are
  * adjacent to each other.
@@ -129,19 +123,23 @@ static void prvHeapInit( void );
 
 /* The size of the structure placed at the beginning of each allocated memory
 block must by correctly byte aligned. */
-static const unsigned short heapSTRUCT_SIZE	= ( sizeof( xBlockLink ) + portBYTE_ALIGNMENT - ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) );
+static const unsigned short heapSTRUCT_SIZE	= ( ( sizeof ( xBlockLink ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
 
 /* Ensure the pxEnd pointer will end up on the correct byte alignment. */
-static const size_t xTotalHeapSize = ( ( size_t ) configTOTAL_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+static const size_t xTotalHeapSize = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
 
 /* Create a couple of list links to mark the start and end of the list. */
 static xBlockLink xStart, *pxEnd = NULL;
 
 /* Keeps track of the number of free bytes remaining, but says nothing about
 fragmentation. */
-static size_t xFreeBytesRemaining = ( ( size_t ) configTOTAL_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
+static size_t xFreeBytesRemaining = ( ( size_t ) heapADJUSTED_HEAP_SIZE ) & ( ( size_t ) ~portBYTE_ALIGNMENT_MASK );
 
-/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
+/* Gets set to the top bit of an size_t type.  When this bit in the xBlockSize 
+member of an xBlockLink structure is set then the block belongs to the 
+application.  When the bit is free the block is still part of the free heap
+space. */
+static size_t xBlockAllocatedBit = 0;
 
 /*-----------------------------------------------------------*/
 
@@ -159,65 +157,81 @@ void *pvReturn = NULL;
 			prvHeapInit();
 		}
 
-		/* The wanted size is increased so it can contain a xBlockLink
-		structure in addition to the requested amount of bytes. */
-		if( xWantedSize > 0 )
+		/* Check the requested block size is not so large that the top bit is
+		set.  The top bit of the block size member of the xBlockLink structure 
+		is used to determine who owns the block - the application or the
+		kernel, so it must be free. */
+		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
 		{
-			xWantedSize += heapSTRUCT_SIZE;
-
-			/* Ensure that blocks are always aligned to the required number of
-			bytes. */
-			if( xWantedSize & portBYTE_ALIGNMENT_MASK )
+			/* The wanted size is increased so it can contain a xBlockLink
+			structure in addition to the requested amount of bytes. */
+			if( xWantedSize > 0 )
 			{
-				/* Byte alignment required. */
-				xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
-			}
-		}
+				xWantedSize += heapSTRUCT_SIZE;
 
-		if( ( xWantedSize > 0 ) && ( xWantedSize < xTotalHeapSize ) )
-		{
-			/* Traverse the list from the start	(lowest address) block until one
-			of adequate size is found. */
-			pxPreviousBlock = &xStart;
-			pxBlock = xStart.pxNextFreeBlock;
-			while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
-			{
-				pxPreviousBlock = pxBlock;
-				pxBlock = pxBlock->pxNextFreeBlock;
-			}
-
-			/* If the end marker was reached then a block of adequate size was
-			not found. */
-			if( pxBlock != pxEnd )
-			{
-				/* Return the memory space - jumping over the xBlockLink structure
-				at its start. */
-				pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
-
-				/* This block is being returned for use so must be taken out of
-				the	list of free blocks. */
-				pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
-				/* If the block is larger than required it can be split into two. */
-				if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+				/* Ensure that blocks are always aligned to the required number 
+				of bytes. */
+				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
 				{
-					/* This block is to be split into two.  Create a new block
-					following the number of bytes requested. The void cast is
-					used to prevent byte alignment warnings from the compiler. */
-					pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+					/* Byte alignment required. */
+					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
+				}
+			}
 
-					/* Calculate the sizes of two blocks split from the single
-					block. */
-					pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
-					pxBlock->xBlockSize = xWantedSize;
-
-					/* Insert the new block into the list of free blocks. */
-					prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
+			{
+				/* Traverse the list from the start	(lowest address) block until 
+				one	of adequate size is found. */
+				pxPreviousBlock = &xStart;
+				pxBlock = xStart.pxNextFreeBlock;
+				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
+				{
+					pxPreviousBlock = pxBlock;
+					pxBlock = pxBlock->pxNextFreeBlock;
 				}
 
-				xFreeBytesRemaining -= pxBlock->xBlockSize;
+				/* If the end marker was reached then a block of adequate size 
+				was	not found. */
+				if( pxBlock != pxEnd )
+				{
+					/* Return the memory space pointed to - jumping over the 
+					xBlockLink structure at its start. */
+					pvReturn = ( void * ) ( ( ( unsigned char * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
+
+					/* This block is being returned for use so must be taken out 
+					of the list of free blocks. */
+					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
+
+					/* If the block is larger than required it can be split into 
+					two. */
+					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
+					{
+						/* This block is to be split into two.  Create a new 
+						block following the number of bytes requested. The void 
+						cast is used to prevent byte alignment warnings from the 
+						compiler. */
+						pxNewBlockLink = ( void * ) ( ( ( unsigned char * ) pxBlock ) + xWantedSize );
+
+						/* Calculate the sizes of two blocks split from the 
+						single block. */
+						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
+						pxBlock->xBlockSize = xWantedSize;
+
+						/* Insert the new block into the list of free blocks. */
+						prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
+					}
+
+					xFreeBytesRemaining -= pxBlock->xBlockSize;
+
+					/* The block is being returned - it is allocated and owned
+					by the application and has no "next" block. */
+					pxBlock->xBlockSize |= xBlockAllocatedBit;
+					pxBlock->pxNextFreeBlock = NULL;
+				}
 			}
 		}
+
+		traceMALLOC( pvReturn, xWantedSize );
 	}
 	xTaskResumeAll();
 
@@ -249,13 +263,28 @@ xBlockLink *pxLink;
 		/* This casting is to keep the compiler from issuing warnings. */
 		pxLink = ( void * ) puc;
 
-		vTaskSuspendAll();
+		/* Check the block is actually allocated. */
+		configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
+		configASSERT( pxLink->pxNextFreeBlock == NULL );
+		
+		if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
 		{
-			/* Add this block to the list of free blocks. */
-			xFreeBytesRemaining += pxLink->xBlockSize;
-			prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
+			if( pxLink->pxNextFreeBlock == NULL )
+			{
+				/* The block is being returned to the heap - it is no longer
+				allocated. */
+				pxLink->xBlockSize &= ~xBlockAllocatedBit;
+
+				vTaskSuspendAll();
+				{
+					/* Add this block to the list of free blocks. */
+					xFreeBytesRemaining += pxLink->xBlockSize;
+					prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) );
+					traceFREE( pv, pxLink->xBlockSize );
+				}
+				xTaskResumeAll();
+			}
 		}
-		xTaskResumeAll();
 	}
 }
 /*-----------------------------------------------------------*/
@@ -275,19 +304,19 @@ void vPortInitialiseBlocks( void )
 static void prvHeapInit( void )
 {
 xBlockLink *pxFirstFreeBlock;
-unsigned char *pucHeapEnd;
+unsigned char *pucHeapEnd, *pucAlignedHeap;
 
-	/* Ensure the start of the heap is aligned. */
-	configASSERT( ( ( ( unsigned long ) xHeap.ucHeap ) & ( ( unsigned long ) portBYTE_ALIGNMENT_MASK ) ) == 0UL );
+	/* Ensure the heap starts on a correctly aligned boundary. */
+	pucAlignedHeap = ( unsigned char * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK ) );
 
 	/* xStart is used to hold a pointer to the first item in the list of free
 	blocks.  The void cast is used to prevent compiler warnings. */
-	xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap;
+	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
 	xStart.xBlockSize = ( size_t ) 0;
 
 	/* pxEnd is used to mark the end of the list of free blocks and is inserted
 	at the end of the heap space. */
-	pucHeapEnd = xHeap.ucHeap + xTotalHeapSize;
+	pucHeapEnd = pucAlignedHeap + xTotalHeapSize;
 	pucHeapEnd -= heapSTRUCT_SIZE;
 	pxEnd = ( void * ) pucHeapEnd;
 	configASSERT( ( ( ( unsigned long ) pxEnd ) & ( ( unsigned long ) portBYTE_ALIGNMENT_MASK ) ) == 0UL );
@@ -296,12 +325,15 @@ unsigned char *pucHeapEnd;
 
 	/* To start with there is a single free block that is sized to take up the
 	entire heap space, minus the space taken by pxEnd. */
-	pxFirstFreeBlock = ( void * ) xHeap.ucHeap;
+	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
 	pxFirstFreeBlock->xBlockSize = xTotalHeapSize - heapSTRUCT_SIZE;
 	pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
 
 	/* The heap now contains pxEnd. */
 	xFreeBytesRemaining -= heapSTRUCT_SIZE;
+
+	/* Work out the position of the top bit in a size_t variable. */
+	xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
 }
 /*-----------------------------------------------------------*/
 
@@ -318,7 +350,7 @@ unsigned char *puc;
 	}
 
 	/* Do the block being inserted, and the block it is being inserted after
-	make a contiguous block of memory? */
+	make a contiguous block of memory? */	
 	puc = ( unsigned char * ) pxIterator;
 	if( ( puc + pxIterator->xBlockSize ) == ( unsigned char * ) pxBlockToInsert )
 	{
@@ -344,7 +376,7 @@ unsigned char *puc;
 	}
 	else
 	{
-		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
+		pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;		
 	}
 
 	/* If the block being inserted plugged a gab, so was merged with the block
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/port.c b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/port.c
index 12bce5f8b..53503fd23 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/port.c
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/port.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -230,7 +227,7 @@ void vPortEndScheduler( void )
 	{
 		/* Increment the tick count - this may make a delaying task ready
 		to run - but a context switch is not performed. */		
-		vTaskIncrementTick();
+		xTaskIncrementTick();
 
 		T0IR = portTIMER_MATCH_ISR_BIT;				/* Clear the timer event */
 		VICVectAddr = portCLEAR_VIC_INTERRUPT;		/* Acknowledge the Interrupt */
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portASM.s b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portASM.s
index b72bd5513..738ee34cf 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portASM.s
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portASM.s
@@ -1,5 +1,6 @@
 ;/*
-;    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+;    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+;    All rights reserved
 ;	
 ;
 ;    ***************************************************************************
@@ -54,7 +55,7 @@
 	INCLUDE portmacro.inc
 
 	IMPORT	vTaskSwitchContext
-	IMPORT	vTaskIncrementTick
+	IMPORT	xTaskIncrementTick
 
 	EXPORT	vPortYieldProcessor
 	EXPORT	vPortStartFirstTask
@@ -127,14 +128,16 @@ vPreemptiveTick
 
 	portSAVE_CONTEXT					; Save the context of the current task.	
 
-	LDR R0, =vTaskIncrementTick			; Increment the tick count.  
+	LDR R0, =xTaskIncrementTick			; Increment the tick count.  
 	MOV LR, PC							; This may make a delayed task ready
 	BX R0								; to run.
-	
+
+	CMP R0, #0
+	BEQ SkipContextSwitch
 	LDR R0, =vTaskSwitchContext			; Find the highest priority task that 
 	MOV LR, PC							; is ready to run.
 	BX R0
-	
+SkipContextSwitch
 	MOV R0, #T0MATCHBIT					; Clear the timer event
 	LDR R1, =T0IR
 	STR R0, [R1] 
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h
index 441588dfb..240670b8b 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc
index fd5f8f1d5..8e2cc38bc 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM7_LPC21xx/portmacro.inc
@@ -1,5 +1,6 @@
 ;/*
-;    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+;    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+;    All rights reserved
 ;	
 ;
 ;    ***************************************************************************
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/port_cm0.c b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/port_cm0.c
index cf898aa29..62924a8fb 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/port_cm0.c
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/port_cm0.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -90,29 +87,34 @@
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR			( 0x01000000 )
 
+/* Constants used with memory barrier intrinsics. */
+#define portSY_FULL_READ_WRITE		( 15 )
+
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
-#if configUSE_CUSTOM_TICK == 0
 /*
  * Setup the timer to generate the tick interrupts.
  */
 static void prvSetupTimerInterrupt( void );
-#endif
 
-#ifdef __GNUC__
 /*
  * Exception handlers.
  */
-void xPortPendSVHandler( void ) __attribute__ (( naked ));
+void xPortPendSVHandler( void );
 void xPortSysTickHandler( void );
-void vPortSVCHandler( void ) __attribute__ (( naked ));
+void vPortSVCHandler( void );
+
 /*
  * Start first task is a separate function so it can be tested in isolation.
  */
-static void vPortStartFirstTask( void ) __attribute__ (( naked ));
-#endif
+static void prvPortStartFirstTask( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
 
 /*-----------------------------------------------------------*/
 
@@ -127,96 +129,61 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
-	pxTopOfStack -= 6;	/* LR, R12, R3..R1 */
+	pxTopOfStack--;
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
+	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8; /* R11..R4. */
 
 	return pxTopOfStack;
 }
 /*-----------------------------------------------------------*/
-#if defined ( __CC_ARM   )
-__asm void vPortSVCHandler( void )
+
+static void prvTaskExitError( void )
 {
-	extern pxCurrentTCB;
-
-	PRESERVE8
-
-	ldr	r3, =pxCurrentTCB		/* Restore the context. */
-	ldr r1, [r3]				/* Get the pxCurrentTCB address. */
-	ldr r0, [r1]				/* The first item in pxCurrentTCB is the task top of stack. */
-	adds r0, r0, #16			/* Move to the high registers. */
-	ldmia r0!, {r4-r7}
-	mov r8,  r4
-	mov r9,  r5
-	mov r10, r6
-	mov r11, r7
-	msr psp, r0					/* Remember the new top of stack for the task. */
-	subs r0, r0, #32			/* Go back for the low registers that are not automatically restored. */
-	ldmia r0!, {r4-r7}			/* Pop low registers.  */
-	mov r1, r14
-	movs r0, #0xd
-	orrs r1, r0
-	bx r1
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it 
+	should instead call vTaskDelete( NULL ).
+	
+	Artificially force an assert() to be triggered if configASSERT() is 
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();	
+	for( ;; );
 }
-
-#elif defined   (  __GNUC__  )
-void vPortSVCHandler( void )
-{
-	__asm volatile (
-					"	ldr	r3, pxCurrentTCBConst2		\n" /* Restore the context. */
-					"	ldr r1, [r3]					\n" /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
-					"	ldr r0, [r1]					\n" /* The first item in pxCurrentTCB is the task top of stack. */
-					"	add r0, r0, #16					\n" /* Move to the high registers. */
-					"	ldmia r0!, {r4-r7}				\n" /* Pop the high registers. */
-					" 	mov r8, r4						\n"
-					" 	mov r9, r5						\n"
-					" 	mov r10, r6						\n"
-					" 	mov r11, r7						\n"
-					"									\n"
-					"	msr psp, r0						\n" /* Remember the new top of stack for the task. */
-					"									\n"
-					"	sub r0, r0, #32					\n" /* Go back for the low registers that are not automatically restored. */
-					" 	ldmia r0!, {r4-r7}              \n" /* Pop low registers.  */
-					"	mov r1, r14						\n" /* OR R14 with 0x0d. */
-					"	movs r0, #0x0d					\n"
-					"	orr r1, r0						\n"
-					"	bx r1							\n"
-					"									\n"
-					"	.align 2						\n"
-					"pxCurrentTCBConst2: .word pxCurrentTCB	\n"
-				);
-}
-#else
-#error vPortSVCHandler not defined for this compiler!
-#endif
 /*-----------------------------------------------------------*/
 
-#if defined ( __CC_ARM   )
-__asm void vPortStartFirstTask( void )
+void vPortSVCHandler( void )
 {
+	/* This function is no longer used, but retained for backward 
+	compatibility. */
+}
+/*-----------------------------------------------------------*/
+
+__asm void prvPortStartFirstTask( void )
+{
+	extern pxCurrentTCB;
+	
 	PRESERVE8
+	
+	/* The MSP stack is not reset as, unlike on M3/4 parts, there is no vector
+	table offset register that can be used to locate the initial stack value.
+	Not all M0 parts have the application vector table at address 0. */
+	
+	ldr	r3, =pxCurrentTCB	/* Obtain location of pxCurrentTCB. */
+	ldr r1, [r3]			
+	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
+	adds r0, #32			/* Discard everything up to r0. */
+	msr psp, r0				/* This is now the new top of stack to use in the task. */
+	movs r0, #2				/* Switch to the psp stack. */
+	msr CONTROL, r0
+	pop {r0-r5}				/* Pop the registers that are saved automatically. */
+	mov lr, r5				/* lr is now in r5. */
+	cpsie i					/* The first task has its context and interrupts can be enabled. */
+	pop {pc}				/* Finally, pop the PC to jump to the user defined task code. */
 
-	movs r0, #0x00 		/* Locate the top of stack. */
-	ldr r0, [r0]
-	msr msp, r0			/* Set the msp back to the start of the stack. */
-	cpsie i				/* Globally enable interrupts. */
-	svc 0				/* System call to start first task. */
-	nop
+	ALIGN
 }
-
-#elif defined   (  __GNUC__  )
-void vPortStartFirstTask( void )
-{
-	__asm volatile(
-					" movs r0, #0x00 	\n" /* Locate the top of stack. */
-					" ldr r0, [r0] 		\n"
-					" msr msp, r0		\n" /* Set the msp back to the start of the stack. */
-					" cpsie i			\n" /* Globally enable interrupts. */
-					" svc 0				\n" /* System call to start first task. */
-					" nop				\n"
-				);
-}
-#endif
 /*-----------------------------------------------------------*/
 
 /*
@@ -228,17 +195,15 @@ portBASE_TYPE xPortStartScheduler( void )
 	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
 	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;
 
-#if configUSE_CUSTOM_TICK == 0
 	/* Start the timer that generates the tick ISR.  Interrupts are disabled
 	here already. */
 	prvSetupTimerInterrupt();
-#endif	
 
 	/* Initialise the critical nesting count ready for the first task. */
 	uxCriticalNesting = 0;
 
 	/* Start the first task. */
-	vPortStartFirstTask();
+	prvPortStartFirstTask();
 
 	/* Should not get here! */
 	return 0;
@@ -252,10 +217,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	*( portNVIC_INT_CTRL ) = portNVIC_PENDSVSET;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -263,6 +233,8 @@ void vPortEnterCritical( void )
 {
     portDISABLE_INTERRUPTS();
     uxCriticalNesting++;
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -276,109 +248,81 @@ void vPortExitCritical( void )
 }
 /*-----------------------------------------------------------*/
 
-#if defined ( __CC_ARM   )
+__asm unsigned long ulSetInterruptMaskFromISR( void )
+{
+	mrs r0, PRIMASK
+	cpsid i
+	bx lr
+}
+/*-----------------------------------------------------------*/
+
+__asm void vClearInterruptMaskFromISR( unsigned long ulMask )
+{
+	msr PRIMASK, r0
+	bx lr
+}
+/*-----------------------------------------------------------*/
+
 __asm void xPortPendSVHandler( void )
 {
-	extern pxCurrentTCB;
-	extern vTaskSwitchContext;
+	extern vTaskSwitchContext
+	extern pxCurrentTCB
 
 	PRESERVE8
 
 	mrs r0, psp
-	ldr	r3, =pxCurrentTCB			/* Get the location of the current TCB. */
+
+	ldr	r3, =pxCurrentTCB 	/* Get the location of the current TCB. */
 	ldr	r2, [r3]
-	subs r0, r0, #32				/* Make space for the remaining low registers. */
-	str r0, [r2]					/* Save the new top of stack. */
-	stmia r0!, {r4-r7}				/* Store the low registers that are not saved automatically. */
-	mov r4, r8						/* Store the high registers. */
+
+	subs r0, #32			/* Make space for the remaining low registers. */
+	str r0, [r2]			/* Save the new top of stack. */
+	stmia r0!, {r4-r7}		/* Store the low registers that are not saved automatically. */
+	mov r4, r8				/* Store the high registers. */
 	mov r5, r9
 	mov r6, r10
 	mov r7, r11
 	stmia r0!, {r4-r7}
+
 	push {r3, r14}
 	cpsid i
 	bl vTaskSwitchContext
 	cpsie i
-	pop {r2, r3}					/* lr goes in r3. r2 now holds tcb pointer. */
+	pop {r2, r3}			/* lr goes in r3. r2 now holds tcb pointer. */
+
 	ldr r1, [r2]
-	ldr r0, [r1]					/* The first item in pxCurrentTCB is the task top of stack. */
-	adds r0, r0, #16				/* Move to the high registers. */
-	ldmia r0!, {r4-r7}				/* Pop the high registers. */
+	ldr r0, [r1]			/* The first item in pxCurrentTCB is the task top of stack. */
+	adds r0, #16			/* Move to the high registers. */
+	ldmia r0!, {r4-r7}		/* Pop the high registers. */
 	mov r8, r4
 	mov r9, r5
 	mov r10, r6
 	mov r11, r7
-	msr psp, r0						/* Remember the new top of stack for the task. */
-	subs r0, r0, #32				/* Go back for the low registers that are not automatically restored. */
-	ldmia r0!, {r4-r7}              /* Pop low registers.  */
+
+	msr psp, r0				/* Remember the new top of stack for the task. */
+
+	subs r0, #32			/* Go back for the low registers that are not automatically restored. */
+	ldmia r0!, {r4-r7}      /* Pop low registers.  */
+
 	bx r3
+	ALIGN
 }
-
-#elif defined   (  __GNUC__  )
-void xPortPendSVHandler( void )
-{
-	/* This is a naked function. */
-
-	__asm volatile
-	(
-	"	mrs r0, psp							\n"
-	"										\n"
-	"	ldr	r3, pxCurrentTCBConst			\n" /* Get the location of the current TCB. */
-	"	ldr	r2, [r3]						\n"
-	"										\n"
-	"	sub r0, r0, #32						\n" /* Make space for the remaining low registers. */
-	"	str r0, [r2]						\n" /* Save the new top of stack. */
-	"	stmia r0!, {r4-r7}					\n" /* Store the low registers that are not saved automatically. */
-	" 	mov r4, r8							\n" /* Store the high registers. */
-	" 	mov r5, r9							\n"
-	" 	mov r6, r10							\n"
-	" 	mov r7, r11							\n"
-	" 	stmia r0!, {r4-r7}              	\n"
-	"										\n"
-	"	push {r3, r14}						\n"
-	"	cpsid i								\n"
-	"	bl vTaskSwitchContext				\n"
-	"	cpsie i								\n"
-	"	pop {r2, r3}						\n" /* lr goes in r3. r2 now holds tcb pointer. */
-	"										\n"
-	"	ldr r1, [r2]						\n"
-	"	ldr r0, [r1]						\n" /* The first item in pxCurrentTCB is the task top of stack. */
-	"	add r0, r0, #16						\n" /* Move to the high registers. */
-	"	ldmia r0!, {r4-r7}					\n" /* Pop the high registers. */
-	" 	mov r8, r4							\n"
-	" 	mov r9, r5							\n"
-	" 	mov r10, r6							\n"
-	" 	mov r11, r7							\n"
-	"										\n"
-	"	msr psp, r0							\n" /* Remember the new top of stack for the task. */
-	"										\n"
-	"	sub r0, r0, #32						\n" /* Go back for the low registers that are not automatically restored. */
-	" 	ldmia r0!, {r4-r7}              	\n" /* Pop low registers.  */
-	"										\n"
-	"	bx r3								\n"
-	"										\n"
-	"	.align 2							\n"
-	"pxCurrentTCBConst: .word pxCurrentTCB	  "
-	);
-}
-#endif
 /*-----------------------------------------------------------*/
 
-#if configUSE_CUSTOM_TICK == 0
 void xPortSysTickHandler( void )
 {
-unsigned long ulDummy;
+unsigned long ulPreviousMask;
 
-	/* If using preemption, also force a context switch. */
-	#if configUSE_PREEMPTION == 1
-		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
-	#endif
-
-	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
+	ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* Pend a context switch. */
+			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
+		}
 	}
-	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
 /*-----------------------------------------------------------*/
 
@@ -392,6 +336,5 @@ void prvSetupTimerInterrupt( void )
 	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
 	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
 }
-#endif
 /*-----------------------------------------------------------*/
 
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/portmacro.h b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/portmacro.h
index f50e3e8a4..c9ce6d72f 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM0/portmacro.h
@@ -1,67 +1,66 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
-     *    not run, what could be wrong?                                      *
+     *    not run, what could be wrong?"                                     *
      *                                                                       *
      *    http://www.FreeRTOS.org/FAQHelp.html                               *
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest information,
-    license and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -108,29 +107,24 @@ extern "C" {
 
 
 /* Scheduler utilities. */
-extern void vPortYieldFromISR( void );
-#define portYIELD()									vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) 	if( xSwitchRequired ) vPortYieldFromISR()
+extern void vPortYield( void );
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
-
 /* Critical section management. */
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
+extern unsigned long ulSetInterruptMaskFromISR( void );
+extern void vClearInterruptMaskFromISR( unsigned long ulMask );
 
-#if defined ( __CC_ARM   )
-/* Use intrinsics for RVDS, will compile inline to thumb */
-#define portSET_INTERRUPT_MASK()				__disable_irq()
-#define portCLEAR_INTERRUPT_MASK()				__enable_irq()
-#elif defined   (  __GNUC__  )
-#define portSET_INTERRUPT_MASK()				__asm volatile 	( " cpsid i " )
-#define portCLEAR_INTERRUPT_MASK()				__asm volatile 	( " cpsie i " )
-#endif
-
-#define portSET_INTERRUPT_MASK_FROM_ISR()		0;portSET_INTERRUPT_MASK()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	portCLEAR_INTERRUPT_MASK();(void)x
-#define portDISABLE_INTERRUPTS()				portSET_INTERRUPT_MASK()
-#define portENABLE_INTERRUPTS()					portCLEAR_INTERRUPT_MASK()
+#define portSET_INTERRUPT_MASK_FROM_ISR()		ulSetInterruptMaskFromISR()
+#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x)	vClearInterruptMaskFromISR( x )
+#define portDISABLE_INTERRUPTS()				__disable_irq()
+#define portENABLE_INTERRUPTS()					__enable_irq()
 #define portENTER_CRITICAL()					vPortEnterCritical()
 #define portEXIT_CRITICAL()						vPortExitCritical()
 
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/port_cm3.c b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/port_cm3.c
index 4bbdeade1..a3ff205c6 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/port_cm3.c
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/port_cm3.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -88,7 +85,7 @@
 
 /* The __weak attribute does not work as you might expect with the Keil tools
 so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if
-the application writer wants to provide their own implementation of 
+the application writer wants to provide their own implementation of
 vPortSetupTimerInterrupt().  Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION
 is defined. */
 #ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION
@@ -99,30 +96,49 @@ is defined. */
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to set up the initial stack. */
 #define portINITIAL_XPSR			( 0x01000000 )
 
+/* Constants used with memory barrier intrinsics. */
+#define portSY_FULL_READ_WRITE		( 15 )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
  * Setup the timer to generate the tick interrupts.  The implementation in this
- * file is weak to allow application writers to change the timer used to 
+ * file is weak to allow application writers to change the timer used to
  * generate the tick interrupt.
  */
 void vPortSetupTimerInterrupt( void );
@@ -139,14 +155,19 @@ void vPortSVCHandler( void );
  */
 static void prvStartFirstTask( void );
 
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -164,6 +185,17 @@ static void prvStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -178,7 +210,8 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
+
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
 	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
 	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */
@@ -187,6 +220,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it 
+	should instead call vTaskDelete( NULL ).
+	
+	Artificially force an assert() to be triggered if configASSERT() is 
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();	
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 __asm void vPortSVCHandler( void )
 {
 	PRESERVE8
@@ -226,7 +273,51 @@ __asm void prvStartFirstTask( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
-	/* Make PendSV, CallSV and SysTick the same priority as the kernel. */
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
@@ -252,10 +343,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -263,6 +359,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -311,24 +409,19 @@ __asm void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-	#if configUSE_PREEMPTION == 1
-	{
-		/* If using preemption, also force a context switch. */
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	}
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a 
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -338,7 +431,8 @@ void xPortSysTickHandler( void )
 
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -346,35 +440,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__disable_irq();
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+			
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+			
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above __disable_irq() call
+			above. */
+			__enable_irq();
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -384,11 +490,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__dsb( portSY_FULL_READ_WRITE );
 				__wfi();
+				__isb( portSY_FULL_READ_WRITE );
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -398,14 +511,30 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above __disable_irq() call
+			above. */
+			__enable_irq();
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+				
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
 
+				/* Don't allow a tiny value, or values that have somehow 
+				underflowed because the post sleep hook did something 
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+				
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
+				
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
 				processed as soon as this function exits, the tick value
@@ -416,25 +545,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -450,20 +587,20 @@ void xPortSysTickHandler( void )
 
 	void vPortSetupTimerInterrupt( void )
 	{
-		/* Calculate the constants required to configure the tick interrupt. */		
+		/* Calculate the constants required to configure the tick interrupt. */
 		#if configUSE_TICKLESS_IDLE == 1
 		{
-			ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-			xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-			ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+			ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+			xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+			ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 		}
 		#endif /* configUSE_TICKLESS_IDLE */
-	
+
 		/* Configure SysTick to interrupt at the requested rate. */
 		portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 	}
-	
+
 #endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
 /*-----------------------------------------------------------*/
 
@@ -485,3 +622,75 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0
 	bx r14
 }
+/*-----------------------------------------------------------*/
+
+__asm unsigned long vPortGetIPSR( void )
+{
+	PRESERVE8
+	
+	mrs r0, ipsr
+	bx r14
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		ulCurrentInterrupt = vPortGetIPSR();
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/portmacro.h b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/portmacro.h
index c9422525d..a8d10bcb0 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM3/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -110,9 +107,11 @@ extern "C" {
 
 /* Scheduler utilities. */
 extern void vPortYield( void );
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */
@@ -162,6 +161,11 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/port_cm4f.c b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/port_cm4f.c
index ed071ff8d..104daddeb 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/port_cm4f.c
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/port_cm4f.c
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /*-----------------------------------------------------------
@@ -88,7 +85,7 @@
 
 /* The __weak attribute does not work as you might expect with the Keil tools
 so the configOVERRIDE_DEFAULT_TICK_CONFIGURATION constant must be set to 1 if
-the application writer wants to provide their own implementation of 
+the application writer wants to provide their own implementation of
 vPortSetupTimerInterrupt().  Ensure configOVERRIDE_DEFAULT_TICK_CONFIGURATION
 is defined. */
 #ifndef configOVERRIDE_DEFAULT_TICK_CONFIGURATION
@@ -99,19 +96,27 @@ is defined. */
 #define portNVIC_SYSTICK_CTRL_REG			( * ( ( volatile unsigned long * ) 0xe000e010 ) )
 #define portNVIC_SYSTICK_LOAD_REG			( * ( ( volatile unsigned long * ) 0xe000e014 ) )
 #define portNVIC_SYSTICK_CURRENT_VALUE_REG	( * ( ( volatile unsigned long * ) 0xe000e018 ) )
-#define portNVIC_INT_CTRL_REG				( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
 #define portNVIC_SYSPRI2_REG				( * ( ( volatile unsigned long * ) 0xe000ed20 ) )
 /* ...then bits in the registers. */
 #define portNVIC_SYSTICK_CLK_BIT			( 1UL << 2UL )
 #define portNVIC_SYSTICK_INT_BIT			( 1UL << 1UL )
 #define portNVIC_SYSTICK_ENABLE_BIT			( 1UL << 0UL )
 #define portNVIC_SYSTICK_COUNT_FLAG_BIT		( 1UL << 16UL )
-#define portNVIC_PENDSVSET_BIT				( 1UL << 28UL )
 #define portNVIC_PENDSVCLEAR_BIT 			( 1UL << 27UL )
 #define portNVIC_PEND_SYSTICK_CLEAR_BIT		( 1UL << 25UL )
 
-#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
-#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )
+#define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )
+#define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )
+
+/* Constants required to check the validity of an interrupt priority. */
+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )
+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )
+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )
+#define portMAX_8_BIT_VALUE					( ( unsigned char ) 0xff )
+#define portTOP_BIT_OF_BYTE					( ( unsigned char ) 0x80 )
+#define portMAX_PRIGROUP_BITS				( ( unsigned char ) 7 )
+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )
+#define portPRIGROUP_SHIFT					( 8UL )
 
 /* Constants required to manipulate the VFP. */
 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
@@ -121,13 +126,24 @@ is defined. */
 #define portINITIAL_XPSR			( 0x01000000 )
 #define portINITIAL_EXEC_RETURN		( 0xfffffffd )
 
+/* Constants used with memory barrier intrinsics. */
+#define portSY_FULL_READ_WRITE		( 15 )
+
+/* The systick is a 24-bit counter. */
+#define portMAX_24_BIT_NUMBER				( 0xffffffUL )
+
+/* A fiddle factor to estimate the number of SysTick counts that would have
+occurred while the SysTick counter is stopped during tickless idle
+calculations. */
+#define portMISSED_COUNTS_FACTOR			( 45UL )
+
 /* Each task maintains its own interrupt status in the critical nesting
 variable. */
 static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;
 
 /*
  * Setup the timer to generate the tick interrupts.  The implementation in this
- * file is weak to allow application writers to change the timer used to 
+ * file is weak to allow application writers to change the timer used to
  * generate the tick interrupt.
  */
 void vPortSetupTimerInterrupt( void );
@@ -148,14 +164,20 @@ static void prvStartFirstTask( void );
  * Functions defined in portasm.s to enable the VFP.
  */
 static void prvEnableVFP( void );
+
+/*
+ * Used to catch tasks that attempt to return from their implementing function.
+ */
+static void prvTaskExitError( void );
+
 /*-----------------------------------------------------------*/
 
 /*
  * The number of SysTick increments that make up one tick period.
  */
 #if configUSE_TICKLESS_IDLE == 1
-	static unsigned long ulTimerReloadValueForOneTick = 0;
-#endif
+	static unsigned long ulTimerCountsForOneTick = 0;
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * The maximum number of tick periods that can be suppressed is limited by the
@@ -173,6 +195,17 @@ static void prvEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;
 #endif /* configUSE_TICKLESS_IDLE */
 
+/*
+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
+ * FreeRTOS API functions are not called from interrupts that have been assigned
+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
+ */
+#if ( configASSERT_DEFINED == 1 )
+	 static unsigned char ucMaxSysCallPriority = 0;
+	 static unsigned long ulMaxPRIGROUPValue = 0;
+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16;
+#endif /* configASSERT_DEFINED */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -191,7 +224,7 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 	pxTopOfStack--;
 	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
 	pxTopOfStack--;
-	*pxTopOfStack = 0;	/* LR */
+	*pxTopOfStack = ( portSTACK_TYPE ) prvTaskExitError;	/* LR */
 
 	/* Save code space by skipping register initialisation. */
 	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
@@ -208,6 +241,20 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
 }
 /*-----------------------------------------------------------*/
 
+static void prvTaskExitError( void )
+{
+	/* A function that implements a task must not exit or attempt to return to
+	its caller as there is nothing to return to.  If a task wants to exit it
+	should instead call vTaskDelete( NULL ).
+
+	Artificially force an assert() to be triggered if configASSERT() is
+	defined, then stop here so application writers can catch the error. */
+	configASSERT( uxCriticalNesting == ~0UL );
+	portDISABLE_INTERRUPTS();
+	for( ;; );
+}
+/*-----------------------------------------------------------*/
+
 __asm void vPortSVCHandler( void )
 {
 	PRESERVE8
@@ -264,7 +311,51 @@ __asm void prvEnableVFP( void )
  */
 portBASE_TYPE xPortStartScheduler( void )
 {
-	/* Make PendSV, CallSV and SysTick the same priroity as the kernel. */
+	#if( configASSERT_DEFINED == 1 )
+	{
+		volatile unsigned long ulOriginalPriority;
+		volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
+		volatile unsigned char ucMaxPriorityValue;
+
+		/* Determine the maximum priority from which ISR safe FreeRTOS API
+		functions can be called.  ISR safe functions are those that end in
+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
+		ensure interrupt entry is as fast and simple as possible.
+
+		Save the interrupt priority value that is about to be clobbered. */
+		ulOriginalPriority = *pcFirstUserPriorityRegister;
+
+		/* Determine the number of priority bits available.  First write to all
+		possible bits. */
+		*pcFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
+
+		/* Read the value back to see how many bits stuck. */
+		ucMaxPriorityValue = *pcFirstUserPriorityRegister;
+
+		/* Use the same mask on the maximum system call priority. */
+		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;
+
+		/* Calculate the maximum acceptable priority group value for the number
+		of bits read back. */
+		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
+		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
+		{
+			ulMaxPRIGROUPValue--;
+			ucMaxPriorityValue <<= ( unsigned char ) 0x01;
+		}
+
+		/* Shift the priority group value back to its position within the AIRCR
+		register. */
+		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
+		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
+
+		/* Restore the clobbered interrupt priority register to its original
+		value. */
+		*pcFirstUserPriorityRegister = ulOriginalPriority;
+	}
+	#endif /* conifgASSERT_DEFINED */
+
+	/* Make PendSV and SysTick the lowest priority interrupts. */
 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;
 
@@ -296,10 +387,15 @@ void vPortEndScheduler( void )
 }
 /*-----------------------------------------------------------*/
 
-void vPortYieldFromISR( void )
+void vPortYield( void )
 {
 	/* Set a PendSV to request a context switch. */
 	portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+
+	/* Barriers are normally not required but do ensure the code is completely
+	within the specified behaviour for the architecture. */
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -307,6 +403,8 @@ void vPortEnterCritical( void )
 {
 	portDISABLE_INTERRUPTS();
 	uxCriticalNesting++;
+	__dsb( portSY_FULL_READ_WRITE );
+	__isb( portSY_FULL_READ_WRITE );
 }
 /*-----------------------------------------------------------*/
 
@@ -345,13 +443,13 @@ __asm void xPortPendSVHandler( void )
 	/* Save the new top of stack into the first member of the TCB. */
 	str r0, [r2]
 
-	stmdb sp!, {r3, r14}
+	stmdb sp!, {r3}
 	mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
 	msr basepri, r0
 	bl vTaskSwitchContext
 	mov r0, #0
 	msr basepri, r0
-	ldmia sp!, {r3, r14}
+	ldmia sp!, {r3}
 
 	/* The first item in pxCurrentTCB is the task top of stack. */
 	ldr r1, [r3]
@@ -367,6 +465,14 @@ __asm void xPortPendSVHandler( void )
 	vldmiaeq r0!, {s16-s31}
 
 	msr psp, r0
+
+	#ifdef WORKAROUND_PMU_CM001 /* XMC4000 specific errata */
+		#if WORKAROUND_PMU_CM001 == 1
+			push { r14 }
+			pop { pc }
+		#endif
+	#endif
+
 	bx r14
 	nop
 }
@@ -374,24 +480,19 @@ __asm void xPortPendSVHandler( void )
 
 void xPortSysTickHandler( void )
 {
-	#if configUSE_PREEMPTION == 1
-	{
-		/* If using preemption, also force a context switch. */
-		portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
-	}
-	#endif
-
-	/* Only reset the systick load register if configUSE_TICKLESS_IDLE is set to
-	1.  If it is set to 0 tickless idle is not being used.  If it is set to a 
-	value other than 0 or 1 then a timer other than the SysTick is being used
-	to generate the tick interrupt. */
-	#if configUSE_TICKLESS_IDLE == 1
-		portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick;
-	#endif
-
+	/* The SysTick runs at the lowest interrupt priority, so when this interrupt
+	executes all interrupts must be unmasked.  There is therefore no need to
+	save and then restore the interrupt mask value as its value is already
+	known. */
 	( void ) portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		vTaskIncrementTick();
+		/* Increment the RTOS tick. */
+		if( xTaskIncrementTick() != pdFALSE )
+		{
+			/* A context switch is required.  Context switching is performed in
+			the PendSV interrupt.  Pend the PendSV interrupt. */
+			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
+		}
 	}
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( 0 );
 }
@@ -401,7 +502,8 @@ void xPortSysTickHandler( void )
 
 	__weak void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime )
 	{
-	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickIncrements;
+	unsigned long ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements;
+	portTickType xModifiableIdleTime;
 
 		/* Make sure the SysTick reload value does not overflow the counter. */
 		if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
@@ -409,35 +511,47 @@ void xPortSysTickHandler( void )
 			xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
 		}
 
-		/* Calculate the reload value required to wait xExpectedIdleTime
-		tick periods.  -1 is used because this code will execute part way
-		through one of the tick periods, and the fraction of a tick period is
-		accounted for later. */
-		ulReloadValue = ( ulTimerReloadValueForOneTick * ( xExpectedIdleTime - 1UL ) );
-		if( ulReloadValue > ulStoppedTimerCompensation )
-		{
-			ulReloadValue -= ulStoppedTimerCompensation;
-		}
-
 		/* Stop the SysTick momentarily.  The time the SysTick is stopped for
 		is accounted for as best it can be, but using the tickless mode will
 		inevitably result in some tiny drift of the time maintained by the
 		kernel with respect to calendar time. */
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
-		/* If a context switch is pending then abandon the low power entry as
-		the context switch might have been pended by an external interrupt that
-		requires processing. */
-		if( ( portNVIC_INT_CTRL_REG & portNVIC_PENDSVSET_BIT ) != 0 )
+		/* Calculate the reload value required to wait xExpectedIdleTime
+		tick periods.  -1 is used because this code will execute part way
+		through one of the tick periods. */
+		ulReloadValue = portNVIC_SYSTICK_CURRENT_VALUE_REG + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );
+		if( ulReloadValue > ulStoppedTimerCompensation )
 		{
+			ulReloadValue -= ulStoppedTimerCompensation;
+		}
+
+		/* Enter a critical section but don't use the taskENTER_CRITICAL()
+		method as that will mask interrupts that should exit sleep mode. */
+		__disable_irq();
+
+		/* If a context switch is pending or a task is waiting for the scheduler
+		to be unsuspended then abandon the low power entry. */
+		if( eTaskConfirmSleepModeStatus() == eAbortSleep )
+		{
+			/* Restart from whatever is left in the count register to complete
+			this tick period. */
+			portNVIC_SYSTICK_LOAD_REG = portNVIC_SYSTICK_CURRENT_VALUE_REG;
+
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+
+			/* Reset the reload register to the value required for normal tick
+			periods. */
+			portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+
+			/* Re-enable interrupts - see comments above __disable_irq() call
+			above. */
+			__enable_irq();
 		}
 		else
 		{
-			/* Adjust the reload value to take into account that the current
-			time slice is already partially complete. */
-			ulReloadValue += ( portNVIC_SYSTICK_LOAD_REG - ( portNVIC_SYSTICK_LOAD_REG - portNVIC_SYSTICK_CURRENT_VALUE_REG ) );
+			/* Set the new reload value. */
 			portNVIC_SYSTICK_LOAD_REG = ulReloadValue;
 
 			/* Clear the SysTick count flag and set the count value back to
@@ -447,11 +561,18 @@ void xPortSysTickHandler( void )
 			/* Restart SysTick. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 
-			/* Sleep until something happens. */
-			configPRE_SLEEP_PROCESSING( xExpectedIdleTime );
-			if( xExpectedIdleTime > 0 )
+			/* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
+			set its parameter to 0 to indicate that its implementation contains
+			its own wait for interrupt or wait for event instruction, and so wfi
+			should not be executed again.  However, the original expected idle
+			time variable must remain unmodified, so a copy is taken. */
+			xModifiableIdleTime = xExpectedIdleTime;
+			configPRE_SLEEP_PROCESSING( xModifiableIdleTime );
+			if( xModifiableIdleTime > 0 )
 			{
+				__dsb( portSY_FULL_READ_WRITE );
 				__wfi();
+				__isb( portSY_FULL_READ_WRITE );
 			}
 			configPOST_SLEEP_PROCESSING( xExpectedIdleTime );
 
@@ -461,13 +582,29 @@ void xPortSysTickHandler( void )
 			kernel with respect to calendar time. */
 			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;
 
+			/* Re-enable interrupts - see comments above __disable_irq() call
+			above. */
+			__enable_irq();
+
 			if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
 			{
+				unsigned long ulCalculatedLoadValue;
+
 				/* The tick interrupt has already executed, and the SysTick
-				count reloaded with the portNVIC_SYSTICK_LOAD_REG value.
-				Reset the portNVIC_SYSTICK_LOAD_REG with whatever remains of
-				this tick period. */
-				portNVIC_SYSTICK_LOAD_REG = ulTimerReloadValueForOneTick - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+				count reloaded with ulReloadValue.  Reset the
+				portNVIC_SYSTICK_LOAD_REG with whatever remains of this tick
+				period. */
+				ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );
+
+				/* Don't allow a tiny value, or values that have somehow
+				underflowed because the post sleep hook did something
+				that took too long. */
+				if( ( ulCalculatedLoadValue < ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
+				{
+					ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
+				}
+
+				portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;
 
 				/* The tick interrupt handler will already have pended the tick
 				processing in the kernel.  As the pending tick will be
@@ -479,25 +616,33 @@ void xPortSysTickHandler( void )
 			else
 			{
 				/* Something other than the tick interrupt ended the sleep.
-				Work out how long the sleep lasted. */
-				ulCompletedSysTickIncrements = ( xExpectedIdleTime * ulTimerReloadValueForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
+				Work out how long the sleep lasted rounded to complete tick
+				periods (not the ulReload value which accounted for part
+				ticks). */
+				ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - portNVIC_SYSTICK_CURRENT_VALUE_REG;
 
 				/* How many complete tick periods passed while the processor
 				was waiting? */
-				ulCompleteTickPeriods = ulCompletedSysTickIncrements / ulTimerReloadValueForOneTick;
+				ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;
 
 				/* The reload value is set to whatever fraction of a single tick
 				period remains. */
-				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerReloadValueForOneTick ) - ulCompletedSysTickIncrements;
+				portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1 ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
 			}
 
 			/* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG
 			again, then set portNVIC_SYSTICK_LOAD_REG back to its standard
-			value. */
+			value.  The critical section is used to ensure the tick interrupt
+			can only execute once in the case that the reload register is near
+			zero. */
 			portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
-			portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
-
-			vTaskStepTick( ulCompleteTickPeriods );
+			portENTER_CRITICAL();
+			{
+				portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
+				vTaskStepTick( ulCompleteTickPeriods );
+				portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
+			}
+			portEXIT_CRITICAL();
 		}
 	}
 
@@ -513,20 +658,20 @@ void xPortSysTickHandler( void )
 
 	void vPortSetupTimerInterrupt( void )
 	{
-		/* Calculate the constants required to configure the tick interrupt. */		
+		/* Calculate the constants required to configure the tick interrupt. */
 		#if configUSE_TICKLESS_IDLE == 1
 		{
-			ulTimerReloadValueForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
-			xMaximumPossibleSuppressedTicks = 0xffffffUL / ( ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL );
-			ulStoppedTimerCompensation = 45UL / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
+			ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
+			xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
+			ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
 		}
 		#endif /* configUSE_TICKLESS_IDLE */
-	
+
 		/* Configure SysTick to interrupt at the requested rate. */
 		portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;;
 		portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
 	}
-	
+
 #endif /* configOVERRIDE_DEFAULT_TICK_CONFIGURATION */
 /*-----------------------------------------------------------*/
 
@@ -548,3 +693,75 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0
 	bx r14
 }
+/*-----------------------------------------------------------*/
+
+__asm unsigned long vPortGetIPSR( void )
+{
+	PRESERVE8
+
+	mrs r0, ipsr
+	bx r14
+}
+/*-----------------------------------------------------------*/
+
+#if( configASSERT_DEFINED == 1 )
+
+	void vPortValidateInterruptPriority( void )
+	{
+	unsigned long ulCurrentInterrupt;
+	unsigned char ucCurrentPriority;
+
+		/* Obtain the number of the currently executing interrupt. */
+		ulCurrentInterrupt = vPortGetIPSR();
+
+		/* Is the interrupt number a user defined interrupt? */
+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
+		{
+			/* Look up the interrupt's priority. */
+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];
+
+			/* The following assertion will fail if a service routine (ISR) for
+			an interrupt that has been assigned a priority above
+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
+			function.  ISR safe FreeRTOS API functions must *only* be called
+			from interrupts that have been assigned a priority at or below
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Numerically low interrupt priority numbers represent logically high
+			interrupt priorities, therefore the priority of the interrupt must
+			be set to a value equal to or numerically *higher* than
+			configMAX_SYSCALL_INTERRUPT_PRIORITY.
+
+			Interrupts that	use the FreeRTOS API must not be left at their
+			default priority of	zero as that is the highest possible priority,
+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
+			and	therefore also guaranteed to be invalid.
+
+			FreeRTOS maintains separate thread and ISR API functions to ensure
+			interrupt entry is as fast and simple as possible.
+
+			The following links provide detailed information:
+			http://www.freertos.org/RTOS-Cortex-M3-M4.html
+			http://www.freertos.org/FAQHelp.html */
+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
+		}
+
+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits
+		that define each interrupt's priority to be split between bits that
+		define the interrupt's pre-emption priority bits and bits that define
+		the interrupt's sub-priority.  For simplicity all bits must be defined
+		to be pre-emption priority bits.  The following assertion will fail if
+		this is not the case (if some bits represent a sub-priority).
+
+		If the application only uses CMSIS libraries for interrupt
+		configuration then the correct setting can be achieved on all Cortex-M
+		devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
+		scheduler.  Note however that some vendor specific peripheral libraries
+		assume a non-zero priority group setting, in which cases using a value
+		of zero will result in unpredicable behaviour. */
+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
+	}
+
+#endif /* configASSERT_DEFINED */
+
+
diff --git a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/portmacro.h b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/portmacro.h
index 509e2bf29..c3f877b05 100644
--- a/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/portmacro.h
+++ b/vendor/freertos/freertos/Source/portable/RVDS/ARM_CM4F/portmacro.h
@@ -1,48 +1,41 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT 
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
-    
+
     ***************************************************************************
      *                                                                       *
      *    Having a problem?  Start by reading the FAQ "My application does   *
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-    
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
-    and contact details.  
-    
-    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
-    the code with commercial support, indemnification, and middleware, under 
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under 
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
+
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 
@@ -75,7 +72,7 @@ extern "C" {
 #endif
 
 /*-----------------------------------------------------------
- * Port specific definitions.  
+ * Port specific definitions.
  *
  * The settings in this file configure FreeRTOS correctly for the
  * given hardware and compiler.
@@ -100,19 +97,21 @@ extern "C" {
 	typedef unsigned portLONG portTickType;
 	#define portMAX_DELAY ( portTickType ) 0xffffffff
 #endif
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 /* Architecture specifics. */
 #define portSTACK_GROWTH			( -1 )
-#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )		
+#define portTICK_RATE_MS			( ( portTickType ) 1000 / configTICK_RATE_HZ )
 #define portBYTE_ALIGNMENT			8
-/*-----------------------------------------------------------*/	
+/*-----------------------------------------------------------*/
 
 /* Scheduler utilities. */
 extern void vPortYield( void );
-extern void vPortYieldFromISR( void );
-#define portYIELD()					vPortYieldFromISR()
-#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) vPortYieldFromISR()
+#define portNVIC_INT_CTRL_REG		( * ( ( volatile unsigned long * ) 0xe000ed04 ) )
+#define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
+#define portYIELD()					vPortYield()
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
 /* Critical section management. */
@@ -130,11 +129,6 @@ extern void vPortExitCritical( void );
 
 /*-----------------------------------------------------------*/
 
-/* There are an uneven number of items on the initial stack, so 
-portALIGNMENT_ASSERT_pxCurrentTCB() will trigger false positive asserts. */
-#define portALIGNMENT_ASSERT_pxCurrentTCB ( void )
-/*-----------------------------------------------------------*/
-
 /* Tickless idle/low power functionality. */
 #ifndef portSUPPRESS_TICKS_AND_SLEEP
 	extern void vPortSuppressTicksAndSleep( portTickType xExpectedIdleTime );
@@ -168,6 +162,11 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
 /*-----------------------------------------------------------*/
 
+#ifdef configASSERT
+	void vPortValidateInterruptPriority( void );
+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()
+#endif
+
 /* portNOP() is not required by this port. */
 #define portNOP()
 
diff --git a/vendor/freertos/freertos/Source/queue.c b/vendor/freertos/freertos/Source/queue.c
index fbc6187e4..67fdef713 100644
--- a/vendor/freertos/freertos/Source/queue.c
+++ b/vendor/freertos/freertos/Source/queue.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,18 +45,22 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 #include 
@@ -76,45 +73,50 @@ task.h is included from an application file. */
 
 #include "FreeRTOS.h"
 #include "task.h"
+#include "queue.h"
 
 #if ( configUSE_CO_ROUTINES == 1 )
 	#include "croutine.h"
 #endif
 
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
 
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
 
 /* Constants used with the cRxLock and xTxLock structure members. */
 #define queueUNLOCKED					( ( signed portBASE_TYPE ) -1 )
 #define queueLOCKED_UNMODIFIED			( ( signed portBASE_TYPE ) 0 )
 
-#define queueERRONEOUS_UNBLOCK			( -1 )
-
-/* For internal use only. */
-#define	queueSEND_TO_BACK				( 0 )
-#define	queueSEND_TO_FRONT				( 1 )
-
-/* Effectively make a union out of the xQUEUE structure. */
+/* When the xQUEUE structure is used to represent a base queue its pcHead and
+pcTail members are used as pointers into the queue storage area.  When the
+xQUEUE structure is used to represent a mutex pcHead and pcTail pointers are
+not necessary, and the pcHead pointer is set to NULL to indicate that the
+pcTail pointer actually points to the mutex holder (if any).  Map alternative
+names to the pcHead and pcTail structure members to ensure the readability of
+the code is maintained despite this dual use of two structure members.  An
+alternative implementation would be to use a union, but use of a union is
+against the coding standard (although an exception to the standard has been
+permitted where the dual use also significantly changes the type of the
+structure member). */
 #define pxMutexHolder					pcTail
 #define uxQueueType						pcHead
-#define uxRecursiveCallCount			pcReadFrom
 #define queueQUEUE_IS_MUTEX				NULL
 
-/* Semaphores do not actually store or copy data, so have an items size of
+/* Semaphores do not actually store or copy data, so have an item size of
 zero. */
 #define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portBASE_TYPE ) 0 )
-#define queueDONT_BLOCK					 ( ( portTickType ) 0U )
 #define queueMUTEX_GIVE_BLOCK_TIME		 ( ( portTickType ) 0U )
 
-/* These definitions *must* match those in queue.h. */
-#define queueQUEUE_TYPE_BASE				( 0U )
-#define queueQUEUE_TYPE_MUTEX 				( 1U )
-#define queueQUEUE_TYPE_COUNTING_SEMAPHORE	( 2U )
-#define queueQUEUE_TYPE_BINARY_SEMAPHORE	( 3U )
-#define queueQUEUE_TYPE_RECURSIVE_MUTEX		( 4U )
+#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 queueYIELD_IF_USING_PREEMPTION()
+#else
+	#define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
+#endif
 
 /*
  * Definition of the queue used by the scheduler.
@@ -122,11 +124,16 @@ zero. */
  */
 typedef struct QueueDefinition
 {
-	signed char *pcHead;				/*< Points to the beginning of the queue storage area. */
-	signed char *pcTail;				/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
+	signed char *pcHead;					/*< Points to the beginning of the queue storage area. */
+	signed char *pcTail;					/*< Points to the byte at the end of the queue storage area.  Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
 
-	signed char *pcWriteTo;				/*< Points to the free next place in the storage area. */
-	signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from. */
+	signed char *pcWriteTo;					/*< Points to the free next place in the storage area. */
+
+	union									/* Use of a union is an exception to the coding standard to ensure two mutually exclusive structure members don't appear simultaneously (wasting RAM). */
+	{
+		signed char *pcReadFrom;			/*< Points to the last place that a queued item was read from when the structure is used as a queue. */
+		unsigned portBASE_TYPE uxRecursiveCallCount;/*< Maintains a count of the numebr of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
+	} u;
 
 	xList xTasksWaitingToSend;				/*< List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. */
 	xList xTasksWaitingToReceive;			/*< List of tasks that are blocked waiting to read from this queue.  Stored in priority order. */
@@ -143,60 +150,18 @@ typedef struct QueueDefinition
 		unsigned char ucQueueType;
 	#endif
 
+	#if ( configUSE_QUEUE_SETS == 1 )
+		struct QueueDefinition *pxQueueSetContainer;
+	#endif
+
 } xQUEUE;
 /*-----------------------------------------------------------*/
 
-/*
- * Inside this file xQueueHandle is a pointer to a xQUEUE structure.
- * To keep the definition private the API header file defines it as a
- * pointer to void.
- */
-typedef xQUEUE * xQueueHandle;
-
-/*
- * Prototypes for public functions are included here so we don't have to
- * include the API header file (as it defines xQueueHandle differently).  These
- * functions are documented in the API header file.
- */
-xQueueHandle xQueueGenericCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize, unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueDelete( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateMutex( unsigned char ucQueueType ) PRIVILEGED_FUNCTION;
-xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber ) PRIVILEGED_FUNCTION;
-unsigned char ucQueueGetQueueType( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue ) PRIVILEGED_FUNCTION;
-xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
-
-/*
- * Co-routine queue functions differ from task queue functions.  Co-routines are
- * an optional component.
- */
-#if configUSE_CO_ROUTINES == 1
-	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-	signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) PRIVILEGED_FUNCTION;
-#endif
-
 /*
  * The queue registry is just a means for kernel aware debuggers to locate
  * queue structures.  It has no other purpose so is an optional component.
  */
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	/* The type stored within the queue registry array.  This allows a name
 	to be assigned to each queue making kernel aware debugging a little
@@ -212,11 +177,7 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
 	array position being vacant. */
 	xQueueRegistryItem xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
 
-	/* Removes a queue from the registry by simply setting the pcQueueName
-	member to NULL. */
-	static void vQueueUnregisterQueue( xQueueHandle xQueue ) PRIVILEGED_FUNCTION;
-	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName ) PRIVILEGED_FUNCTION;
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 
 /*
  * Unlocks a queue locked by a call to prvLockQueue.  Locking a queue does not
@@ -226,21 +187,21 @@ xTaskHandle xQueueGetMutexHolder( xQueueHandle xSemaphore ) PRIVILEGED_FUNCTION;
  * to indicate that a task may require unblocking.  When the queue in unlocked
  * these lock counts are inspected, and the appropriate action taken.
  */
-static void prvUnlockQueue( xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static void prvUnlockQueue( xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any data in a queue.
  *
  * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
  */
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Uses a critical section to determine if there is any space in a queue.
  *
  * @return pdTRUE if there is no space, otherwise pdFALSE;
  */
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) PRIVILEGED_FUNCTION;
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue ) PRIVILEGED_FUNCTION;
 
 /*
  * Copies an item into the queue, either at the front of the queue or the
@@ -251,7 +212,16 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 /*
  * Copies an item out of a queue.
  */
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) PRIVILEGED_FUNCTION;
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
+
+#if ( configUSE_QUEUE_SETS == 1 )
+	/*
+	 * Checks to see if a queue is a member of a queue set, and if so, notifies
+	 * the queue set that the queue contains data.
+	 */
+	static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition ) PRIVILEGED_FUNCTION;
+#endif
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -273,13 +243,10 @@ static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
 	taskEXIT_CRITICAL()
 /*-----------------------------------------------------------*/
 
-
-/*-----------------------------------------------------------
- * PUBLIC QUEUE MANAGEMENT API documented in queue.h
- *----------------------------------------------------------*/
-
-portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue )
+portBASE_TYPE xQueueGenericReset( xQueueHandle xQueue, portBASE_TYPE xNewQueue )
 {
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
 	configASSERT( pxQueue );
 
 	taskENTER_CRITICAL();
@@ -287,7 +254,7 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
 		pxQueue->pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize );
 		pxQueue->uxMessagesWaiting = ( unsigned portBASE_TYPE ) 0U;
 		pxQueue->pcWriteTo = pxQueue->pcHead;
-		pxQueue->pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );
+		pxQueue->u.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - ( unsigned portBASE_TYPE ) 1U ) * pxQueue->uxItemSize );
 		pxQueue->xRxLock = queueUNLOCKED;
 		pxQueue->xTxLock = queueUNLOCKED;
 
@@ -295,14 +262,14 @@ portBASE_TYPE xQueueGenericReset( xQueueHandle pxQueue, portBASE_TYPE xNewQueue
 		{
 			/* If there are tasks blocked waiting to read from the queue, then
 			the tasks will remain blocked as after this function exits the queue
-			will still be empty.  If there are tasks blocked waiting to	write to
+			will still be empty.  If there are tasks blocked waiting to write to
 			the queue, then one should be unblocked as after this function exits
 			it will be possible to write to it. */
 			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
 			{
 				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
 				{
-					portYIELD_WITHIN_API();
+					queueYIELD_IF_USING_PREEMPTION();
 				}
 			}
 		}
@@ -339,7 +306,7 @@ xQueueHandle xReturn = NULL;
 		{
 			/* Create the list of pointers to queue items.  The queue is one byte
 			longer than asked for to make wrap checking easier/faster. */
-			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1;
+			xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 			pxNewQueue->pcHead = ( signed char * ) pvPortMalloc( xQueueSizeInBytes );
 			if( pxNewQueue->pcHead != NULL )
@@ -348,13 +315,20 @@ xQueueHandle xReturn = NULL;
 				queue type is defined. */
 				pxNewQueue->uxLength = uxQueueLength;
 				pxNewQueue->uxItemSize = uxItemSize;
-				xQueueGenericReset( pxNewQueue, pdTRUE );
+				( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
+
 				#if ( configUSE_TRACE_FACILITY == 1 )
 				{
 					pxNewQueue->ucQueueType = ucQueueType;
 				}
 				#endif /* configUSE_TRACE_FACILITY */
 
+				#if( configUSE_QUEUE_SETS == 1 )
+				{
+					pxNewQueue->pxQueueSetContainer = NULL;
+				}
+				#endif /* configUSE_QUEUE_SETS */
+
 				traceQUEUE_CREATE( pxNewQueue );
 				xReturn = pxNewQueue;
 			}
@@ -393,7 +367,7 @@ xQueueHandle xReturn = NULL;
 			/* Queues used as a mutex no data is actually copied into or out
 			of the queue. */
 			pxNewQueue->pcWriteTo = NULL;
-			pxNewQueue->pcReadFrom = NULL;
+			pxNewQueue->u.pcReadFrom = NULL;
 
 			/* Each mutex has a length of 1 (like a binary semaphore) and
 			an item size of 0 as nothing is actually copied into or out
@@ -410,6 +384,12 @@ xQueueHandle xReturn = NULL;
 			}
 			#endif
 
+			#if ( configUSE_QUEUE_SETS == 1 )
+			{
+				pxNewQueue->pxQueueSetContainer = NULL;
+			}
+			#endif
+
 			/* Ensure the event queues start with the correct state. */
 			vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) );
 			vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) );
@@ -417,7 +397,7 @@ xQueueHandle xReturn = NULL;
 			traceCREATE_MUTEX( pxNewQueue );
 
 			/* Start with the semaphore in the expected state. */
-			xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );
+			( void ) xQueueGenericSend( pxNewQueue, NULL, ( portTickType ) 0U, queueSEND_TO_BACK );
 		}
 		else
 		{
@@ -431,7 +411,7 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xQueueGetMutexHolder == 1 ) )
+#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
 
 	void* xQueueGetMutexHolder( xQueueHandle xSemaphore )
 	{
@@ -444,9 +424,9 @@ xQueueHandle xReturn = NULL;
 		following critical section exiting and the function returning. */
 		taskENTER_CRITICAL();
 		{
-			if( xSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
+			if( ( ( xQUEUE * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
 			{
-				pxReturn = ( void * ) xSemaphore->pxMutexHolder;
+				pxReturn = ( void * ) ( ( xQUEUE * ) xSemaphore )->pxMutexHolder;
 			}
 			else
 			{
@@ -463,9 +443,10 @@ xQueueHandle xReturn = NULL;
 
 #if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex )
+	portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
 
 		configASSERT( pxMutex );
 
@@ -475,7 +456,7 @@ xQueueHandle xReturn = NULL;
 		this is the only condition we are interested in it does not matter if
 		pxMutexHolder is accessed simultaneously by another task.  Therefore no
 		mutual exclusion is required to test the pxMutexHolder variable. */
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
+		if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Not a redundant cast as xTaskHandle is a typedef. */
 		{
 			traceGIVE_MUTEX_RECURSIVE( pxMutex );
 
@@ -484,14 +465,14 @@ xQueueHandle xReturn = NULL;
 			uxRecursiveCallCount is only modified by the mutex holder, and as
 			there can only be one, no mutual exclusion is required to modify the
 			uxRecursiveCallCount member. */
-			( pxMutex->uxRecursiveCallCount )--;
+			( pxMutex->u.uxRecursiveCallCount )--;
 
 			/* Have we unwound the call count? */
-			if( pxMutex->uxRecursiveCallCount == 0 )
+			if( pxMutex->u.uxRecursiveCallCount == ( unsigned portBASE_TYPE ) 0 )
 			{
 				/* Return the mutex.  This will automatically unblock any other
 				task that might be waiting to access the mutex. */
-				xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
+				( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
 			}
 
 			xReturn = pdPASS;
@@ -510,11 +491,12 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_RECURSIVE_MUTEXES == 1
+#if ( configUSE_RECURSIVE_MUTEXES == 1 )
 
-	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime )
+	portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime )
 	{
 	portBASE_TYPE xReturn;
+	xQUEUE * const pxMutex = ( xQUEUE * ) xMutex;
 
 		configASSERT( pxMutex );
 
@@ -523,9 +505,9 @@ xQueueHandle xReturn = NULL;
 
 		traceTAKE_MUTEX_RECURSIVE( pxMutex );
 
-		if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() )
+		if( pxMutex->pxMutexHolder == ( void * ) xTaskGetCurrentTaskHandle() ) /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
 		{
-			( pxMutex->uxRecursiveCallCount )++;
+			( pxMutex->u.uxRecursiveCallCount )++;
 			xReturn = pdPASS;
 		}
 		else
@@ -536,7 +518,7 @@ xQueueHandle xReturn = NULL;
 			we may have blocked to reach here. */
 			if( xReturn == pdPASS )
 			{
-				( pxMutex->uxRecursiveCallCount )++;
+				( pxMutex->u.uxRecursiveCallCount )++;
 			}
 			else
 			{
@@ -550,17 +532,20 @@ xQueueHandle xReturn = NULL;
 #endif /* configUSE_RECURSIVE_MUTEXES */
 /*-----------------------------------------------------------*/
 
-#if configUSE_COUNTING_SEMAPHORES == 1
+#if ( configUSE_COUNTING_SEMAPHORES == 1 )
 
-	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount )
+	xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
 	{
-	xQueueHandle pxHandle;
+	xQueueHandle xHandle;
 
-		pxHandle = xQueueGenericCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
+		configASSERT( uxMaxCount != 0 );
+		configASSERT( uxInitialCount <= uxMaxCount );
 
-		if( pxHandle != NULL )
+		xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
+
+		if( xHandle != NULL )
 		{
-			pxHandle->uxMessagesWaiting = uxInitialCount;
+			( ( xQUEUE * ) xHandle )->uxMessagesWaiting = uxInitialCount;
 
 			traceCREATE_COUNTING_SEMAPHORE();
 		}
@@ -569,20 +554,22 @@ xQueueHandle xReturn = NULL;
 			traceCREATE_COUNTING_SEMAPHORE_FAILED();
 		}
 
-		configASSERT( pxHandle );
-		return pxHandle;
+		configASSERT( xHandle );
+		return xHandle;
 	}
 
 #endif /* configUSE_COUNTING_SEMAPHORES */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
 
 	/* This function relaxes the coding standard somewhat to allow return
 	statements within the function itself.  This is done in the interest
@@ -591,26 +578,61 @@ xTimeOutType xTimeOut;
 	{
 		taskENTER_CRITICAL();
 		{
-			/* Is there room on the queue now?  To be running we must be
-			the highest priority task wanting to access the queue. */
-			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+			/* Is there room on the queue now?  The running task must be
+			the highest priority task wanting to access the queue.  If
+			the head item in the queue is to be overwritten then it does
+			not matter if the queue is full. */
+			if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
 			{
 				traceQUEUE_SEND( pxQueue );
 				prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
 
-				/* If there was a task waiting for data to arrive on the
-				queue then unblock it now. */
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The unblocked task has a priority higher than
-						our own so yield immediately.  Yes it is ok to do
-						this from within the critical section - the kernel
-						takes care of that. */
-						portYIELD_WITHIN_API();
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
+						{
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock. A context switch is required. */
+							queueYIELD_IF_USING_PREEMPTION();
+						}
+					}
+					else
+					{
+						/* If there was a task waiting for data to arrive on the
+						queue then unblock it now. */
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+							{
+								/* The unblocked task has a priority higher than
+								our own so yield immediately.  Yes it is ok to
+								do this from within the critical section - the
+								kernel takes care of that. */
+								queueYIELD_IF_USING_PREEMPTION();
+							}
+						}
 					}
 				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					/* If there was a task waiting for data to arrive on the
+					queue then unblock it now. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) == pdTRUE )
+						{
+							/* The unblocked task has a priority higher than
+							our own so yield immediately.  Yes it is ok to do
+							this from within the critical section - the kernel
+							takes care of that. */
+							queueYIELD_IF_USING_PREEMPTION();
+						}
+					}
+				}
+				#endif /* configUSE_QUEUE_SETS */
 
 				taskEXIT_CRITICAL();
 
@@ -638,6 +660,10 @@ xTimeOutType xTimeOut;
 					vTaskSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
+				else
+				{
+					/* Entry time was already set. */
+				}
 			}
 		}
 		taskEXIT_CRITICAL();
@@ -695,12 +721,13 @@ xTimeOutType xTimeOut;
 }
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
+	signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 		configASSERT( pxQueue );
 		configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@@ -772,13 +799,14 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-#if configUSE_ALTERNATIVE_API == 1
+#if ( configUSE_ALTERNATIVE_API == 1 )
 
-	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+	signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 	{
 	signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 	xTimeOutType xTimeOut;
 	signed char *pcOriginalReadPosition;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 		configASSERT( pxQueue );
 		configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@@ -790,7 +818,7 @@ xTimeOutType xTimeOut;
 				if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 				{
 					/* Remember our read position in case we are just peeking. */
-					pcOriginalReadPosition = pxQueue->pcReadFrom;
+					pcOriginalReadPosition = pxQueue->u.pcReadFrom;
 
 					prvCopyDataFromQueue( pxQueue, pvBuffer );
 
@@ -798,7 +826,7 @@ xTimeOutType xTimeOut;
 					{
 						traceQUEUE_RECEIVE( pxQueue );
 
-						/* We are actually removing data. */
+						/* Data is actually being removed (not just peeked). */
 						--( pxQueue->uxMessagesWaiting );
 
 						#if ( configUSE_MUTEXES == 1 )
@@ -807,7 +835,7 @@ xTimeOutType xTimeOut;
 							{
 								/* Record the information required to implement
 								priority inheritance should it become necessary. */
-								pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+								pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle();
 							}
 						}
 						#endif
@@ -826,7 +854,7 @@ xTimeOutType xTimeOut;
 
 						/* We are not removing the data, so reset our read
 						pointer. */
-						pxQueue->pcReadFrom = pcOriginalReadPosition;
+						pxQueue->u.pcReadFrom = pcOriginalReadPosition;
 
 						/* The data is being left in the queue, so see if there are
 						any other tasks waiting for the data. */
@@ -903,13 +931,31 @@ xTimeOutType xTimeOut;
 #endif /* configUSE_ALTERNATIVE_API */
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
+signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle xQueue, const void * const pvItemToQueue, signed portBASE_TYPE *pxHigherPriorityTaskWoken, portBASE_TYPE xCopyPosition )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+	configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
+
+	/* 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: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 	/* Similar to xQueueGenericSend, except we don't block if there is no room
 	in the queue.  Also we don't directly wake a task that was blocked on a
@@ -918,7 +964,7 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 	by this	post). */
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+		if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
 		{
 			traceQUEUE_SEND_FROM_ISR( pxQueue );
 
@@ -928,18 +974,53 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 			be done when the queue is unlocked later. */
 			if( pxQueue->xTxLock == queueUNLOCKED )
 			{
-				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				#if ( configUSE_QUEUE_SETS == 1 )
 				{
-					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					if( pxQueue->pxQueueSetContainer != NULL )
 					{
-						/* The task waiting has a higher priority so record that a
-						context	switch is required. */
-						if( pxHigherPriorityTaskWoken != NULL )
+						if( prvNotifyQueueSetContainer( pxQueue, xCopyPosition ) == pdTRUE )
 						{
-							*pxHigherPriorityTaskWoken = pdTRUE;
+							/* The queue is a member of a queue set, and posting
+							to the queue set caused a higher priority task to
+							unblock.  A context switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
+					}
+					else
+					{
+						if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+						{
+							if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+							{
+								/* The task waiting has a higher priority so record that a
+								context	switch is required. */
+								if( pxHigherPriorityTaskWoken != NULL )
+								{
+									*pxHigherPriorityTaskWoken = pdTRUE;
+								}
+							}
 						}
 					}
 				}
+				#else /* configUSE_QUEUE_SETS */
+				{
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							if( pxHigherPriorityTaskWoken != NULL )
+							{
+								*pxHigherPriorityTaskWoken = pdTRUE;
+							}
+						}
+					}
+				}
+				#endif /* configUSE_QUEUE_SETS */
 			}
 			else
 			{
@@ -962,11 +1043,12 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
+signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking )
 {
 signed portBASE_TYPE xEntryTimeSet = pdFALSE;
 xTimeOutType xTimeOut;
 signed char *pcOriginalReadPosition;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
@@ -983,8 +1065,9 @@ signed char *pcOriginalReadPosition;
 			the highest priority task wanting to access the queue. */
 			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 			{
-				/* Remember our read position in case we are just peeking. */
-				pcOriginalReadPosition = pxQueue->pcReadFrom;
+				/* Remember the read position in case the queue is only being
+				peeked. */
+				pcOriginalReadPosition = pxQueue->u.pcReadFrom;
 
 				prvCopyDataFromQueue( pxQueue, pvBuffer );
 
@@ -992,7 +1075,7 @@ signed char *pcOriginalReadPosition;
 				{
 					traceQUEUE_RECEIVE( pxQueue );
 
-					/* We are actually removing data. */
+					/* Actually removing data, not just peeking. */
 					--( pxQueue->uxMessagesWaiting );
 
 					#if ( configUSE_MUTEXES == 1 )
@@ -1001,7 +1084,7 @@ signed char *pcOriginalReadPosition;
 						{
 							/* Record the information required to implement
 							priority inheritance should it become necessary. */
-							pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle();
+							pxQueue->pxMutexHolder = ( signed char * ) xTaskGetCurrentTaskHandle(); /*lint !e961 Cast is not redundant as xTaskHandle is a typedef. */
 						}
 					}
 					#endif
@@ -1010,7 +1093,7 @@ signed char *pcOriginalReadPosition;
 					{
 						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) == pdTRUE )
 						{
-							portYIELD_WITHIN_API();
+							queueYIELD_IF_USING_PREEMPTION();
 						}
 					}
 				}
@@ -1018,9 +1101,9 @@ signed char *pcOriginalReadPosition;
 				{
 					traceQUEUE_PEEK( pxQueue );
 
-					/* We are not removing the data, so reset our read
+					/* The data is not being removed, so reset the read
 					pointer. */
-					pxQueue->pcReadFrom = pcOriginalReadPosition;
+					pxQueue->u.pcReadFrom = pcOriginalReadPosition;
 
 					/* The data is being left in the queue, so see if there are
 					any other tasks waiting for the data. */
@@ -1031,7 +1114,7 @@ signed char *pcOriginalReadPosition;
 						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
 						{
 							/* The task waiting has a higher priority than this task. */
-							portYIELD_WITHIN_API();
+							queueYIELD_IF_USING_PREEMPTION();
 						}
 					}
 				}
@@ -1056,6 +1139,10 @@ signed char *pcOriginalReadPosition;
 					vTaskSetTimeOutState( &xTimeOut );
 					xEntryTimeSet = pdTRUE;
 				}
+				else
+				{
+					/* Entry time was already set. */
+				}
 			}
 		}
 		taskEXIT_CRITICAL();
@@ -1111,17 +1198,34 @@ signed char *pcOriginalReadPosition;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
+signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle xQueue, void * const pvBuffer, signed portBASE_TYPE *pxHigherPriorityTaskWoken )
 {
 signed portBASE_TYPE xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
 
 	configASSERT( pxQueue );
 	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
 
+	/* 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: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	{
-		/* We cannot block from an ISR, so check there is data available. */
+		/* Cannot block in an ISR, so check there is data available. */
 		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
 		{
 			traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
@@ -1129,9 +1233,10 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 			prvCopyDataFromQueue( pxQueue, pvBuffer );
 			--( pxQueue->uxMessagesWaiting );
 
-			/* If the queue is locked we will not modify the event list.  Instead
-			we update the lock count so the task that unlocks the queue will know
-			that an ISR has removed data while the queue was locked. */
+			/* If the queue is locked the event list will not be modified.
+			Instead update the lock count so the task that unlocks the queue
+			will know that an ISR has removed data while the queue was
+			locked. */
 			if( pxQueue->xRxLock == queueUNLOCKED )
 			{
 				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
@@ -1168,38 +1273,113 @@ unsigned portBASE_TYPE uxSavedInterruptStatus;
 }
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue )
+signed portBASE_TYPE xQueuePeekFromISR( xQueueHandle xQueue,  void * const pvBuffer )
+{
+signed portBASE_TYPE xReturn;
+unsigned portBASE_TYPE uxSavedInterruptStatus;
+signed char *pcOriginalReadPosition;
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+	configASSERT( pxQueue );
+	configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( unsigned portBASE_TYPE ) 0U ) ) );
+
+	/* 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: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
+	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
+	{
+		/* Cannot block in an ISR, so check there is data available. */
+		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+		{
+			traceQUEUE_PEEK_FROM_ISR( pxQueue );
+
+			/* Remember the read position so it can be reset as nothing is
+			actually being removed from the queue. */
+			pcOriginalReadPosition = pxQueue->u.pcReadFrom;
+			prvCopyDataFromQueue( pxQueue, pvBuffer );
+			pxQueue->u.pcReadFrom = pcOriginalReadPosition;
+
+			xReturn = pdPASS;
+		}
+		else
+		{
+			xReturn = pdFAIL;
+			traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
+		}
+	}
+	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
-	configASSERT( pxQueue );
+	configASSERT( xQueue );
 
 	taskENTER_CRITICAL();
-		uxReturn = pxQueue->uxMessagesWaiting;
+		uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 	taskEXIT_CRITICAL();
 
 	return uxReturn;
-}
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
-unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle pxQueue )
+unsigned portBASE_TYPE uxQueueSpacesAvailable( const xQueueHandle xQueue )
+{
+unsigned portBASE_TYPE uxReturn;
+xQUEUE *pxQueue;
+
+	pxQueue = ( xQUEUE * ) xQueue;
+	configASSERT( pxQueue );
+
+	taskENTER_CRITICAL();
+		uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
+	taskEXIT_CRITICAL();
+
+	return uxReturn;
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
+/*-----------------------------------------------------------*/
+
+unsigned portBASE_TYPE uxQueueMessagesWaitingFromISR( const xQueueHandle xQueue )
 {
 unsigned portBASE_TYPE uxReturn;
 
-	configASSERT( pxQueue );
+	configASSERT( xQueue );
 
-	uxReturn = pxQueue->uxMessagesWaiting;
+	uxReturn = ( ( xQUEUE * ) xQueue )->uxMessagesWaiting;
 
 	return uxReturn;
-}
+} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
 /*-----------------------------------------------------------*/
 
-void vQueueDelete( xQueueHandle pxQueue )
+void vQueueDelete( xQueueHandle xQueue )
 {
+xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
 	configASSERT( pxQueue );
 
 	traceQUEUE_DELETE( pxQueue );
-	vQueueUnregisterQueue( pxQueue );
+	#if ( configQUEUE_REGISTRY_SIZE > 0 )
+	{
+		vQueueUnregisterQueue( pxQueue );
+	}
+	#endif
 	vPortFree( pxQueue->pcHead );
 	vPortFree( pxQueue );
 }
@@ -1207,32 +1387,32 @@ void vQueueDelete( xQueueHandle pxQueue )
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	unsigned char ucQueueGetQueueNumber( xQueueHandle pxQueue )
+	unsigned char ucQueueGetQueueNumber( xQueueHandle xQueue )
 	{
-		return pxQueue->ucQueueNumber;
+		return ( ( xQUEUE * ) xQueue )->ucQueueNumber;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vQueueSetQueueNumber( xQueueHandle pxQueue, unsigned char ucQueueNumber )
+	void vQueueSetQueueNumber( xQueueHandle xQueue, unsigned char ucQueueNumber )
 	{
-		pxQueue->ucQueueNumber = ucQueueNumber;
+		( ( xQUEUE * ) xQueue )->ucQueueNumber = ucQueueNumber;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	unsigned char ucQueueGetQueueType( xQueueHandle pxQueue )
+	unsigned char ucQueueGetQueueType( xQueueHandle xQueue )
 	{
-		return pxQueue->ucQueueType;
+		return ( ( xQUEUE * ) xQueue )->ucQueueType;
 	}
 
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition )
@@ -1248,24 +1428,36 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 				pxQueue->pxMutexHolder = NULL;
 			}
 		}
-		#endif
+		#endif /* configUSE_MUTEXES */
 	}
 	else if( xPosition == queueSEND_TO_BACK )
 	{
-		memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
+		( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. */
 		pxQueue->pcWriteTo += pxQueue->uxItemSize;
-		if( pxQueue->pcWriteTo >= pxQueue->pcTail )
+		if( pxQueue->pcWriteTo >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
 		{
 			pxQueue->pcWriteTo = pxQueue->pcHead;
 		}
 	}
 	else
 	{
-		memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize );
-		pxQueue->pcReadFrom -= pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom < pxQueue->pcHead )
+		( void ) memcpy( ( void * ) pxQueue->u.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+		pxQueue->u.pcReadFrom -= pxQueue->uxItemSize;
+		if( pxQueue->u.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
 		{
-			pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
+			pxQueue->u.pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize );
+		}
+
+		if( xPosition == queueOVERWRITE )
+		{
+			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+			{
+				/* An item is not being added but overwritten, so subtract
+				one from the recorded number of items in the queue so when
+				one is added again below the number of recorded items remains
+				correct. */
+				--( pxQueue->uxMessagesWaiting );
+			}
 		}
 	}
 
@@ -1273,21 +1465,21 @@ static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, port
 }
 /*-----------------------------------------------------------*/
 
-static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer )
+static void prvCopyDataFromQueue( xQUEUE * const pxQueue, void * const pvBuffer )
 {
 	if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX )
 	{
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
+		pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+		if( pxQueue->u.pcReadFrom >= pxQueue->pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
 		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
+			pxQueue->u.pcReadFrom = pxQueue->pcHead;
 		}
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+		( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 MISRA exception as the casts are only redundant for some ports.  Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. */
 	}
 }
 /*-----------------------------------------------------------*/
 
-static void prvUnlockQueue( xQueueHandle pxQueue )
+static void prvUnlockQueue( xQUEUE *pxQueue )
 {
 	/* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
 
@@ -1302,23 +1494,58 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 		{
 			/* Data was posted while the queue was locked.  Are any tasks
 			blocked waiting for data to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+			#if ( configUSE_QUEUE_SETS == 1 )
+			{
+				if( pxQueue->pxQueueSetContainer != NULL )
+				{
+					if( prvNotifyQueueSetContainer( pxQueue, queueSEND_TO_BACK ) == pdTRUE )
+					{
+						/* The queue is a member of a queue set, and posting to
+						the queue set caused a higher priority task to unblock.
+						A context switch is required. */
+						vTaskMissedYield();
+					}
+				}
+				else
+				{
+					/* Tasks that are removed from the event list will get added to
+					the pending ready list as the scheduler is still suspended. */
+					if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+					{
+						if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+						{
+							/* The task waiting has a higher priority so record that a
+							context	switch is required. */
+							vTaskMissedYield();
+						}
+					}
+					else
+					{
+						break;
+					}
+				}
+			}
+			#else /* configUSE_QUEUE_SETS */
 			{
 				/* Tasks that are removed from the event list will get added to
 				the pending ready list as the scheduler is still suspended. */
-				if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
 				{
-					/* The task waiting has a higher priority so record that a
-					context	switch is required. */
-					vTaskMissedYield();
+					if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The task waiting has a higher priority so record that a
+						context	switch is required. */
+						vTaskMissedYield();
+					}
 				}
+				else
+				{
+					break;
+				}
+			}
+			#endif /* configUSE_QUEUE_SETS */
 
-				--( pxQueue->xTxLock );
-			}
-			else
-			{
-				break;
-			}
+			--( pxQueue->xTxLock );
 		}
 
 		pxQueue->xTxLock = queueUNLOCKED;
@@ -1351,265 +1578,304 @@ static void prvUnlockQueue( xQueueHandle pxQueue )
 }
 /*-----------------------------------------------------------*/
 
-static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue )
+static signed portBASE_TYPE prvIsQueueEmpty( const xQUEUE *pxQueue )
 {
 signed portBASE_TYPE xReturn;
 
 	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	configASSERT( pxQueue );
-	xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	taskENTER_CRITICAL();
-		xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-	taskEXIT_CRITICAL();
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle pxQueue )
-{
-signed portBASE_TYPE xReturn;
-
-	configASSERT( pxQueue );
-	xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength );
-
-	return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait )
-{
-signed portBASE_TYPE xReturn;
-
-	/* If the queue is already full we may have to block.  A critical section
-	is required to prevent an interrupt removing something from the queue
-	between the check to see if the queue is full and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
 	{
-		if( prvIsQueueFull( pxQueue ) != pdFALSE )
+		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE )  0 )
 		{
-			/* The queue is full - do we want to block or just leave without
-			posting? */
-			if( xTicksToWait > ( portTickType ) 0 )
-			{
-				/* As this is called from a coroutine we cannot block directly, but
-				return indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
-			}
-			else
-			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
-			}
-		}
-	}
-	portENABLE_INTERRUPTS();
-
-	portNOP();
-
-	portDISABLE_INTERRUPTS();
-	{
-		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-		{
-			/* There is room in the queue, copy the data into the queue. */
-			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for data to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					/* The co-routine waiting has a higher priority so record
-					that a yield might be appropriate. */
-					xReturn = errQUEUE_YIELD;
-				}
-			}
+			xReturn = pdTRUE;
 		}
 		else
 		{
-			xReturn = errQUEUE_FULL;
+			xReturn = pdFALSE;
 		}
 	}
-	portENABLE_INTERRUPTS();
+	taskEXIT_CRITICAL();
 
 	return xReturn;
 }
-#endif
 /*-----------------------------------------------------------*/
 
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait )
+signed portBASE_TYPE xQueueIsQueueEmptyFromISR( const xQueueHandle xQueue )
 {
 signed portBASE_TYPE xReturn;
 
-	/* If the queue is already empty we may have to block.  A critical section
-	is required to prevent an interrupt adding something to the queue
-	between the check to see if the queue is empty and blocking on the queue. */
-	portDISABLE_INTERRUPTS();
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
 	{
-		if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
+/*-----------------------------------------------------------*/
+
+static signed portBASE_TYPE prvIsQueueFull( const xQUEUE *pxQueue )
+{
+signed portBASE_TYPE xReturn;
+
+	taskENTER_CRITICAL();
+	{
+		if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
 		{
-			/* There are no messages in the queue, do we want to block or just
-			leave with nothing? */
-			if( xTicksToWait > ( portTickType ) 0 )
+			xReturn = pdTRUE;
+		}
+		else
+		{
+			xReturn = pdFALSE;
+		}
+	}
+	taskEXIT_CRITICAL();
+
+	return xReturn;
+}
+/*-----------------------------------------------------------*/
+
+signed portBASE_TYPE xQueueIsQueueFullFromISR( const xQueueHandle xQueue )
+{
+signed portBASE_TYPE xReturn;
+
+	configASSERT( xQueue );
+	if( ( ( xQUEUE * ) xQueue )->uxMessagesWaiting == ( ( xQUEUE * ) xQueue )->uxLength )
+	{
+		xReturn = pdTRUE;
+	}
+	else
+	{
+		xReturn = pdFALSE;
+	}
+
+	return xReturn;
+} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRSend( xQueueHandle xQueue, const void *pvItemToQueue, portTickType xTicksToWait )
+	{
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already full we may have to block.  A critical section
+		is required to prevent an interrupt removing something from the queue
+		between the check to see if the queue is full and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
+		{
+			if( prvIsQueueFull( pxQueue ) != pdFALSE )
 			{
-				/* As this is a co-routine we cannot block directly, but return
-				indicating that we need to block. */
-				vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
-				portENABLE_INTERRUPTS();
-				return errQUEUE_BLOCKED;
+				/* The queue is full - do we want to block or just leave without
+				posting? */
+				if( xTicksToWait > ( portTickType ) 0 )
+				{
+					/* As this is called from a coroutine we cannot block directly, but
+					return indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
+				}
+			}
+		}
+		portENABLE_INTERRUPTS();
+
+		portDISABLE_INTERRUPTS();
+		{
+			if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+			{
+				/* There is room in the queue, copy the data into the queue. */
+				prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+				xReturn = pdPASS;
+
+				/* Were any co-routines waiting for data to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				{
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						/* The co-routine waiting has a higher priority so record
+						that a yield might be appropriate. */
+						xReturn = errQUEUE_YIELD;
+					}
+				}
 			}
 			else
 			{
-				portENABLE_INTERRUPTS();
-				return errQUEUE_FULL;
+				xReturn = errQUEUE_FULL;
 			}
 		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
 	}
-	portENABLE_INTERRUPTS();
 
-	portNOP();
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
 
-	portDISABLE_INTERRUPTS();
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRReceive( xQueueHandle xQueue, void *pvBuffer, portTickType xTicksToWait )
 	{
-		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* If the queue is already empty we may have to block.  A critical section
+		is required to prevent an interrupt adding something to the queue
+		between the check to see if the queue is empty and blocking on the queue. */
+		portDISABLE_INTERRUPTS();
 		{
-			/* Data is available from the queue. */
-			pxQueue->pcReadFrom += pxQueue->uxItemSize;
-			if( pxQueue->pcReadFrom >= pxQueue->pcTail )
+			if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 )
 			{
-				pxQueue->pcReadFrom = pxQueue->pcHead;
-			}
-			--( pxQueue->uxMessagesWaiting );
-			memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
-			xReturn = pdPASS;
-
-			/* Were any co-routines waiting for space to become available? */
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-			{
-				/* In this instance the co-routine could be placed directly
-				into the ready list as we are within a critical section.
-				Instead the same pending ready list mechanism is used as if
-				the event were caused from within an interrupt. */
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+				/* There are no messages in the queue, do we want to block or just
+				leave with nothing? */
+				if( xTicksToWait > ( portTickType ) 0 )
 				{
-					xReturn = errQUEUE_YIELD;
+					/* As this is a co-routine we cannot block directly, but return
+					indicating that we need to block. */
+					vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
+					portENABLE_INTERRUPTS();
+					return errQUEUE_BLOCKED;
+				}
+				else
+				{
+					portENABLE_INTERRUPTS();
+					return errQUEUE_FULL;
 				}
 			}
 		}
+		portENABLE_INTERRUPTS();
+
+		portDISABLE_INTERRUPTS();
+		{
+			if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+			{
+				/* Data is available from the queue. */
+				pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+				if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
+				{
+					pxQueue->u.pcReadFrom = pxQueue->pcHead;
+				}
+				--( pxQueue->uxMessagesWaiting );
+				( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+
+				xReturn = pdPASS;
+
+				/* Were any co-routines waiting for space to become available? */
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+				{
+					/* In this instance the co-routine could be placed directly
+					into the ready list as we are within a critical section.
+					Instead the same pending ready list mechanism is used as if
+					the event were caused from within an interrupt. */
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						xReturn = errQUEUE_YIELD;
+					}
+				}
+			}
+			else
+			{
+				xReturn = pdFAIL;
+			}
+		}
+		portENABLE_INTERRUPTS();
+
+		return xReturn;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle xQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
+	{
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* Cannot block within an ISR so if there is no space on the queue then
+		exit without doing anything. */
+		if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
+		{
+			prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
+
+			/* We only want to wake one co-routine per ISR, so check that a
+			co-routine has not already been woken. */
+			if( xCoRoutinePreviouslyWoken == pdFALSE )
+			{
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
+				{
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
+					{
+						return pdTRUE;
+					}
+				}
+			}
+		}
+
+		return xCoRoutinePreviouslyWoken;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_CO_ROUTINES == 1 )
+
+	signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle xQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
+	{
+	signed portBASE_TYPE xReturn;
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
+		/* We cannot block from an ISR, so check there is data available. If
+		not then just leave without doing anything. */
+		if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* Copy the data from the queue. */
+			pxQueue->u.pcReadFrom += pxQueue->uxItemSize;
+			if( pxQueue->u.pcReadFrom >= pxQueue->pcTail )
+			{
+				pxQueue->u.pcReadFrom = pxQueue->pcHead;
+			}
+			--( pxQueue->uxMessagesWaiting );
+			( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
+
+			if( ( *pxCoRoutineWoken ) == pdFALSE )
+			{
+				if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
+				{
+					if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
+					{
+						*pxCoRoutineWoken = pdTRUE;
+					}
+				}
+			}
+
+			xReturn = pdPASS;
+		}
 		else
 		{
 			xReturn = pdFAIL;
 		}
-	}
-	portENABLE_INTERRUPTS();
 
-	return xReturn;
-}
-#endif
+		return xReturn;
+	}
+
+#endif /* configUSE_CO_ROUTINES */
 /*-----------------------------------------------------------*/
 
-
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken )
-{
-	/* Cannot block within an ISR so if there is no space on the queue then
-	exit without doing anything. */
-	if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
-	{
-		prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-
-		/* We only want to wake one co-routine per ISR, so check that a
-		co-routine has not already been woken. */
-		if( xCoRoutinePreviouslyWoken == pdFALSE )
-		{
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
-				{
-					return pdTRUE;
-				}
-			}
-		}
-	}
-
-	return xCoRoutinePreviouslyWoken;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configUSE_CO_ROUTINES == 1
-signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken )
-{
-signed portBASE_TYPE xReturn;
-
-	/* We cannot block from an ISR, so check there is data available. If
-	not then just leave without doing anything. */
-	if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 )
-	{
-		/* Copy the data from the queue. */
-		pxQueue->pcReadFrom += pxQueue->uxItemSize;
-		if( pxQueue->pcReadFrom >= pxQueue->pcTail )
-		{
-			pxQueue->pcReadFrom = pxQueue->pcHead;
-		}
-		--( pxQueue->uxMessagesWaiting );
-		memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
-		if( ( *pxCoRoutineWoken ) == pdFALSE )
-		{
-			if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
-			{
-				if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
-				{
-					*pxCoRoutineWoken = pdTRUE;
-				}
-			}
-		}
-
-		xReturn = pdPASS;
-	}
-	else
-	{
-		xReturn = pdFAIL;
-	}
-
-	return xReturn;
-}
-#endif
-/*-----------------------------------------------------------*/
-
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
 	void vQueueAddToRegistry( xQueueHandle xQueue, signed char *pcQueueName )
 	{
@@ -1629,12 +1895,12 @@ signed portBASE_TYPE xReturn;
 		}
 	}
 
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
-#if configQUEUE_REGISTRY_SIZE > 0
+#if ( configQUEUE_REGISTRY_SIZE > 0 )
 
-	static void vQueueUnregisterQueue( xQueueHandle xQueue )
+	void vQueueUnregisterQueue( xQueueHandle xQueue )
 	{
 	unsigned portBASE_TYPE ux;
 
@@ -1650,15 +1916,17 @@ signed portBASE_TYPE xReturn;
 			}
 		}
 
-	}
+	} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
 
-#endif
+#endif /* configQUEUE_REGISTRY_SIZE */
 /*-----------------------------------------------------------*/
 
-#if configUSE_TIMERS == 1
+#if ( configUSE_TIMERS == 1 )
 
-	void vQueueWaitForMessageRestricted( xQueueHandle pxQueue, portTickType xTicksToWait )
+	void vQueueWaitForMessageRestricted( xQueueHandle xQueue, portTickType xTicksToWait )
 	{
+	xQUEUE * const pxQueue = ( xQUEUE * ) xQueue;
+
 		/* 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.
@@ -1682,5 +1950,156 @@ signed portBASE_TYPE xReturn;
 		prvUnlockQueue( pxQueue );
 	}
 
-#endif
+#endif /* configUSE_TIMERS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetHandle xQueueCreateSet( unsigned portBASE_TYPE uxEventQueueLength )
+	{
+	xQueueSetHandle pxQueue;
+
+		pxQueue = xQueueGenericCreate( uxEventQueueLength, sizeof( xQUEUE * ), queueQUEUE_TYPE_SET );
+
+		return pxQueue;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueAddToSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+
+		if( ( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
+		{
+			/* Cannot add a queue/semaphore to more than one queue set. */
+			xReturn = pdFAIL;
+		}
+		else if( ( ( xQUEUE * ) xQueueOrSemaphore )->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* Cannot add a queue/semaphore to a queue set if there are already
+			items in the queue/semaphore. */
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				( ( xQUEUE * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	portBASE_TYPE xQueueRemoveFromSet( xQueueSetMemberHandle xQueueOrSemaphore, xQueueSetHandle xQueueSet )
+	{
+	portBASE_TYPE xReturn;
+	xQUEUE * const pxQueueOrSemaphore = ( xQUEUE * ) xQueueOrSemaphore;
+
+		if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
+		{
+			/* The queue was not a member of the set. */
+			xReturn = pdFAIL;
+		}
+		else if( pxQueueOrSemaphore->uxMessagesWaiting != ( unsigned portBASE_TYPE ) 0 )
+		{
+			/* It is dangerous to remove a queue from a set when the queue is
+			not empty because the queue set will still hold pending events for
+			the queue. */
+			xReturn = pdFAIL;
+		}
+		else
+		{
+			taskENTER_CRITICAL();
+			{
+				/* The queue is no longer contained in the set. */
+				pxQueueOrSemaphore->pxQueueSetContainer = NULL;
+			}
+			taskEXIT_CRITICAL();
+			xReturn = pdPASS;
+		}
+
+		return xReturn;
+	} /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSet( xQueueSetHandle xQueueSet, portTickType xBlockTimeTicks )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		( void ) xQueueGenericReceive( ( xQueueHandle ) xQueueSet, &xReturn, xBlockTimeTicks, pdFALSE ); /*lint !e961 Casting from one typedef to another is not redundant. */
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	xQueueSetMemberHandle xQueueSelectFromSetFromISR( xQueueSetHandle xQueueSet )
+	{
+	xQueueSetMemberHandle xReturn = NULL;
+
+		( void ) xQueueReceiveFromISR( ( xQueueHandle ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_QUEUE_SETS == 1 )
+
+	static portBASE_TYPE prvNotifyQueueSetContainer( const xQUEUE * const pxQueue, portBASE_TYPE xCopyPosition )
+	{
+	xQUEUE *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
+	portBASE_TYPE xReturn = pdFALSE;
+
+		configASSERT( pxQueueSetContainer );
+		configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
+
+		if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
+		{
+			traceQUEUE_SEND( pxQueueSetContainer );
+			/* The data copies is the handle of the queue that contains data. */
+			prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, xCopyPosition );
+			if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
+			{
+				if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
+				{
+					/* The task waiting has a higher priority */
+					xReturn = pdTRUE;
+				}
+			}
+		}
+
+		return xReturn;
+	}
+
+#endif /* configUSE_QUEUE_SETS */
+
+
+
+
+
+
+
+
+
+
+
 
diff --git a/vendor/freertos/freertos/Source/tasks.c b/vendor/freertos/freertos/Source/tasks.c
index 8b894de30..33f2decb2 100644
--- a/vendor/freertos/freertos/Source/tasks.c
+++ b/vendor/freertos/freertos/Source/tasks.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd.
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,22 +45,25 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
 /* Standard includes. */
-#include 
 #include 
 #include 
 
@@ -82,13 +78,40 @@ task.h is included from an application file. */
 #include "timers.h"
 #include "StackMacros.h"
 
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
+
+#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 
+#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
+
+/* Sanity check the configuration. */
+#if configUSE_TICKLESS_IDLE != 0
+	#if INCLUDE_vTaskSuspend != 1
+		#error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
+	#endif /* INCLUDE_vTaskSuspend */
+#endif /* configUSE_TICKLESS_IDLE */
 
 /*
  * Defines the size, in words, of the stack allocated to the idle task.
  */
 #define tskIDLE_STACK_SIZE	configMINIMAL_STACK_SIZE
 
+#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
+
 /*
  * 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
@@ -102,7 +125,7 @@ typedef struct tskTaskControlBlock
 		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
 
-	xListItem				xGenericListItem;		/*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
+	xListItem				xGenericListItem;	/*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
 	xListItem				xEventListItem;		/*< Used to reference a task from an event list. */
 	unsigned portBASE_TYPE	uxPriority;			/*< The priority of the task.  0 is the lowest priority. */
 	portSTACK_TYPE			*pxStack;			/*< Points to the start of the stack. */
@@ -133,6 +156,17 @@ typedef struct tskTaskControlBlock
 		unsigned long 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. */
+		struct _reent xNewLib_reent;
+	#endif
+
 } tskTCB;
 
 
@@ -144,16 +178,18 @@ typedef struct tskTaskControlBlock
 	#define static
 #endif
 
-/*lint -e956 */
+/*lint -e956 A manual analysis and inspection has been used to determine which
+static variables must be declared volatile. */
+
 PRIVILEGED_DATA tskTCB * volatile pxCurrentTCB = NULL;
 
 /* Lists for ready and blocked tasks. --------------------*/
 PRIVILEGED_DATA static xList pxReadyTasksLists[ configMAX_PRIORITIES ];	/*< Prioritised ready tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList1;							/*< Delayed tasks. */
 PRIVILEGED_DATA static xList xDelayedTaskList2;							/*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList * volatile pxDelayedTaskList ;				/*< Points to the delayed task list currently being used. */
+PRIVILEGED_DATA static xList * volatile pxDelayedTaskList;				/*< Points to the delayed task list currently being used. */
 PRIVILEGED_DATA static xList * volatile pxOverflowDelayedTaskList;		/*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready queue when the scheduler is resumed. */
+PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been readied while the scheduler was suspended.  They will be moved to the ready list when the scheduler is resumed. */
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
@@ -174,27 +210,27 @@ PRIVILEGED_DATA static xList xPendingReadyList;							/*< Tasks that have been r
 
 #endif
 
-/* File private variables. --------------------------------*/
+/* Other file private variables. --------------------------------*/
 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks 	= ( unsigned portBASE_TYPE ) 0U;
 PRIVILEGED_DATA static volatile portTickType xTickCount 						= ( portTickType ) 0U;
-PRIVILEGED_DATA static unsigned portBASE_TYPE uxTopUsedPriority	 				= tskIDLE_PRIORITY;
 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxTopReadyPriority 		= tskIDLE_PRIORITY;
 PRIVILEGED_DATA static volatile signed portBASE_TYPE xSchedulerRunning 			= pdFALSE;
 PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxSchedulerSuspended	 	= ( unsigned portBASE_TYPE ) pdFALSE;
-PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxMissedTicks 			= ( unsigned portBASE_TYPE ) 0U;
-PRIVILEGED_DATA static volatile portBASE_TYPE xMissedYield 						= ( portBASE_TYPE ) pdFALSE;
+PRIVILEGED_DATA static volatile unsigned portBASE_TYPE uxPendedTicks 			= ( unsigned portBASE_TYPE ) 0U;
+PRIVILEGED_DATA static volatile portBASE_TYPE xYieldPending 					= pdFALSE;
 PRIVILEGED_DATA static volatile portBASE_TYPE xNumOfOverflows 					= ( portBASE_TYPE ) 0;
 PRIVILEGED_DATA static unsigned portBASE_TYPE uxTaskNumber 						= ( unsigned portBASE_TYPE ) 0U;
-PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= ( portTickType ) portMAX_DELAY;
+PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= portMAX_DELAY;
 
 #if ( configGENERATE_RUN_TIME_STATS == 1 )
 
-	PRIVILEGED_DATA static char pcStatsString[ 50 ] ;
 	PRIVILEGED_DATA static unsigned long ulTaskSwitchedInTime = 0UL;	/*< Holds the value of a timer/counter the last time a task was switched in. */
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime ) PRIVILEGED_FUNCTION;
+	PRIVILEGED_DATA static unsigned long ulTotalRunTime = 0UL;			/*< Holds the total amount of execution time as defined by the run time counter clock. */
 
 #endif
 
+/*lint +e956 */
+
 /* Debugging and trace facilities private variables and macros. ------------*/
 
 /*
@@ -213,7 +249,7 @@ PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= ( portTic
 
 /*-----------------------------------------------------------*/
 
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 0
+#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
@@ -289,78 +325,52 @@ PRIVILEGED_DATA static volatile portTickType xNextTaskUnblockTime				= ( portTic
 
 #endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
 
-/*
- * Place the task represented by pxTCB into the appropriate ready queue for
- * the task.  It is inserted at the end of the list.  One quirk of this is
- * that if the task being inserted is at the same priority as the currently
- * executing task, then it will only be rescheduled after the currently
- * executing task has been rescheduled.
- */
-#define prvAddTaskToReadyQueue( pxTCB )																				\
-	traceMOVED_TASK_TO_READY_STATE( pxTCB )																			\
-	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );																\
-	vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
+/*-----------------------------------------------------------*/
+
+/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
+count overflows. */
+#define taskSWITCH_DELAYED_LISTS()																	\
+{																									\
+	xList *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++;																				\
+																									\
+	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 = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );						\
+		xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );				\
+	}																								\
+}
+
 /*-----------------------------------------------------------*/
 
 /*
- * Macro that looks at the list of tasks that are currently delayed to see if
- * any require waking.
- *
- * Tasks are stored in the queue in the order of their wake time - meaning
- * once one tasks has been found whose timer has not expired we need not look
- * any further down the list.
+ * Place the task represented by pxTCB into the appropriate ready list for
+ * the task.  It is inserted at the end of the list.
  */
-#define prvCheckDelayedTasks()															\
-{																						\
-portTickType xItemValue;																\
-																						\
-	/* Is the tick count greater than or equal to the wake time of the first			\
-	task referenced from the delayed tasks list? */										\
-	if( xTickCount >= 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;									\
-				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 should be removed from				\
-				the Blocked state. */													\
-				pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );	\
-				xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );	\
-																						\
-				if( xTickCount < 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 should be removed from the Blocked state -				\
-					so record the item value in xNextTaskUnblockTime. */				\
-					xNextTaskUnblockTime = xItemValue;									\
-					break;																\
-				}																		\
-																						\
-				/* It is time to remove the item from the Blocked state. */				\
-				uxListRemove( &( pxTCB->xGenericListItem ) );							\
-																						\
-				/* Is the task waiting on an event also? */								\
-				if( pxTCB->xEventListItem.pvContainer != NULL )							\
-				{																		\
-					uxListRemove( &( pxTCB->xEventListItem ) );							\
-				}																		\
-				prvAddTaskToReadyQueue( pxTCB );										\
-			}																			\
-		}																				\
-	}																					\
-}
+#define prvAddTaskToReadyList( pxTCB )																				\
+	traceMOVED_TASK_TO_READY_STATE( pxTCB )																			\
+	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );																\
+	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xGenericListItem ) )
 /*-----------------------------------------------------------*/
 
 /*
@@ -372,7 +382,7 @@ portTickType xItemValue;																\
 #define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) ( pxHandle ) )
 
 /* Callback function prototypes. --------------------------*/
-extern void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
+extern void vApplicationStackOverflowHook( xTaskHandle xTask, signed char *pcTaskName );
 extern void vApplicationTickHook( void );
 
 /* File private functions. --------------------------------*/
@@ -435,17 +445,16 @@ static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake ) PRIVILEGE
 static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TYPE *puxStackBuffer ) PRIVILEGED_FUNCTION;
 
 /*
- * Called from vTaskList.  vListTasks details all the tasks currently under
- * control of the scheduler.  The tasks may be in one of a number of lists.
- * prvListTaskWithinSingleList accepts a list and details the tasks from
- * within just that list.
+ * Fills an xTaskStatusType 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 void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus ) PRIVILEGED_FUNCTION;
+	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -456,7 +465,7 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
  */
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
+	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte ) PRIVILEGED_FUNCTION;
 
 #endif
 
@@ -475,14 +484,6 @@ static tskTCB *prvAllocateTCBAndStack( unsigned short usStackDepth, portSTACK_TY
 
 #endif
 
-/*lint +e956 */
-
-
-
-/*-----------------------------------------------------------
- * TASK CREATION API documented in task.h
- *----------------------------------------------------------*/
-
 signed portBASE_TYPE xTaskGenericCreate( pdTASK_CODE pxTaskCode, const signed char * const pcName, unsigned short usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask, portSTACK_TYPE *puxStackBuffer, const xMemoryRegion * const xRegions )
 {
 signed portBASE_TYPE xReturn;
@@ -520,12 +521,12 @@ tskTCB * pxNewTCB;
 		#if( portSTACK_GROWTH < 0 )
 		{
 			pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - ( unsigned short ) 1 );
-			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK  ) );
+			pxTopOfStack = ( portSTACK_TYPE * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ( portPOINTER_SIZE_TYPE ) ~portBYTE_ALIGNMENT_MASK  ) ); /*lint !e923 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type. */
 
 			/* Check the alignment of the calculated top of stack is correct. */
 			configASSERT( ( ( ( unsigned long ) pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
 		}
-		#else
+		#else /* portSTACK_GROWTH */
 		{
 			pxTopOfStack = pxNewTCB->pxStack;
 
@@ -537,7 +538,7 @@ tskTCB * pxNewTCB;
 			other extreme of the stack space. */
 			pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 );
 		}
-		#endif
+		#endif /* portSTACK_GROWTH */
 
 		/* Setup the newly allocated TCB with the initial state of the task. */
 		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, usStackDepth );
@@ -550,14 +551,11 @@ tskTCB * pxNewTCB;
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
 		}
-		#else
+		#else /* portUSING_MPU_WRAPPERS */
 		{
 			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
 		}
-		#endif
-
-		/* Check the alignment of the initialised stack. */
-		portALIGNMENT_ASSERT_pxCurrentTCB( ( ( ( unsigned long ) pxNewTCB->pxTopOfStack & ( unsigned long ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
+		#endif /* portUSING_MPU_WRAPPERS */
 
 		if( ( void * ) pxCreatedTask != NULL )
 		{
@@ -567,8 +565,8 @@ tskTCB * pxNewTCB;
 			*pxCreatedTask = ( xTaskHandle ) pxNewTCB;
 		}
 
-		/* We are going to manipulate the task queues to add this task to a
-		ready list, so must make sure no interrupts occur. */
+		/* Ensure interrupts don't access the task lists while they are being
+		updated. */
 		taskENTER_CRITICAL();
 		{
 			uxCurrentNumberOfTasks++;
@@ -600,26 +598,20 @@ tskTCB * pxNewTCB;
 				}
 			}
 
-			/* Remember the top priority to make context switching faster.  Use
-			the priority in pxNewTCB as this has been capped to a valid value. */
-			if( pxNewTCB->uxPriority > uxTopUsedPriority )
-			{
-				uxTopUsedPriority = pxNewTCB->uxPriority;
-			}
+			uxTaskNumber++;
 
 			#if ( configUSE_TRACE_FACILITY == 1 )
 			{
 				/* Add a counter into the TCB for tracing only. */
 				pxNewTCB->uxTCBNumber = uxTaskNumber;
 			}
-			#endif
-			uxTaskNumber++;
+			#endif /* configUSE_TRACE_FACILITY */
+			traceTASK_CREATE( pxNewTCB );
 
-			prvAddTaskToReadyQueue( pxNewTCB );
+			prvAddTaskToReadyList( pxNewTCB );
 
 			xReturn = pdPASS;
 			portSETUP_TCB( pxNewTCB );
-			traceTASK_CREATE( pxNewTCB );
 		}
 		taskEXIT_CRITICAL();
 	}
@@ -637,7 +629,7 @@ tskTCB * pxNewTCB;
 			then it should run now. */
 			if( pxCurrentTCB->uxPriority < uxPriority )
 			{
-				portYIELD_WITHIN_API();
+				taskYIELD_IF_USING_PREEMPTION();
 			}
 		}
 	}
@@ -648,38 +640,31 @@ tskTCB * pxNewTCB;
 
 #if ( INCLUDE_vTaskDelete == 1 )
 
-	void vTaskDelete( xTaskHandle pxTaskToDelete )
+	void vTaskDelete( xTaskHandle xTaskToDelete )
 	{
 	tskTCB *pxTCB;
 
 		taskENTER_CRITICAL();
 		{
-			/* Ensure a yield is performed if the current task is being
-			deleted. */
-			if( pxTaskToDelete == pxCurrentTCB )
-			{
-				pxTaskToDelete = NULL;
-			}
-
 			/* If null is passed in here then we are deleting ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToDelete );
+			pxTCB = prvGetTCBFromHandle( xTaskToDelete );
 
 			/* Remove task from the ready list and place in the	termination list.
 			This will stop the task from be scheduled.  The idle task will check
 			the termination list and free up any memory allocated by the
 			scheduler for the TCB and stack. */
-			if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+			if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 			{
 				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
 			}
 
 			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer != NULL )
+			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
 			{
-				uxListRemove( &( pxTCB->xEventListItem ) );
+				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
-			vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
+			vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) );
 
 			/* Increment the ucTasksDeleted variable so the idle task knows
 			there is a task that has been deleted and that it should therefore
@@ -697,23 +682,15 @@ tskTCB * pxNewTCB;
 		/* Force a reschedule if we have just deleted the current task. */
 		if( xSchedulerRunning != pdFALSE )
 		{
-			if( ( void * ) pxTaskToDelete == NULL )
+			if( pxTCB == pxCurrentTCB )
 			{
 				portYIELD_WITHIN_API();
 			}
 		}
 	}
 
-#endif
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * TASK CONTROL API documented in task.h
- *----------------------------------------------------------*/
+#endif /* INCLUDE_vTaskDelete */
+/*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelayUntil == 1 )
 
@@ -727,17 +704,21 @@ tskTCB * pxNewTCB;
 
 		vTaskSuspendAll();
 		{
+			/* Minor optimisation.  The tick count cannot change in this
+			block. */
+			const portTickType xConstTickCount = xTickCount;
+
 			/* Generate the tick time at which the task wants to wake. */
 			xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
 
-			if( xTickCount < *pxPreviousWakeTime )
+			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 > xTickCount ) )
+				if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
 				{
 					xShouldDelay = pdTRUE;
 				}
@@ -747,7 +728,7 @@ tskTCB * pxNewTCB;
 				/* 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 > xTickCount ) )
+				if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
 				{
 					xShouldDelay = pdTRUE;
 				}
@@ -763,7 +744,7 @@ tskTCB * pxNewTCB;
 				/* We must remove ourselves from the ready list before adding
 				ourselves to the blocked list as the same list item is used for
 				both lists. */
-				if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+				if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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
@@ -784,7 +765,7 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelayUntil */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelay == 1 )
@@ -816,7 +797,7 @@ tskTCB * pxNewTCB;
 				/* We must remove ourselves from the ready list before adding
 				ourselves to the blocked list as the same list item is used for
 				both lists. */
-				if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+				if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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
@@ -836,18 +817,16 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskDelay */
 /*-----------------------------------------------------------*/
 
-#if ( INCLUDE_eTaskStateGet == 1 )
+#if ( INCLUDE_eTaskGetState == 1 )
 
-	eTaskState eTaskStateGet( xTaskHandle pxTask )
+	eTaskState eTaskGetState( xTaskHandle xTask )
 	{
 	eTaskState eReturn;
 	xList *pxStateList;
-	tskTCB *pxTCB;
-
-		pxTCB = ( tskTCB * ) pxTask;
+	const tskTCB * const pxTCB = ( tskTCB * ) xTask;
 
 		if( pxTCB == pxCurrentTCB )
 		{
@@ -873,8 +852,16 @@ tskTCB * pxNewTCB;
 				else if( pxStateList == &xSuspendedTaskList )
 				{
 					/* The task being queried is referenced from the suspended
-					list. */
-					eReturn = eSuspended;
+					list.  Is it genuinely suspended or is it block
+					indefinitely? */
+					if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
+					{
+						eReturn = eSuspended;
+					}
+					else
+					{
+						eReturn = eBlocked;
+					}
 				}
 			#endif
 
@@ -898,12 +885,12 @@ tskTCB * pxNewTCB;
 		return eReturn;
 	}
 
-#endif
+#endif /* INCLUDE_eTaskGetState */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskPriorityGet == 1 )
 
-	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask )
+	unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle xTask )
 	{
 	tskTCB *pxTCB;
 	unsigned portBASE_TYPE uxReturn;
@@ -912,7 +899,7 @@ tskTCB * pxNewTCB;
 		{
 			/* If null is passed in here then we are changing the
 			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
+			pxTCB = prvGetTCBFromHandle( xTask );
 			uxReturn = pxTCB->uxPriority;
 		}
 		taskEXIT_CRITICAL();
@@ -920,69 +907,79 @@ tskTCB * pxNewTCB;
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskPriorityGet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskPrioritySet == 1 )
 
-	void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority )
+	void vTaskPrioritySet( xTaskHandle xTask, unsigned portBASE_TYPE uxNewPriority )
 	{
 	tskTCB *pxTCB;
-	unsigned portBASE_TYPE uxCurrentPriority, uxPriorityUsedOnEntry;
+	unsigned portBASE_TYPE uxCurrentBasePriority, uxPriorityUsedOnEntry;
 	portBASE_TYPE xYieldRequired = pdFALSE;
 
 		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
 
 		/* Ensure the new priority is valid. */
-		if( uxNewPriority >= configMAX_PRIORITIES )
+		if( uxNewPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
 		{
-			uxNewPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
+			uxNewPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
 		}
 
 		taskENTER_CRITICAL();
 		{
-			if( pxTask == pxCurrentTCB )
-			{
-				pxTask = NULL;
-			}
-
-			/* If null is passed in here then we are changing the
-			priority of the calling function. */
-			pxTCB = prvGetTCBFromHandle( pxTask );
+			/* 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 )
 			{
-				uxCurrentPriority = pxTCB->uxBasePriority;
+				uxCurrentBasePriority = pxTCB->uxBasePriority;
 			}
 			#else
 			{
-				uxCurrentPriority = pxTCB->uxPriority;
+				uxCurrentBasePriority = pxTCB->uxPriority;
 			}
 			#endif
 
-			if( uxCurrentPriority != uxNewPriority )
+			if( uxCurrentBasePriority != uxNewPriority )
 			{
 				/* The priority change may have readied a task of higher
 				priority than the calling task. */
-				if( uxNewPriority > uxCurrentPriority )
+				if( uxNewPriority > uxCurrentBasePriority )
 				{
-					if( pxTask != NULL )
+					if( pxTCB != pxCurrentTCB )
 					{
-						/* The priority of another task is being raised.  If we
-						were raising the priority of the currently running task
-						there would be no need to switch as it must have already
-						been the highest priority task. */
-						xYieldRequired = pdTRUE;
+						/* 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( uxNewPriority >= pxCurrentTCB->uxPriority )
+						{
+							xYieldRequired = pdTRUE;
+						}
+					}
+					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( pxTask == NULL )
+				else if( pxTCB == pxCurrentTCB )
 				{
-					/* Setting our own priority down means there may now be another
-					task of higher priority that is ready to execute. */
+					/* 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;
 				}
+				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
@@ -1007,81 +1004,78 @@ tskTCB * pxNewTCB;
 				}
 				#endif
 
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) );
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 				/* If the task is in the blocked or suspended list we need do
 				nothing more than change it's priority variable. However, if
 				the task is in a ready list it needs to be removed and placed
-				in the queue appropriate to its new priority. */
-				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) )
+				in the list appropriate to its new priority. */
+				if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
 				{
 					/* The task is currently in its ready list - remove before adding
 					it to it's new ready list.  As we are in a critical section we
 					can do this even if the scheduler is suspended. */
-					if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+					if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 					{
-						taskRESET_READY_PRIORITY( uxPriorityUsedOnEntry );
+						/* 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 );
 					}
-					prvAddTaskToReadyQueue( pxTCB );
+					prvAddTaskToReadyList( pxTCB );
 				}
 
 				if( xYieldRequired == pdTRUE )
 				{
-					portYIELD_WITHIN_API();
+					taskYIELD_IF_USING_PREEMPTION();
 				}
+
+				/* Remove compiler warning about unused variables when the port
+				optimised task selection is not being used. */
+				( void ) uxPriorityUsedOnEntry;
 			}
 		}
 		taskEXIT_CRITICAL();
-
-		/* Remove compiler warning about unused parameter when the port
-		optimised task selection is not being used. */
-		( void ) uxPriorityUsedOnEntry;
 	}
 
-#endif
+#endif /* INCLUDE_vTaskPrioritySet */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskSuspend( xTaskHandle pxTaskToSuspend )
+	void vTaskSuspend( xTaskHandle xTaskToSuspend )
 	{
 	tskTCB *pxTCB;
 
 		taskENTER_CRITICAL();
 		{
-			/* Ensure a yield is performed if the current task is being
-			suspended. */
-			if( pxTaskToSuspend == pxCurrentTCB )
-			{
-				pxTaskToSuspend = NULL;
-			}
-
-			/* If null is passed in here then we are suspending ourselves. */
-			pxTCB = prvGetTCBFromHandle( pxTaskToSuspend );
+			/* 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( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+			if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 			{
 				taskRESET_READY_PRIORITY( pxTCB->uxPriority );
 			}
 
 			/* Is the task waiting on an event also? */
-			if( pxTCB->xEventListItem.pvContainer != NULL )
+			if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
 			{
-				uxListRemove( &( pxTCB->xEventListItem ) );
+				( void ) uxListRemove( &( pxTCB->xEventListItem ) );
 			}
 
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
+			vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) );
 		}
 		taskEXIT_CRITICAL();
 
-		if( ( void * ) pxTaskToSuspend == NULL )
+		if( pxTCB == pxCurrentTCB )
 		{
 			if( xSchedulerRunning != pdFALSE )
 			{
-				/* We have just suspended the current task. */
+				/* The current task has just been suspended. */
 				portYIELD_WITHIN_API();
 			}
 			else
@@ -1105,7 +1099,7 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
@@ -1123,13 +1117,13 @@ tskTCB * pxNewTCB;
 		if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE )
 		{
 			/* Has the task already been resumed from within an ISR? */
-			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE )
+			if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
 			{
 				/* Is it in the suspended list because it is in the
 				Suspended state?  It is possible to be in the suspended
 				list because it is blocked on a task with no timeout
 				specified. */
-				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE )
+				if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE )
 				{
 					xReturn = pdTRUE;
 				}
@@ -1137,23 +1131,19 @@ tskTCB * pxNewTCB;
 		}
 
 		return xReturn;
-	}
+	} /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskSuspend == 1 )
 
-	void vTaskResume( xTaskHandle pxTaskToResume )
+	void vTaskResume( xTaskHandle xTaskToResume )
 	{
-	tskTCB *pxTCB;
+	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
 
 		/* It does not make sense to resume the calling task. */
-		configASSERT( pxTaskToResume );
-
-		/* Remove the task from whichever list it is currently in, and place
-		it in the ready list. */
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+		configASSERT( xTaskToResume );
 
 		/* The parameter cannot be NULL as it is impossible to resume the
 		currently executing task. */
@@ -1167,15 +1157,16 @@ tskTCB * pxNewTCB;
 
 					/* As we are in a critical section we can access the ready
 					lists even if the scheduler is suspended. */
-					uxListRemove(  &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
 
 					/* We may have just resumed a higher priority task. */
 					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
 					{
-						/* This yield may not cause the task just resumed to run, but
-						will leave the lists in the correct state for the next yield. */
-						portYIELD_WITHIN_API();
+						/* 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();
 					}
 				}
 			}
@@ -1183,21 +1174,37 @@ tskTCB * pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* INCLUDE_vTaskSuspend */
 
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
 
-	portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume )
+	portBASE_TYPE xTaskResumeFromISR( xTaskHandle xTaskToResume )
 	{
 	portBASE_TYPE xYieldRequired = pdFALSE;
-	tskTCB *pxTCB;
+	tskTCB * const pxTCB = ( tskTCB * ) xTaskToResume;
 	unsigned portBASE_TYPE uxSavedInterruptStatus;
 
-		configASSERT( pxTaskToResume );
+		configASSERT( xTaskToResume );
 
-		pxTCB = ( tskTCB * ) pxTaskToResume;
+		/* 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:
+		http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+		portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
 
 		uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 		{
@@ -1207,16 +1214,20 @@ tskTCB * pxNewTCB;
 
 				if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 				{
-					xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority );
-					uxListRemove(  &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+					{
+						xYieldRequired = pdTRUE;
+					}
+
+					( void ) uxListRemove(  &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
 				}
 				else
 				{
 					/* We cannot access the delayed or ready lists, so will hold this
 					task pending until the scheduler is resumed, at which point a
 					yield will be performed if necessary. */
-					vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
+					vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
 				}
 			}
 		}
@@ -1225,15 +1236,8 @@ tskTCB * pxNewTCB;
 		return xYieldRequired;
 	}
 
-#endif
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC SCHEDULER CONTROL documented in task.h
- *----------------------------------------------------------*/
-
+#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
+/*-----------------------------------------------------------*/
 
 void vTaskStartScheduler( void )
 {
@@ -1244,14 +1248,14 @@ portBASE_TYPE xReturn;
 	{
 		/* Create the idle task, storing its handle in xIdleTaskHandle so it can
 		be returned by the xTaskGetIdleTaskHandle() function. */
-		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle );
+		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
 	}
 	#else
 	{
 		/* Create the idle task without storing its handle. */
-		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );
+		xReturn = xTaskCreate( prvIdleTask, ( signed char * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), NULL );  /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
 	}
-	#endif
+	#endif /* INCLUDE_xTaskGetIdleTaskHandle */
 
 	#if ( configUSE_TIMERS == 1 )
 	{
@@ -1260,7 +1264,7 @@ portBASE_TYPE xReturn;
 			xReturn = xTimerCreateTimerTask();
 		}
 	}
-	#endif
+	#endif /* configUSE_TIMERS */
 
 	if( xReturn == pdPASS )
 	{
@@ -1268,12 +1272,17 @@ portBASE_TYPE xReturn;
 		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.
-
-		STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE
-		DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */
+		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. */
+			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+		}
+		#endif /* configUSE_NEWLIB_REENTRANT */
+
 		xSchedulerRunning = pdTRUE;
 		xTickCount = ( portTickType ) 0U;
 
@@ -1294,9 +1303,13 @@ portBASE_TYPE xReturn;
 			/* Should only reach here if a task calls xTaskEndScheduler(). */
 		}
 	}
-
-	/* This line will only be reached if the kernel could not be started. */
-	configASSERT( xReturn );
+	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 );
+	}
 }
 /*-----------------------------------------------------------*/
 
@@ -1321,7 +1334,7 @@ void vTaskSuspendAll( void )
 
 #if ( configUSE_TICKLESS_IDLE != 0 )
 
-	portTickType prvGetExpectedIdleTime( void )
+	static portTickType prvGetExpectedIdleTime( void )
 	{
 	portTickType xReturn;
 
@@ -1344,13 +1357,13 @@ void vTaskSuspendAll( void )
 		return xReturn;
 	}
 
-#endif /* configUSE_TICKLESS_IDLE != 0  */
+#endif /* configUSE_TICKLESS_IDLE */
 /*----------------------------------------------------------*/
 
 signed portBASE_TYPE xTaskResumeAll( void )
 {
-register tskTCB *pxTCB;
-signed portBASE_TYPE xAlreadyYielded = pdFALSE;
+tskTCB *pxTCB;
+portBASE_TYPE xAlreadyYielded = pdFALSE;
 
 	/* If uxSchedulerSuspended is zero then this function does not match a
 	previous call to vTaskSuspendAll(). */
@@ -1369,51 +1382,46 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 		{
 			if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0U )
 			{
-				portBASE_TYPE xYieldRequired = pdFALSE;
-
 				/* Move any readied tasks from the pending list into the
 				appropriate ready list. */
-				while( listLIST_IS_EMPTY( ( xList * ) &xPendingReadyList ) == pdFALSE )
+				while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
 				{
-					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY(  ( ( xList * ) &xPendingReadyList ) );
-					uxListRemove( &( pxTCB->xEventListItem ) );
-					uxListRemove( &( pxTCB->xGenericListItem ) );
-					prvAddTaskToReadyQueue( pxTCB );
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) );
+					( void ) uxListRemove( &( pxTCB->xEventListItem ) );
+					( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
+					prvAddTaskToReadyList( pxTCB );
 
 					/* If we have moved a task that has a priority higher than
 					the current task then we should yield. */
 					if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
 					{
-						xYieldRequired = pdTRUE;
+						xYieldPending = pdTRUE;
 					}
 				}
 
 				/* 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. */
-				if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
+				if( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
 				{
-					while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0U )
+					while( uxPendedTicks > ( unsigned portBASE_TYPE ) 0U )
 					{
-						vTaskIncrementTick();
-						--uxMissedTicks;
+						if( xTaskIncrementTick() != pdFALSE )
+						{
+							xYieldPending = pdTRUE;
+						}
+						--uxPendedTicks;
 					}
-
-					/* As we have processed some ticks it is appropriate to yield
-					to ensure the highest priority task that is ready to run is
-					the task actually running. */
-					#if configUSE_PREEMPTION == 1
-					{
-						xYieldRequired = pdTRUE;
-					}
-					#endif
 				}
 
-				if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) )
+				if( xYieldPending == pdTRUE )
 				{
-					xAlreadyYielded = pdTRUE;
-					xMissedYield = pdFALSE;
-					portYIELD_WITHIN_API();
+					#if( configUSE_PREEMPTION != 0 )
+					{
+						xAlreadyYielded = pdTRUE;
+					}
+					#endif
+					taskYIELD_IF_USING_PREEMPTION();
 				}
 			}
 		}
@@ -1422,17 +1430,7 @@ signed portBASE_TYPE xAlreadyYielded = pdFALSE;
 
 	return xAlreadyYielded;
 }
-
-
-
-
-
-
-/*-----------------------------------------------------------
- * PUBLIC TASK UTILITIES documented in task.h
- *----------------------------------------------------------*/
-
-
+/*-----------------------------------------------------------*/
 
 portTickType xTaskGetTickCount( void )
 {
@@ -1454,6 +1452,22 @@ portTickType xTaskGetTickCountFromISR( void )
 portTickType xReturn;
 unsigned portBASE_TYPE uxSavedInterruptStatus;
 
+	/* 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: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
+	portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
+
 	uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
 	xReturn = xTickCount;
 	portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
@@ -1482,145 +1496,77 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		return &( pxTCB->pcTaskName[ 0 ] );
 	}
 
-#endif
+#endif /* INCLUDE_pcTaskGetTaskName */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	void vTaskList( signed char *pcWriteBuffer )
+	unsigned portBASE_TYPE uxTaskGetSystemState( xTaskStatusType *pxTaskStatusArray, unsigned portBASE_TYPE uxArraySize, unsigned long *pulTotalRunTime )
 	{
-	unsigned portBASE_TYPE uxQueue;
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
+	unsigned portBASE_TYPE uxTask = 0, uxQueue = configMAX_PRIORITIES;
 
 		vTaskSuspendAll();
 		{
-			/* Run through all the lists that could potentially contain a TCB and
-			report the task name, state and stack high water mark. */
-
-			*pcWriteBuffer = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
-			uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
-
-			do
+			/* Is there a space in the array for each task in the system? */
+			if( uxArraySize >= uxCurrentNumberOfTasks )
 			{
-				uxQueue--;
-
-				if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
+				/* Fill in an xTaskStatusType structure with information on each
+				task in the Ready state. */
+				do
 				{
-					prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR );
-				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
+					uxQueue--;
+					uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
 
-			if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR );
-			}
+				} while( uxQueue > ( unsigned portBASE_TYPE ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
-			if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
-			{
-				prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR );
-			}
+				/* Fill in an xTaskStatusType structure with information on each
+				task in the Blocked state. */
+				uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxDelayedTaskList, eBlocked );
+				uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( xList * ) pxOverflowDelayedTaskList, eBlocked );
 
-			#if( INCLUDE_vTaskDelete == 1 )
-			{
-				if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
+				#if( INCLUDE_vTaskDelete == 1 )
 				{
-					prvListTaskWithinSingleList( pcWriteBuffer, &xTasksWaitingTermination, tskDELETED_CHAR );
+					/* Fill in an xTaskStatusType structure with information on
+					each task that has been deleted but not yet cleaned up. */
+					uxTask += prvListTaskWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
 				}
-			}
-			#endif
+				#endif
 
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
+				#if ( INCLUDE_vTaskSuspend == 1 )
 				{
-					prvListTaskWithinSingleList( pcWriteBuffer, &xSuspendedTaskList, tskSUSPENDED_CHAR );
+					/* Fill in an xTaskStatusType structure with information on
+					each task in the Suspended state. */
+					uxTask += prvListTaskWithinSingleList( &( 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( pulTotalRunTime != NULL )
+					{
+						*pulTotalRunTime = 0;
+					}
+				}
+				#endif
 			}
-			#endif
 		}
-		xTaskResumeAll();
+		( void ) xTaskResumeAll();
+
+		return uxTask;
 	}
 
-#endif
-/*----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
-	{
-	unsigned portBASE_TYPE uxQueue;
-	unsigned long ulTotalRunTime;
-
-		/* This is a VERY costly function that should be used for debug only.
-		It leaves interrupts disabled for a LONG time. */
-
-		vTaskSuspendAll();
-		{
-			#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
-				portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
-			#else
-				ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
-			#endif
-
-			/* Divide ulTotalRunTime by 100 to make the percentage caluclations
-			simpler in the prvGenerateRunTimeStatsForTasksInList() function. */
-			ulTotalRunTime /= 100UL;
-
-			/* Run through all the lists that could potentially contain a TCB,
-			generating a table of run timer percentages in the provided
-			buffer. */
-
-			*pcWriteBuffer = ( signed char ) 0x00;
-			strcat( ( char * ) pcWriteBuffer, ( const char * ) "\r\n" );
-
-			uxQueue = uxTopUsedPriority + ( unsigned portBASE_TYPE ) 1U;
-
-			do
-			{
-				uxQueue--;
-
-				if( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) == pdFALSE )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), ulTotalRunTime );
-				}
-			}while( uxQueue > ( unsigned short ) tskIDLE_PRIORITY );
-
-			if( listLIST_IS_EMPTY( pxDelayedTaskList ) == pdFALSE )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, ulTotalRunTime );
-			}
-
-			if( listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) == pdFALSE )
-			{
-				prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, ulTotalRunTime );
-			}
-
-			#if ( INCLUDE_vTaskDelete == 1 )
-			{
-				if( listLIST_IS_EMPTY( &xTasksWaitingTermination ) == pdFALSE )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xTasksWaitingTermination, ulTotalRunTime );
-				}
-			}
-			#endif
-
-			#if ( INCLUDE_vTaskSuspend == 1 )
-			{
-				if( listLIST_IS_EMPTY( &xSuspendedTaskList ) == pdFALSE )
-				{
-					prvGenerateRunTimeStatsForTasksInList( pcWriteBuffer, &xSuspendedTaskList, ulTotalRunTime );
-				}
-			}
-			#endif
-		}
-		xTaskResumeAll();
-	}
-
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*----------------------------------------------------------*/
 
 #if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
@@ -1633,7 +1579,7 @@ unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void )
 		return xIdleTaskHandle;
 	}
 
-#endif
+#endif /* INCLUDE_xTaskGetIdleTaskHandle */
 /*----------------------------------------------------------*/
 
 /* This conditional compilation should use inequality to 0, not equality to 1.
@@ -1644,20 +1590,22 @@ implementations require configUSE_TICKLESS_IDLE to be set to a value other than
 
 	void vTaskStepTick( portTickType xTicksToJump )
 	{
-		configASSERT( xTicksToJump <= xNextTaskUnblockTime );
+		/* 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 );
 	}
 
-#endif
+#endif /* configUSE_TICKLESS_IDLE */
+/*----------------------------------------------------------*/
 
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- * documented in task.h
- *----------------------------------------------------------*/
-
-void vTaskIncrementTick( void )
+portBASE_TYPE xTaskIncrementTick( void )
 {
 tskTCB * pxTCB;
+portTickType xItemValue;
+portBASE_TYPE 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
@@ -1665,47 +1613,115 @@ tskTCB * pxTCB;
 	traceTASK_INCREMENT_TICK( xTickCount );
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
+		/* Increment the RTOS tick, switching the delayed and overflowed
+		delayed lists if it wraps to 0. */
 		++xTickCount;
-		if( xTickCount == ( portTickType ) 0U )
+
 		{
-			xList *pxTemp;
+			/* Minor optimisation.  The tick count cannot change in this
+			block. */
+			const portTickType xConstTickCount = xTickCount;
 
-			/* Tick count has overflowed so we need to swap the delay lists.
-			If there are any items in pxDelayedTaskList here then there is
-			an error! */
-			configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) );
-
-			pxTemp = pxDelayedTaskList;
-			pxDelayedTaskList = pxOverflowDelayedTaskList;
-			pxOverflowDelayedTaskList = pxTemp;
-			xNumOfOverflows++;
-
-			if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
+			if( xConstTickCount == ( portTickType ) 0U )
 			{
-				/* 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;
+				taskSWITCH_DELAYED_LISTS();
 			}
-			else
+
+			/* 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 tasks has been
+			found whose block time has not expired there is no need not look any
+			further	down the list. */
+			if( xConstTickCount >= xNextTaskUnblockTime )
 			{
-				/* 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 = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
-				xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
+				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;
+						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 = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
+						xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );
+
+						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;
+						}
+
+						/* It is time to remove the item from the Blocked state. */
+						( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
+
+						/* 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 ) );
+						}
+
+						/* 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( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
+							{
+								xSwitchRequired = pdTRUE;
+							}
+						}
+						#endif /* configUSE_PREEMPTION */
+					}
+				}
 			}
 		}
 
-		/* See if this tick has made a timeout expire. */
-		prvCheckDelayedTasks();
+		/* 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->uxPriority ] ) ) > ( unsigned portBASE_TYPE ) 1 )
+			{
+				xSwitchRequired = pdTRUE;
+			}
+		}
+		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 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( uxPendedTicks == ( unsigned portBASE_TYPE ) 0U )
+			{
+				vApplicationTickHook();
+			}
+		}
+		#endif /* configUSE_TICK_HOOK */
 	}
 	else
 	{
-		++uxMissedTicks;
+		++uxPendedTicks;
 
 		/* The tick hook gets called at regular intervals, even if the
 		scheduler is locked. */
@@ -1716,16 +1732,16 @@ tskTCB * pxTCB;
 		#endif
 	}
 
-	#if ( configUSE_TICK_HOOK == 1 )
+	#if ( configUSE_PREEMPTION == 1 )
 	{
-		/* Guard against the tick hook being called when the missed tick
-		count is being unwound (when the scheduler is being unlocked. */
-		if( uxMissedTicks == ( unsigned portBASE_TYPE ) 0U )
+		if( xYieldPending != pdFALSE )
 		{
-			vApplicationTickHook();
+			xSwitchRequired = pdTRUE;
 		}
 	}
-	#endif
+	#endif /* configUSE_PREEMPTION */
+
+	return xSwitchRequired;
 }
 /*-----------------------------------------------------------*/
 
@@ -1752,7 +1768,7 @@ tskTCB * pxTCB;
 		taskEXIT_CRITICAL();
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1781,7 +1797,7 @@ tskTCB * pxTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_APPLICATION_TASK_TAG == 1 )
@@ -1813,7 +1829,7 @@ tskTCB * pxTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* configUSE_APPLICATION_TASK_TAG */
 /*-----------------------------------------------------------*/
 
 void vTaskSwitchContext( void )
@@ -1822,31 +1838,35 @@ void vTaskSwitchContext( void )
 	{
 		/* The scheduler is currently suspended - do not allow a context
 		switch. */
-		xMissedYield = pdTRUE;
+		xYieldPending = pdTRUE;
 	}
 	else
 	{
+		xYieldPending = pdFALSE;
 		traceTASK_SWITCHED_OUT();
 
 		#if ( configGENERATE_RUN_TIME_STATS == 1 )
 		{
-			unsigned long ulTempCounter;
-
 				#ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
-					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTempCounter );
+					portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
 				#else
-					ulTempCounter = portGET_RUN_TIME_COUNTER_VALUE();
+					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.  Generally
-				this will be about 1 hour assuming a 1uS timer increment. */
-				pxCurrentTCB->ulRunTimeCounter += ( ulTempCounter - ulTaskSwitchedInTime );
-				ulTaskSwitchedInTime = ulTempCounter;
+				/* 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 )
+				{
+					pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
+				}
+				ulTaskSwitchedInTime = ulTotalRunTime;
 		}
-		#endif
+		#endif /* configGENERATE_RUN_TIME_STATS */
 
 		taskFIRST_CHECK_FOR_STACK_OVERFLOW();
 		taskSECOND_CHECK_FOR_STACK_OVERFLOW();
@@ -1854,11 +1874,19 @@ void vTaskSwitchContext( void )
 		taskSELECT_HIGHEST_PRIORITY_TASK();
 
 		traceTASK_SWITCHED_IN();
+
+		#if ( configUSE_NEWLIB_REENTRANT == 1 )
+		{
+			/* Switch Newlib's _impure_ptr variable to point to the _reent
+			structure specific to this task. */
+			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
+		}
+		#endif /* configUSE_NEWLIB_REENTRANT */
 	}
 }
 /*-----------------------------------------------------------*/
 
-void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait )
+void vTaskPlaceOnEventList( xList * const pxEventList, portTickType xTicksToWait )
 {
 portTickType xTimeToWake;
 
@@ -1870,12 +1898,12 @@ portTickType xTimeToWake;
 	/* 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. */
-	vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
+	vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
 	/* We must remove ourselves from the ready list before adding ourselves
 	to the blocked list as the same list item is used for both lists.  We have
 	exclusive access to the ready lists as the scheduler is locked. */
-	if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+	if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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. */
@@ -1889,7 +1917,7 @@ portTickType xTimeToWake;
 			/* Add ourselves to the suspended task list instead of a delayed task
 			list to ensure we are not woken by a timing event.  We will block
 			indefinitely. */
-			vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+			vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xGenericListItem ) );
 		}
 		else
 		{
@@ -1899,20 +1927,20 @@ portTickType xTimeToWake;
 			prvAddCurrentTaskToDelayedList( xTimeToWake );
 		}
 	}
-	#else
+	#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. */
 			xTimeToWake = xTickCount + xTicksToWait;
 			prvAddCurrentTaskToDelayedList( xTimeToWake );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskSuspend */
 }
 /*-----------------------------------------------------------*/
 
 #if configUSE_TIMERS == 1
 
-	void vTaskPlaceOnEventListRestricted( const xList * const pxEventList, portTickType xTicksToWait )
+	void vTaskPlaceOnEventListRestricted( xList * const pxEventList, portTickType xTicksToWait )
 	{
 	portTickType xTimeToWake;
 
@@ -1928,12 +1956,12 @@ portTickType xTimeToWake;
 		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( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) );
+		vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
 
 		/* We must remove this task from the ready list before adding it to the
 		blocked list as the same list item is used for both lists.  This
 		function is called form a critical section. */
-		if( uxListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ) == 0 )
+		if( uxListRemove( &( pxCurrentTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 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. */
@@ -1971,18 +1999,18 @@ portBASE_TYPE xReturn;
 	pxEventList is not empty. */
 	pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
 	configASSERT( pxUnblockedTCB );
-	uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
+	( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
 
 	if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE )
 	{
-		uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
-		prvAddTaskToReadyQueue( pxUnblockedTCB );
+		( void ) uxListRemove( &( pxUnblockedTCB->xGenericListItem ) );
+		prvAddTaskToReadyList( pxUnblockedTCB );
 	}
 	else
 	{
 		/* We cannot access the delayed or ready lists, so will hold this
 		task pending until the scheduler is resumed. */
-		vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
+		vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
 	}
 
 	if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority )
@@ -1992,6 +2020,10 @@ portBASE_TYPE xReturn;
 		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 = pdTRUE;
 	}
 	else
 	{
@@ -2019,6 +2051,9 @@ portBASE_TYPE xReturn;
 
 	taskENTER_CRITICAL();
 	{
+		/* Minor optimisation.  The tick count cannot change in this block. */
+		const portTickType xConstTickCount = xTickCount;
+
 		#if ( INCLUDE_vTaskSuspend == 1 )
 			/* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is
 			the maximum block time then the task should block indefinitely, and
@@ -2030,7 +2065,7 @@ portBASE_TYPE xReturn;
 			else /* We are not blocking indefinitely, perform the checks below. */
 		#endif
 
-		if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( ( portTickType ) xTickCount >= ( portTickType ) pxTimeOut->xTimeOnEntering ) )
+		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.
@@ -2038,10 +2073,10 @@ portBASE_TYPE xReturn;
 			passed since vTaskSetTimeout() was called. */
 			xReturn = pdTRUE;
 		}
-		else if( ( ( portTickType ) ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering ) ) < ( portTickType ) *pxTicksToWait )
+		else if( ( xConstTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait )
 		{
 			/* Not a genuine timeout. Adjust parameters for time remaining. */
-			*pxTicksToWait -= ( ( portTickType ) xTickCount - ( portTickType ) pxTimeOut->xTimeOnEntering );
+			*pxTicksToWait -= ( xConstTickCount -  pxTimeOut->xTimeOnEntering );
 			vTaskSetTimeOutState( pxTimeOut );
 			xReturn = pdFALSE;
 		}
@@ -2058,11 +2093,12 @@ portBASE_TYPE xReturn;
 
 void vTaskMissedYield( void )
 {
-	xMissedYield = pdTRUE;
+	xYieldPending = pdTRUE;
 }
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
+
 	unsigned portBASE_TYPE uxTaskGetTaskNumber( xTaskHandle xTask )
 	{
 	unsigned portBASE_TYPE uxReturn;
@@ -2080,10 +2116,12 @@ void vTaskMissedYield( void )
 
 		return uxReturn;
 	}
-#endif
+
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_TRACE_FACILITY == 1 )
+
 	void vTaskSetTaskNumber( xTaskHandle xTask, unsigned portBASE_TYPE uxHandle )
 	{
 	tskTCB *pxTCB;
@@ -2094,8 +2132,8 @@ void vTaskMissedYield( void )
 			pxTCB->uxTaskNumber = uxHandle;
 		}
 	}
-#endif
 
+#endif /* configUSE_TRACE_FACILITY */
 
 /*
  * -----------------------------------------------------------
@@ -2126,7 +2164,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			will automatically get the processor anyway. */
 			taskYIELD();
 		}
-		#endif
+		#endif /* configUSE_PREEMPTION */
 
 		#if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
 		{
@@ -2144,7 +2182,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 				taskYIELD();
 			}
 		}
-		#endif
+		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
 
 		#if ( configUSE_IDLE_HOOK == 1 )
 		{
@@ -2157,7 +2195,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			CALL A FUNCTION THAT MIGHT BLOCK. */
 			vApplicationIdleHook();
 		}
-		#endif
+		#endif /* configUSE_IDLE_HOOK */
 
 		/* This conditional compilation should use inequality to 0, not equality
 		to 1.  This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
@@ -2166,12 +2204,6 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 		#if ( configUSE_TICKLESS_IDLE != 0 )
 		{
 		portTickType xExpectedIdleTime;
-		/* If the expected idle time is 1 then the idle time would end at
-		the end of the current time slice.  The idle time must be at least
-		2 to ensure any pended ticks between this point and the tick being
-		stopped can be legitimately stepped over when the tick suppression
-		routines returns. */
-		const portTickType xMinimumExpectedIdleTime = ( portTickType ) 2;
 
 			/* It is not desirable to suspend then resume the scheduler on
 			each iteration of the idle task.  Therefore, a preliminary
@@ -2180,7 +2212,7 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 			valid. */
 			xExpectedIdleTime = prvGetExpectedIdleTime();
 
-			if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
+			if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
 			{
 				vTaskSuspendAll();
 				{
@@ -2190,46 +2222,88 @@ static portTASK_FUNCTION( prvIdleTask, pvParameters )
 					configASSERT( xNextTaskUnblockTime >= xTickCount );
 					xExpectedIdleTime = prvGetExpectedIdleTime();
 
-					if( xExpectedIdleTime >= xMinimumExpectedIdleTime )
+					if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
 					{
+						traceLOW_POWER_IDLE_BEGIN();
 						portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
+						traceLOW_POWER_IDLE_END();
 					}
 				}
-				xTaskResumeAll();
+				( void ) xTaskResumeAll();
 			}
 		}
-		#endif
+		#endif /* configUSE_TICKLESS_IDLE */
 	}
-} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */
+}
+/*-----------------------------------------------------------*/
 
+#if configUSE_TICKLESS_IDLE != 0
 
+	eSleepModeStatus eTaskConfirmSleepModeStatus( void )
+	{
+	eSleepModeStatus eReturn = eStandardSleep;
 
+		if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
+		{
+			/* A task was made ready while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else if( xYieldPending != pdFALSE )
+		{
+			/* A yield was pended while the scheduler was suspended. */
+			eReturn = eAbortSleep;
+		}
+		else
+		{
+			#if configUSE_TIMERS == 0
+			{
+				/* The idle task exists in addition to the application tasks. */
+				const unsigned portBASE_TYPE uxNonApplicationTasks = 1;
 
+				/* If timers are not being used and 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;
+				}
+			}
+			#endif /* configUSE_TIMERS */
+		}
 
-
-
-/*-----------------------------------------------------------
- * File private functions documented at the top of the file.
- *----------------------------------------------------------*/
-
-
+		return eReturn;
+	}
+#endif /* configUSE_TICKLESS_IDLE */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const pcName, unsigned portBASE_TYPE uxPriority, const xMemoryRegion * const xRegions, unsigned short usStackDepth )
 {
-	/* Store the function name in the TCB. */
-	#if configMAX_TASK_NAME_LEN > 1
+unsigned portBASE_TYPE x;
+
+	/* Store the task name in the TCB. */
+	for( x = ( unsigned portBASE_TYPE ) 0; x < ( unsigned portBASE_TYPE ) configMAX_TASK_NAME_LEN; x++ )
 	{
-		/* Don't bring strncpy into the build unnecessarily. */
-		strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned short ) configMAX_TASK_NAME_LEN );
+		pxTCB->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 ] == 0x00 )
+		{
+			break;
+		}
 	}
-	#endif
-	pxTCB->pcTaskName[ ( unsigned short ) configMAX_TASK_NAME_LEN - ( unsigned short ) 1 ] = ( signed char ) '\0';
+
+	/* Ensure the name string is terminated in the case that the string length
+	was greater or equal to configMAX_TASK_NAME_LEN. */
+	pxTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = ( signed char ) '\0';
 
 	/* 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 >= configMAX_PRIORITIES )
+	if( uxPriority >= ( unsigned portBASE_TYPE ) configMAX_PRIORITIES )
 	{
-		uxPriority = configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
+		uxPriority = ( unsigned portBASE_TYPE ) configMAX_PRIORITIES - ( unsigned portBASE_TYPE ) 1U;
 	}
 
 	pxTCB->uxPriority = uxPriority;
@@ -2237,7 +2311,7 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	{
 		pxTCB->uxBasePriority = uxPriority;
 	}
-	#endif
+	#endif /* configUSE_MUTEXES */
 
 	vListInitialiseItem( &( pxTCB->xGenericListItem ) );
 	vListInitialiseItem( &( pxTCB->xEventListItem ) );
@@ -2247,37 +2321,44 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB );
 
 	/* Event lists are always in priority order. */
-	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority );
+	listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 	listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB );
 
 	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
 	{
 		pxTCB->uxCriticalNesting = ( unsigned portBASE_TYPE ) 0U;
 	}
-	#endif
+	#endif /* portCRITICAL_NESTING_IN_TCB */
 
 	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
 	{
 		pxTCB->pxTaskTag = NULL;
 	}
-	#endif
+	#endif /* configUSE_APPLICATION_TASK_TAG */
 
 	#if ( configGENERATE_RUN_TIME_STATS == 1 )
 	{
 		pxTCB->ulRunTimeCounter = 0UL;
 	}
-	#endif
+	#endif /* configGENERATE_RUN_TIME_STATS */
 
 	#if ( portUSING_MPU_WRAPPERS == 1 )
 	{
 		vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, pxTCB->pxStack, usStackDepth );
 	}
-	#else
+	#else /* portUSING_MPU_WRAPPERS */
 	{
 		( void ) xRegions;
 		( void ) usStackDepth;
 	}
-	#endif
+	#endif /* portUSING_MPU_WRAPPERS */
+
+	#if ( configUSE_NEWLIB_REENTRANT == 1 )
+	{
+		/* Initialise this task's Newlib reent structure. */
+		_REENT_INIT_PTR( ( &( pxTCB->xNewLib_reent ) ) );
+	}
+	#endif /* configUSE_NEWLIB_REENTRANT */
 }
 /*-----------------------------------------------------------*/
 
@@ -2287,43 +2368,39 @@ static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed char * const
 	{
 	tskTCB *pxTCB;
 
-		if( xTaskToModify == pxCurrentTCB )
-		{
-			xTaskToModify = NULL;
-		}
-
 		/* If null is passed in here then we are deleting ourselves. */
 		pxTCB = prvGetTCBFromHandle( xTaskToModify );
 
         vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
 	}
-	/*-----------------------------------------------------------*/
-#endif
+
+#endif /* portUSING_MPU_WRAPPERS */
+/*-----------------------------------------------------------*/
 
 static void prvInitialiseTaskLists( void )
 {
 unsigned portBASE_TYPE uxPriority;
 
-	for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < configMAX_PRIORITIES; uxPriority++ )
+	for( uxPriority = ( unsigned portBASE_TYPE ) 0U; uxPriority < ( unsigned portBASE_TYPE ) configMAX_PRIORITIES; uxPriority++ )
 	{
-		vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) );
+		vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
 	}
 
-	vListInitialise( ( xList * ) &xDelayedTaskList1 );
-	vListInitialise( ( xList * ) &xDelayedTaskList2 );
-	vListInitialise( ( xList * ) &xPendingReadyList );
+	vListInitialise( &xDelayedTaskList1 );
+	vListInitialise( &xDelayedTaskList2 );
+	vListInitialise( &xPendingReadyList );
 
 	#if ( INCLUDE_vTaskDelete == 1 )
 	{
-		vListInitialise( ( xList * ) &xTasksWaitingTermination );
+		vListInitialise( &xTasksWaitingTermination );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskDelete */
 
 	#if ( INCLUDE_vTaskSuspend == 1 )
 	{
-		vListInitialise( ( xList * ) &xSuspendedTaskList );
+		vListInitialise( &xSuspendedTaskList );
 	}
-	#endif
+	#endif /* INCLUDE_vTaskSuspend */
 
 	/* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
 	using list2. */
@@ -2344,7 +2421,7 @@ static void prvCheckTasksWaitingTermination( void )
 		{
 			vTaskSuspendAll();
 				xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination );
-			xTaskResumeAll();
+			( void ) xTaskResumeAll();
 
 			if( xListIsEmpty == pdFALSE )
 			{
@@ -2352,8 +2429,8 @@ static void prvCheckTasksWaitingTermination( void )
 
 				taskENTER_CRITICAL();
 				{
-					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) );
-					uxListRemove( &( pxTCB->xGenericListItem ) );
+					pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) );
+					( void ) uxListRemove( &( pxTCB->xGenericListItem ) );
 					--uxCurrentNumberOfTasks;
 					--uxTasksDeleted;
 				}
@@ -2363,7 +2440,7 @@ static void prvCheckTasksWaitingTermination( void )
 			}
 		}
 	}
-	#endif
+	#endif /* vTaskDelete */
 }
 /*-----------------------------------------------------------*/
 
@@ -2375,12 +2452,12 @@ static void prvAddCurrentTaskToDelayedList( portTickType xTimeToWake )
 	if( xTimeToWake < xTickCount )
 	{
 		/* Wake time has overflowed.  Place this item in the overflow list. */
-		vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+		vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
 	}
 	else
 	{
 		/* The wake time has not overflowed, so we can use the current block list. */
-		vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) );
+		vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xGenericListItem ) );
 
 		/* If the task entering the blocked state was placed at the head of the
 		list of blocked tasks then xNextTaskUnblockTime needs to be updated
@@ -2406,7 +2483,7 @@ tskTCB *pxNewTCB;
 		/* 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 = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer );
+		pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMallocAligned( ( ( ( size_t ) usStackDepth ) * sizeof( portSTACK_TYPE ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 		if( pxNewTCB->pxStack == NULL )
 		{
@@ -2417,7 +2494,7 @@ tskTCB *pxNewTCB;
 		else
 		{
 			/* Just to help debugging. */
-			memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
+			( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) usStackDepth * sizeof( portSTACK_TYPE ) );
 		}
 	}
 
@@ -2427,112 +2504,75 @@ tskTCB *pxNewTCB;
 
 #if ( configUSE_TRACE_FACILITY == 1 )
 
-	static void prvListTaskWithinSingleList( const signed char *pcWriteBuffer, xList *pxList, signed char cStatus )
+	static unsigned portBASE_TYPE prvListTaskWithinSingleList( xTaskStatusType *pxTaskStatusArray, xList *pxList, eTaskState eState )
 	{
 	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned short usStackRemaining;
-	PRIVILEGED_DATA static char pcStatusString[ configMAX_TASK_NAME_LEN + 30 ];
+	unsigned portBASE_TYPE uxTask = 0;
 
-		/* Write the details of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
+		if( listCURRENT_LIST_LENGTH( pxList ) > ( unsigned portBASE_TYPE ) 0 )
 		{
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-			#if ( portSTACK_GROWTH > 0 )
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
-			}
-			#else
-			{
-				usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
-			}
-			#endif
+			listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
 
-			sprintf( pcStatusString, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, ( unsigned int ) usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber );
-			strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatusString );
+			/* Populate an xTaskStatusType structure within the
+			pxTaskStatusArray array for each task that is referenced from
+			pxList.  See the definition of xTaskStatusType in task.h for the
+			meaning of each xTaskStatusType structure member. */
+			do
+			{
+				listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
 
-		} while( pxNextTCB != pxFirstTCB );
+				pxTaskStatusArray[ uxTask ].xHandle = ( xTaskHandle ) pxNextTCB;
+				pxTaskStatusArray[ uxTask ].pcTaskName = ( const signed char * ) &( pxNextTCB->pcTaskName [ 0 ] );
+				pxTaskStatusArray[ uxTask ].xTaskNumber = pxNextTCB->uxTCBNumber;
+				pxTaskStatusArray[ uxTask ].eCurrentState = eState;
+				pxTaskStatusArray[ uxTask ].uxCurrentPriority = pxNextTCB->uxPriority;
+
+				#if ( configUSE_MUTEXES == 1 )
+				{
+					pxTaskStatusArray[ uxTask ].uxBasePriority = pxNextTCB->uxBasePriority;
+				}
+				#else
+				{
+					pxTaskStatusArray[ uxTask ].uxBasePriority = 0;
+				}
+				#endif
+
+				#if ( configGENERATE_RUN_TIME_STATS == 1 )
+				{
+					pxTaskStatusArray[ uxTask ].ulRunTimeCounter = pxNextTCB->ulRunTimeCounter;
+				}
+				#else
+				{
+					pxTaskStatusArray[ uxTask ].ulRunTimeCounter = 0;
+				}
+				#endif
+
+				#if ( portSTACK_GROWTH > 0 )
+				{
+					pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxEndOfStack );
+				}
+				#else
+				{
+					pxTaskStatusArray[ uxTask ].usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( unsigned char * ) pxNextTCB->pxStack );
+				}
+				#endif
+
+				uxTask++;
+
+			} while( pxNextTCB != pxFirstTCB );
+		}
+
+		return uxTask;
 	}
 
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
-	static void prvGenerateRunTimeStatsForTasksInList( const signed char *pcWriteBuffer, xList *pxList, unsigned long ulTotalRunTime )
-	{
-	volatile tskTCB *pxNextTCB, *pxFirstTCB;
-	unsigned long ulStatsAsPercentage;
-
-		/* Write the run time stats of all the TCB's in pxList into the buffer. */
-		listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList );
-		do
-		{
-			/* Get next TCB in from the list. */
-			listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList );
-
-			/* Divide by zero check. */
-			if( ulTotalRunTime > 0UL )
-			{
-				/* Has the task run at all? */
-				if( pxNextTCB->ulRunTimeCounter == 0UL )
-				{
-					/* The task has used no CPU time at all. */
-					sprintf( pcStatsString, ( char * ) "%s\t\t0\t\t0%%\r\n", pxNextTCB->pcTaskName );
-				}
-				else
-				{
-					/* What percentage of the total run time has the task used?
-					This will always be rounded down to the nearest integer.
-					ulTotalRunTime has already been divided by 100. */
-					ulStatsAsPercentage = pxNextTCB->ulRunTimeCounter / ulTotalRunTime;
-
-					if( ulStatsAsPercentage > 0UL )
-					{
-						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
-						{
-							sprintf( pcStatsString, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter, ulStatsAsPercentage );
-						}
-						#else
-						{
-							/* sizeof( int ) == sizeof( long ) so a smaller
-							printf() library can be used. */
-							sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
-						}
-						#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( pcStatsString, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxNextTCB->pcTaskName, pxNextTCB->ulRunTimeCounter );
-						}
-						#else
-						{
-							/* sizeof( int ) == sizeof( long ) so a smaller
-							printf() library can be used. */
-							sprintf( pcStatsString, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxNextTCB->pcTaskName, ( unsigned int ) pxNextTCB->ulRunTimeCounter );
-						}
-						#endif
-					}
-				}
-
-				strcat( ( char * ) pcWriteBuffer, ( char * ) pcStatsString );
-			}
-
-		} while( pxNextTCB != pxFirstTCB );
-	}
-
-#endif
+#endif /* configUSE_TRACE_FACILITY */
 /*-----------------------------------------------------------*/
 
 #if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
 
-	static unsigned short usTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
+	static unsigned short prvTaskCheckFreeStackSpace( const unsigned char * pucStackByte )
 	{
-	register unsigned short usCount = 0U;
+	unsigned short usCount = 0U;
 
 		while( *pucStackByte == tskSTACK_FILL_BYTE )
 		{
@@ -2545,7 +2585,7 @@ tskTCB *pxNewTCB;
 		return usCount;
 	}
 
-#endif
+#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
@@ -2568,12 +2608,12 @@ tskTCB *pxNewTCB;
 		}
 		#endif
 
-		uxReturn = ( unsigned portBASE_TYPE ) usTaskCheckFreeStackSpace( pcEndOfStack );
+		uxReturn = ( unsigned portBASE_TYPE ) prvTaskCheckFreeStackSpace( pcEndOfStack );
 
 		return uxReturn;
 	}
 
-#endif
+#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
 #if ( INCLUDE_vTaskDelete == 1 )
@@ -2591,9 +2631,7 @@ tskTCB *pxNewTCB;
 		vPortFree( pxTCB );
 	}
 
-#endif
-
-
+#endif /* INCLUDE_vTaskDelete */
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
@@ -2610,8 +2648,7 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
-
+#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
@@ -2639,12 +2676,12 @@ tskTCB *pxNewTCB;
 		return xReturn;
 	}
 
-#endif
+#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder )
+	void vTaskPriorityInherit( xTaskHandle const pxMutexHolder )
 	{
 	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
 
@@ -2655,20 +2692,20 @@ tskTCB *pxNewTCB;
 			if( pxTCB->uxPriority < pxCurrentTCB->uxPriority )
 			{
 				/* Adjust the mutex holder state to account for its new priority. */
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority );
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
 
 				/* 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[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) != pdFALSE )
 				{
-					if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+					if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 					{
 						taskRESET_READY_PRIORITY( pxTCB->uxPriority );
 					}
 
 					/* Inherit the priority before being moved into the new list. */
 					pxTCB->uxPriority = pxCurrentTCB->uxPriority;
-					prvAddTaskToReadyQueue( pxTCB );
+					prvAddTaskToReadyList( pxTCB );
 				}
 				else
 				{
@@ -2681,12 +2718,12 @@ tskTCB *pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( configUSE_MUTEXES == 1 )
 
-	void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder )
+	void vTaskPriorityDisinherit( xTaskHandle const pxMutexHolder )
 	{
 	tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder;
 
@@ -2696,7 +2733,7 @@ tskTCB *pxNewTCB;
 			{
 				/* We must be the running task to be able to give the mutex back.
 				Remove ourselves from the ready list we currently appear in. */
-				if( uxListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ) == 0 )
+				if( uxListRemove( &( pxTCB->xGenericListItem ) ) == ( unsigned portBASE_TYPE ) 0 )
 				{
 					taskRESET_READY_PRIORITY( pxTCB->uxPriority );
 				}
@@ -2705,13 +2742,13 @@ tskTCB *pxNewTCB;
 				ready list. */
 				traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
 				pxTCB->uxPriority = pxTCB->uxBasePriority;
-				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority );
-				prvAddTaskToReadyQueue( pxTCB );
+				listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( portTickType ) configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
+				prvAddTaskToReadyList( pxTCB );
 			}
 		}
 	}
 
-#endif
+#endif /* configUSE_MUTEXES */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
@@ -2726,7 +2763,7 @@ tskTCB *pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
 #if ( portCRITICAL_NESTING_IN_TCB == 1 )
@@ -2747,9 +2784,195 @@ tskTCB *pxNewTCB;
 		}
 	}
 
-#endif
+#endif /* portCRITICAL_NESTING_IN_TCB */
 /*-----------------------------------------------------------*/
 
+#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
+
+	void vTaskList( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE 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 = 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. */
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		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 eReady:		cStatus = tskREADY_CHAR;
+									break;
+
+				case eBlocked:		cStatus = tskBLOCKED_CHAR;
+									break;
+
+				case eSuspended:	cStatus = tskSUSPENDED_CHAR;
+									break;
+
+				case eDeleted:		cStatus = tskDELETED_CHAR;
+									break;
+
+				default:			/* Should not get here, but it is included
+									to prevent static checking errors. */
+									cStatus = 0x00;
+									break;
+				}
+
+				sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxTaskStatusArray[ x ].pcTaskName, cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber );
+				pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+			}
+
+			/* Free the array again. */
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+
+#endif /* configUSE_TRACE_FACILITY */
+/*----------------------------------------------------------*/
+
+#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) )
+
+	void vTaskGetRunTimeStats( signed char *pcWriteBuffer )
+	{
+	xTaskStatusType *pxTaskStatusArray;
+	volatile unsigned portBASE_TYPE uxArraySize, x;
+	unsigned long ulTotalTime, ulStatsAsPercentage;
+
+		/*
+		 * 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 = 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. */
+		pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( xTaskStatusType ) );
+
+		if( pxTaskStatusArray != NULL )
+		{
+			/* Generate the (binary) data. */
+			uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
+
+			/* For percentage calculations. */
+			ulTotalTime /= 100UL;
+
+			/* Avoid divide by zero errors. */
+			if( ulTotalTime > 0 )
+			{
+				/* 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;
+
+					if( ulStatsAsPercentage > 0UL )
+					{
+						#ifdef portLU_PRINTF_SPECIFIER_REQUIRED
+						{
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t%u%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage );
+						}
+						#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( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
+						}
+						#else
+						{
+							/* sizeof( int ) == sizeof( long ) so a smaller
+							printf() library can be used. */
+							sprintf( ( char * ) pcWriteBuffer, ( char * ) "%s\t\t%u\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter );
+						}
+						#endif
+					}
+
+					pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
+				}
+			}
+
+			/* Free the array again. */
+			vPortFree( pxTaskStatusArray );
+		}
+	}
+
+#endif /* configGENERATE_RUN_TIME_STATS */
 
 
 
diff --git a/vendor/freertos/freertos/Source/timers.c b/vendor/freertos/freertos/Source/timers.c
index bac46de2f..3fd10fed9 100644
--- a/vendor/freertos/freertos/Source/timers.c
+++ b/vendor/freertos/freertos/Source/timers.c
@@ -1,45 +1,38 @@
 /*
-    FreeRTOS V7.3.0 - Copyright (C) 2012 Real Time Engineers Ltd.
+    FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
+    All rights reserved
 
-    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
-    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
+    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
 
     ***************************************************************************
      *                                                                       *
-     *    FreeRTOS tutorial books are available in pdf and paperback.        *
-     *    Complete, revised, and edited pdf reference manuals are also       *
-     *    available.                                                         *
+     *    FreeRTOS provides completely free yet professionally developed,    *
+     *    robust, strictly quality controlled, supported, and cross          *
+     *    platform software that has become a de facto standard.             *
      *                                                                       *
-     *    Purchasing FreeRTOS documentation will not only help you, by       *
-     *    ensuring you get running as quickly as possible and with an        *
-     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
-     *    the FreeRTOS project to continue with its mission of providing     *
-     *    professional grade, cross platform, de facto standard solutions    *
-     *    for microcontrollers - completely free of charge!                  *
+     *    Help yourself get started quickly and support the FreeRTOS         *
+     *    project by purchasing a FreeRTOS tutorial book, reference          *
+     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
      *                                                                       *
-     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
-     *                                                                       *
-     *    Thank you for using FreeRTOS, and thank you for your support!      *
+     *    Thank you!                                                         *
      *                                                                       *
     ***************************************************************************
 
-
     This file is part of the FreeRTOS distribution.
 
     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
-    Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
-    >>>NOTE<<< The modification to the GPL is included to allow you to
-    distribute a combined work that includes FreeRTOS without being obliged to
-    provide the source code for proprietary components outside of the FreeRTOS
-    kernel.  FreeRTOS is distributed in the hope that it will be useful, but
-    WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
-    or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-    more details. You should have received a copy of the GNU General Public
-    License and the FreeRTOS license exception along with FreeRTOS; if not it
-    can be viewed here: http://www.freertos.org/a00114.html and also obtained
-    by writing to Richard Barry, contact details for whom are available on the
-    FreeRTOS WEB site.
+    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
+
+    >>! NOTE: The modification to the GPL is included to allow you to distribute
+    >>! a combined work that includes FreeRTOS without being obliged to provide
+    >>! the source code for proprietary components outside of the FreeRTOS
+    >>! kernel.
+
+    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
+    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
+    link: http://www.freertos.org/a00114.html
 
     1 tab == 4 spaces!
 
@@ -52,20 +45,27 @@
      *                                                                       *
     ***************************************************************************
 
-
-    http://www.FreeRTOS.org - Documentation, training, latest versions, license
-    and contact details.
+    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
+    license and Real Time Engineers Ltd. contact details.
 
     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
-    including FreeRTOS+Trace - an indispensable productivity tool.
+    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
+    compatible FAT file system, and our tiny thread aware UDP/IP stack.
 
-    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell
-    the code with commercial support, indemnification, and middleware, under
-    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
-    provide a safety engineered and independently SIL3 certified version under
-    the SafeRTOS brand: http://www.SafeRTOS.com.
+    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
+    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
+    licenses offer ticketed support, indemnification and middleware.
+
+    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
+    engineered and independently SIL3 certified version for use in safety and
+    mission critical applications that require provable dependability.
+
+    1 tab == 4 spaces!
 */
 
+/* Standard includes. */
+#include 
+
 /* 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. */
@@ -76,7 +76,12 @@ task.h is included from an application file. */
 #include "queue.h"
 #include "timers.h"
 
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
+/* Lint e961 and e750 are suppressed as a MISRA exception justified because the
+MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined for the
+header files above, but not in this file, in order to generate the correct
+privileged Vs unprivileged linkage and placement. */
+#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750. */
+
 
 /* This entire source file will be skipped if the application is not configured
 to include software timer functionality.  This #if is closed at the very bottom
@@ -107,6 +112,8 @@ typedef struct tmrTimerQueueMessage
 	xTIMER *				pxTimer;			/*<< The timer to which the command will be applied. */
 } xTIMER_MESSAGE;
 
+/*lint -e956 A manual analysis and inspection has been used to determine which
+static variables must be declared volatile. */
 
 /* The list in which active timers are stored.  Timers are referenced in expire
 time order, with the nearest expiry time at the front of the list.  Only the
@@ -125,6 +132,8 @@ PRIVILEGED_DATA static xQueueHandle xTimerQueue = NULL;
 
 #endif
 
+/*lint +e956 */
+
 /*-----------------------------------------------------------*/
 
 /*
@@ -225,7 +234,6 @@ xTIMER *pxNewTimer;
 	if( xTimerPeriodInTicks == ( portTickType ) 0U )
 	{
 		pxNewTimer = NULL;
-		configASSERT( ( xTimerPeriodInTicks > 0 ) );
 	}
 	else
 	{
@@ -252,6 +260,9 @@ xTIMER *pxNewTimer;
 		}
 	}
 
+	/* 0 is not a valid value for xTimerPeriodInTicks. */
+	configASSERT( ( xTimerPeriodInTicks > 0 ) );
+
 	return ( xTimerHandle ) pxNewTimer;
 }
 /*-----------------------------------------------------------*/
@@ -314,7 +325,7 @@ portBASE_TYPE xResult;
 	/* Remove the timer from the list of active timers.  A check has already
 	been performed to ensure the list is not empty. */
 	pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
-	uxListRemove( &( pxTimer->xTimerListItem ) );
+	( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 	traceTIMER_EXPIRED( pxTimer );
 
 	/* If the timer is an auto reload timer then calculate the next
@@ -384,7 +395,7 @@ portBASE_TYPE xTimerListsWereSwitched;
 			/* The tick count has not overflowed, has the timer expired? */
 			if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
 			{
-				xTaskResumeAll();
+				( void ) xTaskResumeAll();
 				prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
 			}
 			else
@@ -409,7 +420,7 @@ portBASE_TYPE xTimerListsWereSwitched;
 		}
 		else
 		{
-			xTaskResumeAll();
+			( void ) xTaskResumeAll();
 		}
 	}
 }
@@ -444,7 +455,7 @@ portTickType xNextExpireTime;
 static portTickType prvSampleTimeNow( portBASE_TYPE *pxTimerListsWereSwitched )
 {
 portTickType xTimeNow;
-PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U;
+PRIVILEGED_DATA static portTickType xLastTime = ( portTickType ) 0U; /*lint !e956 Variable is only accessible to one task. */
 
 	xTimeNow = xTaskGetTickCount();
 
@@ -475,7 +486,7 @@ portBASE_TYPE xProcessTimerNow = pdFALSE;
 	{
 		/* Has the expiry time elapsed between the command to start/reset a
 		timer was issued, and the time the command was processed? */
-		if( ( ( portTickType ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks )
+		if( ( xTimeNow - xCommandTime ) >= pxTimer->xTimerPeriodInTicks )
 		{
 			/* The time between a command being issued and the command being
 			processed actually exceeds the timers period.  */
@@ -512,28 +523,26 @@ xTIMER *pxTimer;
 portBASE_TYPE xTimerListsWereSwitched, xResult;
 portTickType xTimeNow;
 
-	/* In this case the xTimerListsWereSwitched parameter is not used, but it
-	must be present in the function call. */
-	xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
-
-	while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL )
+	while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
 	{
 		pxTimer = xMessage.pxTimer;
 
-		/* Is the timer already in a list of active timers?  When the command
-		is trmCOMMAND_PROCESS_TIMER_OVERFLOW, the timer will be NULL as the
-		command is to the task rather than to an individual timer. */
-		if( pxTimer != NULL )
+		if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
 		{
-			if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE )
-			{
-				/* The timer is in a list, remove it. */
-				uxListRemove( &( pxTimer->xTimerListItem ) );
-			}
+			/* The timer is in a list, remove it. */
+			( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 		}
 
 		traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.xMessageValue );
 
+		/* In this case the xTimerListsWereSwitched parameter is not used, but 
+		it must be present in the function call.  prvSampleTimeNow() must be 
+		called after the message is received from xTimerQueue so there is no 
+		possibility of a higher priority task adding a message to the message
+		queue with a time that is ahead of the timer daemon task (because it
+		pre-empted the timer daemon task after the xTimeNow value was set). */
+		xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
+
 		switch( xMessage.xMessageID )
 		{
 			case tmrCOMMAND_START :
@@ -561,7 +570,14 @@ portTickType xTimeNow;
 			case tmrCOMMAND_CHANGE_PERIOD :
 				pxTimer->xTimerPeriodInTicks = xMessage.xMessageValue;
 				configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
-				prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
+
+				/* The new period does not really have a reference, and can be
+				longer or shorter than the old one.  The command time is 
+				therefore set to the current time, and as the period cannot be
+				zero the next expiry time can only be in the future, meaning
+				(unlike for the xTimerStart() case above) there is no fail case
+				that needs to be handled here. */
+				( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
 				break;
 
 			case tmrCOMMAND_DELETE :
@@ -598,7 +614,7 @@ portBASE_TYPE xResult;
 
 		/* Remove the timer from the list. */
 		pxTimer = ( xTIMER * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList );
-		uxListRemove( &( pxTimer->xTimerListItem ) );
+		( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
 
 		/* Execute its callback, then send a command to restart the timer if
 		it is an auto-reload timer.  It cannot be restarted here as the lists
@@ -686,3 +702,6 @@ xTIMER *pxTimer = ( xTIMER * ) xTimer;
 to include software timer functionality.  If you want to include software timer
 functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
 #endif /* configUSE_TIMERS == 1 */
+
+
+