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diff --git a/third_party/FreeRTOS/Demo/Common/Minimal/crhook.c b/third_party/FreeRTOS/Demo/Common/Minimal/crhook.c
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+/*

+    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 provides completely free yet professionally developed,    *

+     *    robust, strictly quality controlled, supported, and cross          *

+     *    platform software that has become a de facto standard.             *

+     *                                                                       *

+     *    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        *

+     *                                                                       *

+     *    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.  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                               *

+     *                                                                       *

+    ***************************************************************************

+

+    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, 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!

+*/

+

+/*

+ * This demo file demonstrates how to send data between an ISR and a 

+ * co-routine.  A tick hook function is used to periodically pass data between

+ * the RTOS tick and a set of 'hook' co-routines.

+ *

+ * hookNUM_HOOK_CO_ROUTINES co-routines are created.  Each co-routine blocks

+ * to wait for a character to be received on a queue from the tick ISR, checks

+ * to ensure the character received was that expected, then sends the number

+ * back to the tick ISR on a different queue.

+ * 

+ * The tick ISR checks the numbers received back from the 'hook' co-routines 

+ * matches the number previously sent.

+ *

+ * If at any time a queue function returns unexpectedly, or an incorrect value

+ * is received either by the tick hook or a co-routine then an error is 

+ * latched.

+ *

+ * This demo relies on each 'hook' co-routine to execute between each 

+ * hookTICK_CALLS_BEFORE_POST tick interrupts.  This and the heavy use of 

+ * queues from within an interrupt may result in an error being detected on 

+ * slower targets simply due to timing.

+ */

+

+/* Scheduler includes. */

+#include "FreeRTOS.h"

+#include "croutine.h"

+#include "queue.h"

+

+/* Demo application includes. */

+#include "crhook.h"

+

+/* The number of 'hook' co-routines that are to be created. */

+#define hookNUM_HOOK_CO_ROUTINES        ( 4 )

+

+/* The number of times the tick hook should be called before a character is 

+posted to the 'hook' co-routines. */

+#define hookTICK_CALLS_BEFORE_POST      ( 500 )

+

+/* There should never be more than one item in any queue at any time. */

+#define hookHOOK_QUEUE_LENGTH           ( 1 )

+

+/* Don't block when initially posting to the queue. */

+#define hookNO_BLOCK_TIME               ( 0 )

+

+/* The priority relative to other co-routines (rather than tasks) that the

+'hook' co-routines should take. */

+#define mainHOOK_CR_PRIORITY			( 1 )

+/*-----------------------------------------------------------*/

+

+/*

+ * The co-routine function itself.

+ */

+static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex );

+

+

+/*

+ * The tick hook function.  This receives a number from each 'hook' co-routine

+ * then sends a number to each co-routine.  An error is flagged if a send or 

+ * receive fails, or an unexpected number is received.

+ */

+void vApplicationTickHook( void );

+

+/*-----------------------------------------------------------*/

+

+/* Queues used to send data FROM a co-routine TO the tick hook function.

+The hook functions received (Rx's) on these queues.  One queue per

+'hook' co-routine. */

+static xQueueHandle xHookRxQueues[ hookNUM_HOOK_CO_ROUTINES ];

+

+/* Queues used to send data FROM the tick hook TO a co-routine function.

+The hood function transmits (Tx's) on these queues.  One queue per

+'hook' co-routine. */

+static xQueueHandle xHookTxQueues[ hookNUM_HOOK_CO_ROUTINES ];

+

+/* Set to true if an error is detected at any time. */

+static portBASE_TYPE xCoRoutineErrorDetected = pdFALSE;

+

+/*-----------------------------------------------------------*/

+

+void vStartHookCoRoutines( void )

+{

+unsigned portBASE_TYPE uxIndex, uxValueToPost = 0;

+

+	for( uxIndex = 0; uxIndex < hookNUM_HOOK_CO_ROUTINES; uxIndex++ )

+	{

+		/* Create a queue to transmit to and receive from each 'hook' 

+		co-routine. */

+		xHookRxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );

+		xHookTxQueues[ uxIndex ] = xQueueCreate( hookHOOK_QUEUE_LENGTH, sizeof( unsigned portBASE_TYPE ) );

+

+		/* To start things off the tick hook function expects the queue it 

+		uses to receive data to contain a value.  */

+		xQueueSend( xHookRxQueues[ uxIndex ], &uxValueToPost, hookNO_BLOCK_TIME );

+

+		/* Create the 'hook' co-routine itself. */

+		xCoRoutineCreate( prvHookCoRoutine, mainHOOK_CR_PRIORITY, uxIndex );

+	}

+}

+/*-----------------------------------------------------------*/

+

+static unsigned portBASE_TYPE uxCallCounter = 0, uxNumberToPost = 0;

+void vApplicationTickHook( void )

+{

+unsigned portBASE_TYPE uxReceivedNumber;

+signed portBASE_TYPE xIndex, xCoRoutineWoken;

+

+	/* Is it time to talk to the 'hook' co-routines again? */

+	uxCallCounter++;

+	if( uxCallCounter >= hookTICK_CALLS_BEFORE_POST )

+	{

+		uxCallCounter = 0;

+

+		for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )

+		{

+			xCoRoutineWoken = pdFALSE;

+			if( crQUEUE_RECEIVE_FROM_ISR( xHookRxQueues[ xIndex ], &uxReceivedNumber, &xCoRoutineWoken ) != pdPASS )

+			{

+				/* There is no reason why we would not expect the queue to 

+				contain a value. */

+				xCoRoutineErrorDetected = pdTRUE;

+			}

+			else

+			{

+				/* Each queue used to receive data from the 'hook' co-routines 

+				should contain the number we last posted to the same co-routine. */

+				if( uxReceivedNumber != uxNumberToPost )

+				{

+					xCoRoutineErrorDetected = pdTRUE;

+				}

+

+				/* Nothing should be blocked waiting to post to the queue. */

+				if( xCoRoutineWoken != pdFALSE )

+				{

+					xCoRoutineErrorDetected = pdTRUE;

+				}

+			}

+		}

+

+		/* Start the next cycle by posting the next number onto each Tx queue. */

+		uxNumberToPost++;

+

+		for( xIndex = 0; xIndex < hookNUM_HOOK_CO_ROUTINES; xIndex++ )

+		{

+			if( crQUEUE_SEND_FROM_ISR( xHookTxQueues[ xIndex ], &uxNumberToPost, pdFALSE ) != pdTRUE )

+			{

+				/* Posting to the queue should have woken the co-routine that 

+				was blocked on the queue. */

+				xCoRoutineErrorDetected = pdTRUE;

+			}

+		}

+	}

+}

+/*-----------------------------------------------------------*/

+

+static void prvHookCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )

+{

+static unsigned portBASE_TYPE uxReceivedValue[ hookNUM_HOOK_CO_ROUTINES ];

+portBASE_TYPE xResult;

+

+	/* Each co-routine MUST start with a call to crSTART(); */

+	crSTART( xHandle );

+

+	for( ;; )

+	{

+		/* Wait to receive a value from the tick hook. */

+		xResult = pdFAIL;

+		crQUEUE_RECEIVE( xHandle, xHookTxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), portMAX_DELAY, &xResult );

+

+		/* There is no reason why we should not have received something on

+		the queue. */

+		if( xResult != pdPASS )

+		{

+			xCoRoutineErrorDetected = pdTRUE;

+		}

+

+		/* Send the same number back to the idle hook so it can verify it. */

+		xResult = pdFAIL;

+		crQUEUE_SEND( xHandle, xHookRxQueues[ uxIndex ], &( uxReceivedValue[ uxIndex ] ), hookNO_BLOCK_TIME, &xResult );

+		if( xResult != pdPASS )

+		{

+			/* There is no reason why we should not have been able to post to 

+			the queue. */

+			xCoRoutineErrorDetected = pdTRUE;

+		}

+	}

+

+	/* Each co-routine MUST end with a call to crEND(). */

+	crEND();

+}

+/*-----------------------------------------------------------*/

+

+portBASE_TYPE xAreHookCoRoutinesStillRunning( void )

+{

+	if( xCoRoutineErrorDetected )

+	{

+		return pdFALSE;

+	}

+	else

+	{

+		return pdTRUE;

+	}

+}

+

+

+