Version of Arm used for competition

Core/Core-Source/FreeRTOS_ARM/library.properties

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+name=FreeRTOS_ARM
+version=2015.11.12
+author=
+maintainer=
+sentence=FreeRTOS for ARM.
+paragraph=
+category=Uncategorized
+url=
+architectures=sam

Core/Core-Source/FreeRTOS_ARM/src/FreeRTOS_ARM.c

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+/**
+ * \file
+ * \brief FreeRTOS for Due and Teensy 3.0
+ */
+#include <FreeRTOS_ARM.h>
+#include <Arduino.h>
+//------------------------------------------------------------------------------
+/** calibration factor for delayMS */
+#define CAL_FACTOR (F_CPU/7000)
+/** delay between led error flashes
+ * \param[in] millis milliseconds to delay
+ */
+static void delayMS(uint32_t millis) {
+  uint32_t iterations = millis * CAL_FACTOR;
+  uint32_t i;
+  for(i = 0; i < iterations; ++i) {
+    asm volatile("nop\n\t");
+  }
+}
+//------------------------------------------------------------------------------
+/** Blink error pattern
+ *
+ * \param[in] n  number of short pulses
+ */
+static void errorBlink(int n) {
+	noInterrupts();
+  pinMode(13, OUTPUT);
+  for (;;) {
+    int i;
+    for (i = 0; i < n; i++) {
+      digitalWrite(13, 1);
+      delayMS(300);
+      digitalWrite(13, 0);
+      delayMS(300);
+    }
+    delayMS(2000);
+  }
+}
+//------------------------------------------------------------------------------
+/** assertBlink
+ * Blink one short pulse every two seconds if configASSERT fails.
+*/
+void assertBlink() {
+  errorBlink(1);
+}
+//------------------------------------------------------------------------------
+	/** vApplicationMallocFailedHook()
+   Blink two short pulses if malloc fails.
+
+	will only be called if
+	configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
+	function that will get called if a call to pvPortMalloc() fails.
+	pvPortMalloc() is called internally by the kernel whenever a task, queue,
+	timer or semaphore is created.  It is also called by various parts of the
+	demo application.  If heap_1.c or heap_2.c are used, then the size of the
+	heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
+	FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
+	to query the size of free heap space that remains (although it does not
+	provide information on how the remaining heap might be fragmented). */
+void vApplicationMallocFailedHook() {
+  errorBlink(2);
+}
+//------------------------------------------------------------------------------
+
+	/** vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
+	to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
+	task.  It is essential that code added to this hook function never attempts
+	to block in any way (for example, call xQueueReceive() with a block time
+	specified, or call vTaskDelay()).  If the application makes use of the
+	vTaskDelete() API function (as this demo application does) then it is also
+	important that vApplicationIdleHook() is permitted to return to its calling
+	function, because it is the responsibility of the idle task to clean up
+	memory allocated by the kernel to any task that has since been deleted. */
+void  __attribute__((weak)) vApplicationIdleHook( void ) {
+  //void loop();
+  //loop();
+}
+/*-----------------------------------------------------------*/
+	/**  Blink three short pulses if stack overflow is detected.
+	Run time stack overflow checking is performed if
+	configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
+	function is called if a stack overflow is detected.
+  \param[in] pxTask Task handle
+  \param[in] pcTaskName Task name
+  */
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
+	(void) pcTaskName;
+	(void) pxTask;
+	errorBlink(3);
+}
+//------------------------------------------------------------------------------
+// catch Teensy 3 and Due exceptions
+/** Hard fault - blink four short flash every two seconds */
+void hard_fault_isr()	{errorBlink(4);}
+/** Hard fault - blink four short flash every two seconds */
+void HardFault_Handler() 	{errorBlink(4);}
+
+/** Bus fault - blink five short flashes every two seconds */
+void bus_fault_isr() {errorBlink(5);}
+/** Bus fault - blink five short flashes every two seconds */
+void BusFault_Handler() {errorBlink(5);}
+
+/** Usage fault - blink six short flashes every two seconds */
+void usage_fault_isr() {errorBlink(6);}
+/** Usage fault - blink six short flashes every two seconds */
+void UsageFault_Handler() {errorBlink(6);}
+/*-----------------------------------------------------------*/
+	/** This function will be called by each tick interrupt if
+	configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
+	added here, but the tick hook is called from an interrupt context, so
+	code must not attempt to block, and only the interrupt safe FreeRTOS API
+	functions can be used (those that end in FromISR()). */
+void __attribute__((weak)) vApplicationTickHook() {
+}
+/*-----------------------------------------------------------*/
+/** Dummy time stats gathering functions need to be defined to keep the
+linker happy.  Could edit FreeRTOSConfig.h to remove these.*/
+void vMainConfigureTimerForRunTimeStats( void ) {}
+/** Dummy function
+ *  \return zero
+ */
+unsigned long ulMainGetRunTimeCounterValue() {return 0UL;}

Core/Core-Source/FreeRTOS_ARM/src/FreeRTOS_ARM.h

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+/**
+ * \file
+ * \brief FreeRTOS for Teensy 3.x and Due
+ */
+#ifndef FreeRTOS_ARM_h
+#define FreeRTOS_ARM_h
+
+#ifndef __arm__
+#error ARM Due or Teensy 3.x required
+#else  // __arm__
+//------------------------------------------------------------------------------
+/** FreeRTOS_ARM version YYYYMMDD */
+#define FREE_RTOS_ARM_VERSION 20151113
+//------------------------------------------------------------------------------
+#include "utility/FreeRTOS.h"
+#include "utility/task.h"
+#include "utility/queue.h"
+#include "utility/semphr.h"
+#include "utility/portmacro.h"
+//#include "utility/cmsis_os.h"
+#endif  // __arm__
+#endif  // FreeRTOS_ARM_h

Core/Core-Source/FreeRTOS_ARM/src/assertMsg.cpp

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+#include <Arduino.h>
+
+extern "C" {
+/**
+ *  Print file and line when configASSERT is defied like this.
+ *
+ * #define configASSERT( x ) if( ( x ) == 0 ) {assertMsg(__FILE__,__LINE__);}
+ */
+void assertMsg(const char* file, int line) {
+    interrupts();
+    Serial.print(file);
+    Serial.write('.');
+    Serial.println(line);
+    Serial.flush();
+    noInterrupts();
+    for (;;) {}
+}
+}  // extern "C"

Core/Core-Source/FreeRTOS_ARM/src/basic_io_arm.cpp

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+/*
+	FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 Richard Barry.
+
+	This file is part of the FreeRTOS.org distribution.
+
+	FreeRTOS.org is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	FreeRTOS.org 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
+	along with FreeRTOS.org; if not, write to the Free Software
+	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+	A special exception to the GPL can be applied should you wish to distribute
+	a combined work that includes FreeRTOS.org, without being obliged to provide
+	the source code for any proprietary components.  See the licensing section
+	of http://www.FreeRTOS.org for full details of how and when the exception
+	can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
+    * and even write all or part of your application on your behalf.          *
+    * See http://www.OpenRTOS.com for details of the services we provide to   *
+    * expedite your project.                                                  *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting,
+	licensing and training services.
+*/
+//#include <stdio.h>
+//#include <conio.h>
+#include <Arduino.h>
+#include "FreeRTOS_ARM.h"
+//#include "task.h"
+
+void vPrintString( const char *pcString )
+{
+	/* Print the string, suspending the scheduler as method of mutual
+	exclusion. */
+	vTaskSuspendAll();
+	{
+      Serial.print(pcString);
+      Serial.flush();
+	//	printf( "%s", pcString );
+	//	fflush( stdout );
+	}
+	xTaskResumeAll();
+
+    /* Allow any key to stop the application running.  A real application that
+    actually used the key value should protect access to the keyboard too. */
+	if( Serial.available() )
+	{
+		vTaskEndScheduler();
+	}
+}
+/*-----------------------------------------------------------*/
+
+void vPrintStringAndNumber( const char *pcString, unsigned portLONG ulValue )
+{
+	/* Print the string, suspending the scheduler as method of mutual
+	exclusion. */
+	vTaskSuspendAll();
+	{
+//		printf( "%s %lu\r\n", pcString, ulValue );
+//		fflush( stdout );
+      Serial.print(pcString);
+      Serial.write(' ');
+      Serial.println(ulValue);
+      Serial.flush();
+	}
+	xTaskResumeAll();
+
+	/* Allow any key to stop the application running. */
+	if( Serial.available() )
+	{
+		vTaskEndScheduler();
+	}
+}
+
+

Core/Core-Source/FreeRTOS_ARM/src/basic_io_arm.h

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+/*
+	FreeRTOS.org V5.0.4 - Copyright (C) 2003-2008 Richard Barry.
+
+	This file is part of the FreeRTOS.org distribution.
+
+	FreeRTOS.org is free software; you can redistribute it and/or modify
+	it under the terms of the GNU General Public License as published by
+	the Free Software Foundation; either version 2 of the License, or
+	(at your option) any later version.
+
+	FreeRTOS.org 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
+	along with FreeRTOS.org; if not, write to the Free Software
+	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+	A special exception to the GPL can be applied should you wish to distribute
+	a combined work that includes FreeRTOS.org, without being obliged to provide
+	the source code for any proprietary components.  See the licensing section
+	of http://www.FreeRTOS.org for full details of how and when the exception
+	can be applied.
+
+    ***************************************************************************
+    ***************************************************************************
+    *                                                                         *
+    * SAVE TIME AND MONEY!  We can port FreeRTOS.org to your own hardware,    *
+    * and even write all or part of your application on your behalf.          *
+    * See http://www.OpenRTOS.com for details of the services we provide to   *
+    * expedite your project.                                                  *
+    *                                                                         *
+    ***************************************************************************
+    ***************************************************************************
+
+	Please ensure to read the configuration and relevant port sections of the
+	online documentation.
+
+	http://www.FreeRTOS.org - Documentation, latest information, license and
+	contact details.
+
+	http://www.SafeRTOS.com - A version that is certified for use in safety
+	critical systems.
+
+	http://www.OpenRTOS.com - Commercial support, development, porting,
+	licensing and training services.
+*/
+
+#ifndef BASIC_IO_H
+#define BASIC_IO_H
+void vPrintString( const char *pcString );
+void vPrintStringAndNumber( const char *pcString, unsigned portLONG ulValue );
+#endif
+