Merge pull request #48 from ABOSTM/FREERTOS_10.3.1

Update to Freertos 10.3.1 Add CortexM33 support

Author: fpistm

README.md

@@ -49,6 +49,10 @@ CMSIS-RTOSv2.
 
 * MPU: not supported.
 * No CMSIS-RTOSv2 support provided. It is provided as example.
+* On Cortex-M0 and Cortex-M0+, all IT are disabled between xTaskCreate() and vTaskStartScheduler().
+  So it is not possible to use IT inbetween, like Serial.print() ...
+  This is the reason why, in example "frLiyLayland", between xTaskCreate() and vTaskStartScheduler(),
+  we use direct printf(), which will access directly USART without interrupt
 
 ## Files & Configuration
 
@@ -105,3 +109,14 @@ CMSIS-RTOSv2.
 | [P-Nucleo-WB55RG](https://www.st.com/en/evaluation-tools/p-nucleo-wb55.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
 
 \* PASSED with `configUSE_NEWLIB_REENTRANT` set to 0 due to small RAM.
+
+### STM32FreeRTOS v10.3.1
+| Board | AnalogRead_DigitalRead | frBlinkPrint | frLiuLayland | frBlink (CMSIS-RTOSv2) | Blinky (CMSIS-RTOSv2) |
+| --- | :---: | :---: | :---: | :---: | :---: |
+| [Nucleo F091RC (Cortex-M0)](http://www.st.com/en/evaluation-tools/nucleo-f091rc.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo G071RB (Cortex-M0+)](http://www.st.com/en/evaluation-tools/nucleo-g071rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo F103RB (Cortex-M3)](http://www.st.com/en/evaluation-tools/nucleo-f103rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo L476RG (Cortex-M4)](http://www.st.com/en/evaluation-tools/nucleo-l476rg.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo H743ZI (Cortex-M7)](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo L552ZE-Q (Cortex-M33)](https://www.st.com/en/evaluation-tools/nucleo-l552ze-q.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
+| [Nucleo U575ZI-Q (Cortex-M33)](https://www.st.com/en/evaluation-tools/nucleo-u575zi-q.html) | PASSED | PASSED | PASSED | PASSED | PASSED |

examples/frLiuLayland/frLiuLayland.ino

@@ -64,25 +64,28 @@ void calibrate() {
   uint32_t t = micros();
   burnCPU(1000);
   t = micros() - t;
-  cal = (TICK_USEC*1000*cal)/t;
+  cal = (TICK_USEC * 1000 * cal) / t;
 }
 //------------------------------------------------------------------------------
 // print helpers
+// On Cortex-M0 and Cortex-M0+, all IT are disabled between xTaskCreate() and vTaskStartScheduler().
+// So it is not possible to use IT inbetween, like Serial.print() ...
+// This is the reason why, in example "frLiyLayland", between xTaskCreate() and vTaskStartScheduler(),
+// we use direct printf(), which will access directly USART without interrupt
 void printTask(task_t* task) {
-    Serial.print(task->period);
-    Serial.write(',');
-    Serial.print(task->cpu);
-    Serial.write(',');
-    Serial.println(task->priority);
+  printf("%u, ", task->period);
+  printf("%u, ", task->cpu);
+  printf("%u\r\n", task->priority);
 }
 void done(const char* msg, task_t* task, TickType_t now) {
   vTaskSuspendAll();
   Serial.println(msg);
   Serial.print("Tick: ");
   Serial.println(now);
   Serial.print("Task: ");
+  Serial.flush();
   printTask(task);
-  while(1);
+  while (1);
 }
 //------------------------------------------------------------------------------
 // start tasks at 1000 ticks
@@ -120,7 +123,7 @@ void setup() {
   portBASE_TYPE s;  // task create status
 
   Serial.begin(9600);
-  while(!Serial) {}
+  while (!Serial) {}
   Serial.println("Rate Monotonic Scheduling Examples.");
   Serial.println("Cases 1 and 3 should fail");
   Serial.println("Cases 2 and 4 should succeed");
@@ -149,28 +152,29 @@ void setup() {
 
   uint32_t t = micros();
   burnCPU(1000);
-  Serial.println(micros() -t);
+  Serial.println(micros() - t);
   Serial.println("Starting tasks - period and CPU in ticks");
   Serial.println("Period,CPU,Priority");
+  Serial.flush();
   for (int i = 0; i < n; i++) {
     printTask(&tasks[i]);
-    cpuUse += tasks[i].cpu/(float)tasks[i].period;
+    cpuUse += tasks[i].cpu / (float)tasks[i].period;
 
     s = xTaskCreate(task, NULL, 200, (void*)&tasks[i], tasks[i].priority, NULL);
     if (s != pdPASS) {
-      Serial.println("task create failed");
-      while(1);
+      printf("task create failed\n");
+      while (1);
     }
   }
-  Serial.print("CPU use %: ");
-  Serial.println(cpuUse*100);
-  Serial.print("Liu and Layland bound %: ");
-  Serial.println(LiuLayland[n - 1]);
 
+  char CPU[10];
+  char bound[10];
+  printf("CPU use %%: %s\r\n", dtostrf(cpuUse*100, 6,  2, CPU));
+  printf("Liu and Layland bound %%: %s\r\n", dtostrf(LiuLayland[n - 1], 6,  2, bound));
   // start tasks
   vTaskStartScheduler();
   Serial.println("Scheduler failed");
-  while(1);
+  while (1);
 }
 //------------------------------------------------------------------------------
 // WARNING idle loop has a very small stack (configMINIMAL_STACK_SIZE)