Update to major version 2.0.0

The chip supports 133MHz and the other Pico core already defaults to
the higher speed, so make 133 the default.

It can still be changed through the menus and will stay at 125 unless
pre-existing users change it so they will see no difference.

.github/workflows/pull-request.yml

@@ -20,7 +20,7 @@ jobs:
     - name: Run codespell
       uses: codespell-project/actions-codespell@master
       with:
-        skip: ./pico-extras,./ArduinoCore-API,./libraries/ESP8266SdFat,./libraries/Adafruit_TinyUSB_Arduino,./libraries/LittleFS/lib,./tools/pyserial,./pico-sdk,./.github,./docs/i2s.rst,./cores/rp2040/api
+        skip: ./pico-extras,./ArduinoCore-API,./libraries/ESP8266SdFat,./libraries/Adafruit_TinyUSB_Arduino,./libraries/LittleFS/lib,./tools/pyserial,./pico-sdk,./.github,./docs/i2s.rst,./cores/rp2040/api,./libraries/FreeRTOS
         ignore_words_list: ser,DOUT
 
 # Consistent style
@@ -46,10 +46,10 @@ jobs:
         ./tests/restyle.sh
         # If anything changed, GIT should return an error and fail the test
         git diff --exit-code
-    - name: Check Arduino API copy is clean
-      run: |
-        git submodule update --init ./ArduinoCore-API
-        diff -r ./cores/rp2040/api ./ArduinoCore-API/api
+#    - name: Check Arduino API copy is clean
+#      run: |
+#        git submodule update --init ./ArduinoCore-API
+#        diff -r ./cores/rp2040/api ./ArduinoCore-API/api
 
 # Build all examples on linux (core and Arduino IDE)
   build-linux:

.gitmodules

@@ -25,3 +25,6 @@
 [submodule "libraries/Adafruit_TinyUSB_Arduino"]
 	path = libraries/Adafruit_TinyUSB_Arduino
 	url = https://github.com/adafruit/Adafruit_TinyUSB_Arduino.git
+[submodule "libraries/FreeRTOS/lib/FreeRTOS-Kernel"]
+	path = libraries/FreeRTOS/lib/FreeRTOS-Kernel
+	url = https://github.com/earlephilhower/FreeRTOS-Kernel.git

README.md

@@ -18,7 +18,7 @@ See https://arduino-pico.readthedocs.io/en/latest/ along with the examples for m
 * Adafruit QTPy RP2040
 * Adafruit STEMMA Friend RP2040
 * Adafruit Trinkey RP2040 QT
-* Arduino Nano RP2040 Connect (preliminary)
+* Arduino Nano RP2040 Connect
 * Cytron Maker Pi RP2040
 * Cytron Maker Nano RP2040
 * DeRuiLab FlyBoard2040 Core
@@ -29,8 +29,10 @@ See https://arduino-pico.readthedocs.io/en/latest/ along with the examples for m
 * Invector Labs Challenger RP2040 LoRa
 * Invector Labs RPICO32
 * Melopero Shake RP2040
+* Seeed XIAO RP2040
 * Solder Party RP2040 Stamp
 * SparkFun ProMicro RP2040
+* SparkFun Thing Plus RP2040
 * uPesy RP2040 DevKit
 * WIZnet W5100S-EVB-Pico
 * Generic (configurable flash, I/O pins)
@@ -171,6 +173,7 @@ If you want to contribute or have bugfixes, drop me a note at <earlephilhower@ya
 * [LittleFS](https://github.com/ARMmbed/littlefs) library written by ARM Limited and released under the [BSD 3-clause license](https://github.com/ARMmbed/littlefs/blob/master/LICENSE.md).
 * [UF2CONV.PY](https://github.com/microsoft/uf2) is by Microsoft Corporation and licensed under the MIT license.
 * Some filesystem code taken from the [ESP8266 Arduino Core](https://github.com/esp8266/Arduino) and licensed under the LGPL.
+* [FreeRTOS](https://freertos.org) is Copyright Amazon.com, Inc. or its affiliates, and distributed under the MIT license.
 
 -Earle F. Philhower, III
  earlephilhower@yahoo.com

cores/rp2040/Arduino.h

@@ -79,6 +79,9 @@ void analogWriteFreq(uint32_t freq);
 void analogWriteRange(uint32_t range);
 void analogWriteResolution(int res);
 
+// FreeRTOS potential calls
+extern bool __isFreeRTOS;
+
 #ifdef __cplusplus
 } // extern "C"
 #endif

cores/rp2040/RP2040Support.h

@@ -25,7 +25,11 @@
 #include <hardware/structs/systick.h>
 #include <pico/multicore.h>
 #include <pico/util/queue.h>
-#include <CoreMutex.h>
+#include "CoreMutex.h"
+#include "ccount.pio.h"
+
+
+extern "C" volatile bool __otherCoreIdled;
 
 class _MFIFO {
 public:
@@ -45,9 +49,12 @@ public:
     }
 
     void registerCore() {
-        multicore_fifo_clear_irq();
-        irq_set_exclusive_handler(SIO_IRQ_PROC0 + get_core_num(), _irq);
-        irq_set_enabled(SIO_IRQ_PROC0 + get_core_num(), true);
+        if (!__isFreeRTOS) {
+            multicore_fifo_clear_irq();
+            irq_set_exclusive_handler(SIO_IRQ_PROC0 + get_core_num(), _irq);
+            irq_set_enabled(SIO_IRQ_PROC0 + get_core_num(), true);
+        }
+        // FreeRTOS port.c will handle the IRQ hooking
     }
 
     void push(uint32_t val) {
@@ -79,9 +86,9 @@ public:
             return;
         }
         mutex_enter_blocking(&_idleMutex);
-        _otherIdled = false;
+        __otherCoreIdled = false;
         multicore_fifo_push_blocking(_GOTOSLEEP);
-        while (!_otherIdled) { /* noop */ }
+        while (!__otherCoreIdled) { /* noop */ }
     }
 
     void resumeOtherCore() {
@@ -89,9 +96,9 @@ public:
             return;
         }
         mutex_exit(&_idleMutex);
-        _otherIdled = false;
+        __otherCoreIdled = false;
         // Other core will exit busy-loop and return to operation
-        // once otherIdled == false.
+        // once __otherCoreIdled == false.
     }
 
     void clear() {
@@ -108,98 +115,31 @@ public:
 
 private:
     static void __no_inline_not_in_flash_func(_irq)() {
-        multicore_fifo_clear_irq();
-        noInterrupts(); // We need total control, can't run anything
-        while (multicore_fifo_rvalid()) {
-            if (_GOTOSLEEP == multicore_fifo_pop_blocking()) {
-                _otherIdled = true;
-                while (_otherIdled) { /* noop */ }
-                break;
+        if (!__isFreeRTOS) {
+            multicore_fifo_clear_irq();
+            noInterrupts(); // We need total control, can't run anything
+            while (multicore_fifo_rvalid()) {
+                if (_GOTOSLEEP == multicore_fifo_pop_blocking()) {
+                    __otherCoreIdled = true;
+                    while (__otherCoreIdled) { /* noop */ }
+                    break;
+                }
             }
+            interrupts();
         }
-        interrupts();
     }
+
     bool _multicore = false;
-
     mutex_t _idleMutex;
-    static volatile bool _otherIdled;
     queue_t _queue[2];
-
-    static constexpr int _GOTOSLEEP = 0x66666666;
+    static constexpr uint32_t _GOTOSLEEP = 0xC0DED02E;
 };
 
+
 class RP2040;
 extern RP2040 rp2040;
 extern "C" void main1();
-
-class RP2040 {
-public:
-    RP2040() {
-        _epoch = 0;
-        // Enable SYSTICK exception
-        exception_set_exclusive_handler(SYSTICK_EXCEPTION, _SystickHandler);
-        systick_hw->csr = 0x7;
-        systick_hw->rvr = 0x00FFFFFF;
-    }
-
-    ~RP2040() { /* noop */ }
-
-
-    // Convert from microseconds to PIO clock cycles
-    static int usToPIOCycles(int us) {
-        // Parenthesis needed to guarantee order of operations to avoid 32bit overflow
-        return (us * (clock_get_hz(clk_sys) / 1000000));
-    }
-
-    // Get current clock frequency
-    static int f_cpu() {
-        return clock_get_hz(clk_sys);
-    }
-
-    // Get CPU cycle count.  Needs to do magic to extens 24b HW to something longer
-    volatile uint64_t _epoch = 0;
-    inline uint32_t getCycleCount() {
-        uint32_t epoch;
-        uint32_t ctr;
-        do {
-            epoch = (uint32_t)_epoch;
-            ctr = systick_hw->cvr;
-        } while (epoch != (uint32_t)_epoch);
-        return epoch + (1 << 24) - ctr; /* CTR counts down from 1<<24-1 */
-    }
-
-    inline uint64_t getCycleCount64() {
-        uint64_t epoch;
-        uint64_t ctr;
-        do {
-            epoch = _epoch;
-            ctr = systick_hw->cvr;
-        } while (epoch != _epoch);
-        return epoch + (1LL << 24) - ctr;
-    }
-
-    void idleOtherCore() {
-        fifo.idleOtherCore();
-    }
-
-    void resumeOtherCore() {
-        fifo.resumeOtherCore();
-    }
-
-    void restartCore1() {
-        multicore_reset_core1();
-        fifo.clear();
-        multicore_launch_core1(main1);
-    }
-
-    // Multicore comms FIFO
-    _MFIFO fifo;
-
-private:
-    static void _SystickHandler() {
-        rp2040._epoch += 1LL << 24;
-    }
-};
+class PIOProgram;
 
 // Wrapper class for PIO programs, abstracting common operations out
 // TODO - Add unload/destructor
@@ -255,3 +195,90 @@ private:
     const pio_program_t *_pgm;
 };
 
+class RP2040 {
+public:
+    RP2040()  { /* noop */ }
+    ~RP2040() { /* noop */ }
+
+    void begin() {
+        _epoch = 0;
+        if (!__isFreeRTOS) {
+            // Enable SYSTICK exception
+            exception_set_exclusive_handler(SYSTICK_EXCEPTION, _SystickHandler);
+            systick_hw->csr = 0x7;
+            systick_hw->rvr = 0x00FFFFFF;
+        } else {
+            int off = 0;
+            _ccountPgm = new PIOProgram(&ccount_program);
+            _ccountPgm->prepare(&_pio, &_sm, &off);
+            ccount_program_init(_pio, _sm, off);
+            pio_sm_set_enabled(_pio, _sm, true);
+        }
+    }
+
+    // Convert from microseconds to PIO clock cycles
+    static int usToPIOCycles(int us) {
+        // Parenthesis needed to guarantee order of operations to avoid 32bit overflow
+        return (us * (clock_get_hz(clk_sys) / 1000000));
+    }
+
+    // Get current clock frequency
+    static int f_cpu() {
+        return clock_get_hz(clk_sys);
+    }
+
+    // Get CPU cycle count.  Needs to do magic to extens 24b HW to something longer
+    volatile uint64_t _epoch = 0;
+    inline uint32_t getCycleCount() {
+        if (!__isFreeRTOS) {
+            uint32_t epoch;
+            uint32_t ctr;
+            do {
+                epoch = (uint32_t)_epoch;
+                ctr = systick_hw->cvr;
+            } while (epoch != (uint32_t)_epoch);
+            return epoch + (1 << 24) - ctr; /* CTR counts down from 1<<24-1 */
+        } else {
+            return ccount_read(_pio, _sm);
+        }
+    }
+
+    inline uint64_t getCycleCount64() {
+        if (!__isFreeRTOS) {
+            uint64_t epoch;
+            uint64_t ctr;
+            do {
+                epoch = _epoch;
+                ctr = systick_hw->cvr;
+            } while (epoch != _epoch);
+            return epoch + (1LL << 24) - ctr;
+        } else {
+            return ccount_read(_pio, _sm);
+        }
+    }
+
+    void idleOtherCore() {
+        fifo.idleOtherCore();
+    }
+
+    void resumeOtherCore() {
+        fifo.resumeOtherCore();
+    }
+
+    void restartCore1() {
+        multicore_reset_core1();
+        fifo.clear();
+        multicore_launch_core1(main1);
+    }
+
+    // Multicore comms FIFO
+    _MFIFO fifo;
+
+private:
+    static void _SystickHandler() {
+        rp2040._epoch += 1LL << 24;
+    }
+    PIO _pio;
+    int _sm;
+    PIOProgram *_ccountPgm;
+};

cores/rp2040/RP2040USB.cpp

@@ -287,6 +287,8 @@ static int64_t timer_task(__unused alarm_id_t id, __unused void *user_data) {
     return USB_TASK_INTERVAL;
 }
 
+void __USBStart() __attribute__((weak));
+
 void __USBStart() {
     if (tusb_inited()) {
         // Already called

cores/rp2040/RP2040Version.h

@@ -1,5 +1,5 @@
 #pragma once
-#define ARDUINO_PICO_MAJOR 1
-#define ARDUINO_PICO_MINOR 13
-#define ARDUINO_PICO_REVISION 1
-#define ARDUINO_PICO_VERSION_STR "1.13.1"
+#define ARDUINO_PICO_MAJOR 2
+#define ARDUINO_PICO_MINOR 0
+#define ARDUINO_PICO_REVISION 0
+#define ARDUINO_PICO_VERSION_STR "2.0.0"

cores/rp2040/SerialPIO.cpp

@@ -97,7 +97,7 @@ void __not_in_flash_func(SerialPIO::_handleIRQ)() {
     }
     while (!pio_sm_is_rx_fifo_empty(_rxPIO, _rxSM)) {
         uint32_t decode = _rxPIO->rxf[_rxSM];
-        decode >>= 32 - _rxBits;
+        decode >>= 33 - _rxBits;
         uint32_t val = 0;
         for (int b = 0; b < _bits + 1; b++) {
             val |= (decode & (1 << (b * 2))) ? 1 << b : 0;
@@ -127,7 +127,7 @@ void __not_in_flash_func(SerialPIO::_handleIRQ)() {
             asm volatile("" ::: "memory"); // Ensure the queue is written before the written count advances
             _writer = next_writer;
         } else {
-            // TODO: Overflow
+            _overflow = true;
         }
     }
 }
@@ -146,6 +146,7 @@ SerialPIO::~SerialPIO() {
 }
 
 void SerialPIO::begin(unsigned long baud, uint16_t config) {
+    _overflow = false;
     _baud = baud;
     switch (config & SERIAL_PARITY_MASK) {
     case SERIAL_PARITY_EVEN:
@@ -229,7 +230,7 @@ void SerialPIO::begin(unsigned long baud, uint16_t config) {
         pio_sm_clear_fifos(_rxPIO, _rxSM); // Remove any existing data
 
         // Put phase divider into OSR w/o using add'l program memory
-        pio_sm_put_blocking(_rxPIO, _rxSM, clock_get_hz(clk_sys) / (_baud * 2) - 2);
+        pio_sm_put_blocking(_rxPIO, _rxSM, clock_get_hz(clk_sys) / (_baud * 2) - 5 /* insns in PIO halfbit loop */);
         pio_sm_exec(_rxPIO, _rxSM, pio_encode_pull(false, false));
 
         // Join the TX FIFO to the RX one now that we don't need it
@@ -289,6 +290,17 @@ int SerialPIO::read() {
     return -1;
 }
 
+bool SerialPIO::overflow() {
+    CoreMutex m(&_mutex);
+    if (!_running || !m || (_rx == NOPIN)) {
+        return false;
+    }
+
+    bool hold = _overflow;
+    _overflow = false;
+    return hold;
+}
+
 int SerialPIO::available() {
     CoreMutex m(&_mutex);
     if (!_running || !m || (_rx == NOPIN)) {

cores/rp2040/SerialPIO.h

@@ -47,6 +47,7 @@ public:
     virtual int availableForWrite() override;
     virtual void flush() override;
     virtual size_t write(uint8_t c) override;
+    bool overflow();
     using Print::write;
     operator bool() override;
 
@@ -60,6 +61,7 @@ private:
     int _bits;
     uart_parity_t _parity;
     int _stop;
+    bool _overflow;
     mutex_t _mutex;
 
     PIOProgram *_txPgm;

cores/rp2040/SerialUART.cpp

@@ -114,12 +114,12 @@ bool SerialUART::setFIFOSize(size_t size) {
     return true;
 }
 
-SerialUART::SerialUART(uart_inst_t *uart, pin_size_t tx, pin_size_t rx) {
+SerialUART::SerialUART(uart_inst_t *uart, pin_size_t tx, pin_size_t rx, pin_size_t rts, pin_size_t cts) {
     _uart = uart;
     _tx = tx;
     _rx = rx;
-    _rts = UART_PIN_NOT_DEFINED;
-    _cts = UART_PIN_NOT_DEFINED;
+    _rts = rts;
+    _cts = cts;
     mutex_init(&_mutex);
     mutex_init(&_fifoMutex);
 }
@@ -131,6 +131,7 @@ void SerialUART::begin(unsigned long baud, uint16_t config) {
     if (_running) {
         end();
     }
+    _overflow = false;
     _queue = new uint8_t[_fifoSize];
     _baud = baud;
     uart_init(_uart, baud);
@@ -271,6 +272,16 @@ int SerialUART::read() {
     return -1;
 }
 
+bool SerialUART::overflow() {
+    CoreMutex m(&_mutex);
+    if (!_running || !m) {
+        return false;
+    }
+    bool hold = _overflow;
+    _overflow = false;
+    return hold;
+}
+
 int SerialUART::available() {
     CoreMutex m(&_mutex);
     if (!_running || !m) {
@@ -339,8 +350,17 @@ SerialUART::operator bool() {
     return _running;
 }
 
+#if defined(PIN_SERIAL1_RTS)
+SerialUART Serial1(uart0, PIN_SERIAL1_TX, PIN_SERIAL1_RX, PIN_SERIAL1_RTS, PIN_SERIAL1_CTS);
+#else
 SerialUART Serial1(uart0, PIN_SERIAL1_TX, PIN_SERIAL1_RX);
+#endif
+
+#if defined(PIN_SERIAL2_RTS)
+SerialUART Serial2(uart1, PIN_SERIAL2_TX, PIN_SERIAL2_RX, PIN_SERIAL2_RTS, PIN_SERIAL2_CTS);
+#else
 SerialUART Serial2(uart1, PIN_SERIAL2_TX, PIN_SERIAL2_RX);
+#endif
 
 void arduino::serialEvent1Run(void) {
     if (serialEvent1 && Serial1.available()) {
@@ -378,7 +398,7 @@ void __not_in_flash_func(SerialUART::_handleIRQ)(bool inIRQ) {
             // Avoid using division or mod because the HW divider could be in use
             _writer = next_writer;
         } else {
-            // TODO: Overflow
+            _overflow = true;
         }
     }
     if (inIRQ) {

cores/rp2040/SerialUART.h

@@ -31,7 +31,7 @@ extern "C" typedef struct uart_inst uart_inst_t;
 #define UART_PIN_NOT_DEFINED      (255u)
 class SerialUART : public HardwareSerial {
 public:
-    SerialUART(uart_inst_t *uart, pin_size_t tx, pin_size_t rx);
+    SerialUART(uart_inst_t *uart, pin_size_t tx, pin_size_t rx, pin_size_t rts = UART_PIN_NOT_DEFINED, pin_size_t cts = UART_PIN_NOT_DEFINED);
 
     // Select the pinout.  Call before .begin()
     bool setRX(pin_size_t pin);
@@ -60,6 +60,7 @@ public:
     virtual size_t write(uint8_t c) override;
     virtual size_t write(const uint8_t *p, size_t len) override;
     using Print::write;
+    bool overflow();
     operator bool() override;
 
     // Not to be called by users, only from the IRQ handler.  In public so that the C-language IQR callback can access it
@@ -73,6 +74,7 @@ private:
     int _baud;
     mutex_t _mutex;
     bool _polling = false;
+    bool _overflow;
 
     // Lockless, IRQ-handled circular queue
     uint32_t _writer;

cores/rp2040/SoftwareSerial.h

@@ -0,0 +1,37 @@
+/*
+    SoftwareSerial wrapper for SerialPIO
+
+    Copyright (c) 2022 Earle F. Philhower, III <earlephilhower@yahoo.com>
+
+    This library is free software; you can redistribute it and/or
+    modify it under the terms of the GNU Lesser General Public
+    License as published by the Free Software Foundation; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    This library 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
+    Lesser General Public License for more details.
+
+    You should have received a copy of the GNU Lesser General Public
+    License along with this library; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#pragma once
+
+#include "SerialPIO.h"
+
+class SoftwareSerial : public SerialPIO {
+public:
+    // Note the rx/tx pins are swapped in PIO vs SWSerial
+    SoftwareSerial(pin_size_t rx, pin_size_t tx, bool invert = true) : SerialPIO(tx, rx) {
+        if (invert) {
+            panic("SoftwareSerial inverted operation not supported\n");
+        }
+    }
+    void listen() { /* noop */ }
+    bool isListening() {
+        return true;
+    }
+};

cores/rp2040/api/Common.h

@@ -20,6 +20,10 @@ typedef enum {
   OUTPUT          = 0x1,
   INPUT_PULLUP    = 0x2,
   INPUT_PULLDOWN  = 0x3,
+  OUTPUT_2MA      = 0x4,
+  OUTPUT_4MA      = 0x5,
+  OUTPUT_8MA      = 0x6,
+  OUTPUT_12MA     = 0x7,
 } PinMode;
 
 typedef enum {

cores/rp2040/ccount.pio

@@ -0,0 +1,62 @@
+; Cycle Count for the Raspberry Pi Pico RP2040
+;
+; Copyright (c) 2022 Earle F. Philhower, III <earlephilhower@yahoo.com>
+;
+; This library is free software; you can redistribute it and/or
+; modify it under the terms of the GNU Lesser General Public
+; License as published by the Free Software Foundation; either
+; version 2.1 of the License, or (at your option) any later version.
+;
+; This library 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
+; Lesser General Public License for more details.
+;
+; You should have received a copy of the GNU Lesser General Public
+; License along with this library; if not, write to the Free Software
+; Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+; Cycle count is stored in {-y, -x}
+
+.program ccount
+cnt:
+    jmp x-- cnt
+epoch:
+    jmp y-- cnt
+
+% c-sdk {
+static inline void ccount_program_init(PIO pio, uint sm, uint offset) {
+    pio_sm_config c = ccount_program_get_default_config(offset);
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_exec(pio, sm, pio_encode_set(pio_x, 0));
+    pio_sm_exec(pio, sm, pio_encode_set(pio_y, 0));
+}
+
+static inline uint64_t ccount_read(PIO pio, uint sm) {
+    static uint64_t extra = 0;
+    // Guard against having the epoch rollover while we're reading the time.
+    // If epoch2 != epoch1, we looped in middle and get new LSW
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_y));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_x));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_y));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_x));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    extra += 8;
+    uint32_t y1 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t x1 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t y2 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t x2 = -((int)pio_sm_get_blocking(pio, sm));
+    uint64_t val;
+    if (y2 != y1) {
+        val = ((((uint64_t)y2) << 32LL) | x2) + y2 /* adjust for missed cycle every epoch increment */;
+    } else {
+        val = ((((uint64_t)y1) << 32LL) | x1) + y1 /* adjust for missed cycle every epoch increment */;
+    }
+    return val + extra;
+}
+
+%}
+

cores/rp2040/ccount.pio.h

@@ -0,0 +1,71 @@
+// -------------------------------------------------- //
+// This file is autogenerated by pioasm; do not edit! //
+// -------------------------------------------------- //
+
+#pragma once
+
+#if !PICO_NO_HARDWARE
+#include "hardware/pio.h"
+#endif
+
+// ------ //
+// ccount //
+// ------ //
+
+#define ccount_wrap_target 0
+#define ccount_wrap 1
+
+static const uint16_t ccount_program_instructions[] = {
+    //     .wrap_target
+    0x0040, //  0: jmp    x--, 0
+    0x0080, //  1: jmp    y--, 0
+    //     .wrap
+};
+
+#if !PICO_NO_HARDWARE
+static const struct pio_program ccount_program = {
+    .instructions = ccount_program_instructions,
+    .length = 2,
+    .origin = -1,
+};
+
+static inline pio_sm_config ccount_program_get_default_config(uint offset) {
+    pio_sm_config c = pio_get_default_sm_config();
+    sm_config_set_wrap(&c, offset + ccount_wrap_target, offset + ccount_wrap);
+    return c;
+}
+
+static inline void ccount_program_init(PIO pio, uint sm, uint offset) {
+    pio_sm_config c = ccount_program_get_default_config(offset);
+    pio_sm_init(pio, sm, offset, &c);
+    pio_sm_exec(pio, sm, pio_encode_set(pio_x, 0));
+    pio_sm_exec(pio, sm, pio_encode_set(pio_y, 0));
+}
+static inline uint64_t ccount_read(PIO pio, uint sm) {
+    static uint64_t extra = 0;
+    // Guard against having the epoch rollover while we're reading the time.
+    // If epoch2 != epoch1, we looped in middle and get new LSW
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_y));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_x));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_y));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    pio_sm_exec(pio, sm, pio_encode_mov(pio_isr, pio_x));
+    pio_sm_exec(pio, sm, pio_encode_push(false, false));
+    extra += 8;
+    uint32_t y1 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t x1 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t y2 = -((int)pio_sm_get_blocking(pio, sm));
+    uint32_t x2 = -((int)pio_sm_get_blocking(pio, sm));
+    uint64_t val;
+    if (y2 != y1) {
+        val = ((((uint64_t)y2) << 32LL) | x2) + y2 /* adjust for missed cycle every epoch increment */;
+    } else {
+        val = ((((uint64_t)y1) << 32LL) | x1) + y1 /* adjust for missed cycle every epoch increment */;
+    }
+    return val + extra;
+}
+
+#endif
+

cores/rp2040/delay.cpp

@@ -25,6 +25,9 @@
 #include "Adafruit_TinyUSB_API.h"
 #endif
 
+extern "C" void delay(unsigned long ms) __attribute__((weak));
+extern "C" void yield() __attribute__((weak));
+
 extern "C"
 {
 

cores/rp2040/main.cpp

@@ -24,20 +24,24 @@
 #include <pico/multicore.h>
 
 RP2040 rp2040;
+extern "C" {
+    volatile bool __otherCoreIdled = false;
+};
 
-volatile bool _MFIFO::_otherIdled = false;
 mutex_t _pioMutex;
 
-
 extern void setup();
 extern void loop();
 
+// FreeRTOS potential includes
+extern void initFreeRTOS() __attribute__((weak));
+extern void startFreeRTOS() __attribute__((weak));
+bool __isFreeRTOS;
 
 // Weak empty variant initialization. May be redefined by variant files.
 void initVariant() __attribute__((weak));
 void initVariant() { }
 
-
 // Optional 2nd core setup and loop
 extern void setup1() __attribute__((weak));
 extern void loop1() __attribute__((weak));
@@ -53,14 +57,40 @@ extern "C" void main1() {
     }
 }
 
+extern void __loop() {
+#ifdef USE_TINYUSB
+    yield();
+#endif
+
+    if (arduino::serialEventRun) {
+        arduino::serialEventRun();
+    }
+    if (arduino::serialEvent1Run) {
+        arduino::serialEvent1Run();
+    }
+    if (arduino::serialEvent2Run) {
+        arduino::serialEvent2Run();
+    }
+}
+
 extern "C" int main() {
 #if F_CPU != 125000000
     set_sys_clock_khz(F_CPU / 1000, true);
 #endif
 
+    // Let rest of core know if we're using FreeRTOS
+    __isFreeRTOS = initFreeRTOS ? true : false;
+
     mutex_init(&_pioMutex);
+
+    rp2040.begin();
+
     initVariant();
 
+    if (__isFreeRTOS) {
+        initFreeRTOS();
+    }
+
 #ifndef NO_USB
 #ifdef USE_TINYUSB
     TinyUSB_Device_Init(0);
@@ -69,43 +99,46 @@ extern "C" int main() {
     __USBStart();
 
 #ifndef DISABLE_USB_SERIAL
-    // Enable serial port for reset/upload always
-    Serial.begin(115200);
+
+    if (!__isFreeRTOS) {
+        // Enable serial port for reset/upload always
+        Serial.begin(115200);
+    }
 #endif
 #endif
 #endif
 
 #if defined DEBUG_RP2040_PORT
-    DEBUG_RP2040_PORT.begin(115200);
+    if (!__isFreeRTOS) {
+        DEBUG_RP2040_PORT.begin(115200);
+    }
 #endif
 
 #ifndef NO_USB
-    if (setup1 || loop1) {
-        rp2040.fifo.begin(2);
-        multicore_launch_core1(main1);
-    } else {
-        rp2040.fifo.begin(1);
+    if (!__isFreeRTOS) {
+        if (setup1 || loop1) {
+            rp2040.fifo.begin(2);
+            multicore_launch_core1(main1);
+        } else {
+            rp2040.fifo.begin(1);
+        }
+        rp2040.fifo.registerCore();
     }
-    rp2040.fifo.registerCore();
 #endif
 
-    setup();
-    while (true) {
-        loop();
-
-#ifdef USE_TINYUSB
-        yield();
-#endif
-
-        if (arduino::serialEventRun) {
-            arduino::serialEventRun();
-        }
-        if (arduino::serialEvent1Run) {
-            arduino::serialEvent1Run();
-        }
-        if (arduino::serialEvent2Run) {
-            arduino::serialEvent2Run();
+    if (!__isFreeRTOS) {
+        setup();
+        while (true) {
+            loop();
+            __loop();
         }
+    } else {
+        rp2040.fifo.begin(2);
+        startFreeRTOS();
     }
     return 0;
 }
+
+extern "C" unsigned long ulMainGetRunTimeCounterValue() {
+    return rp2040.getCycleCount64();
+}

cores/rp2040/wiring_analog.cpp

@@ -27,7 +27,7 @@
 #include <hardware/adc.h>
 
 static uint32_t analogScale = 255;
-static uint16_t analogFreq = 1000;
+static uint32_t analogFreq = 1000;
 static bool pwmInitted = false;
 static bool adcInitted = false;
 static uint16_t analogWritePseudoScale = 1;
@@ -42,9 +42,9 @@ extern "C" void analogWriteFreq(uint32_t freq) {
     if (freq < 100) {
         DEBUGCORE("ERROR: analogWriteFreq too low (%d)\n", freq);
         analogFreq = 100;
-    } else if (freq > 60000) {
+    } else if (freq > 1000000) {
         DEBUGCORE("ERROR: analogWriteFreq too high (%d)\n", freq);
-        analogFreq = 60000;
+        analogFreq = 1000000;
     } else {
         analogFreq = freq;
     }

cores/rp2040/wiring_digital.cpp

@@ -43,7 +43,24 @@ extern "C" void pinMode(pin_size_t ulPin, PinMode ulMode) {
         gpio_put(ulPin, 1);
         break;
     case OUTPUT:
+    case OUTPUT_4MA:
         gpio_init(ulPin);
+        gpio_set_drive_strength(ulPin, GPIO_DRIVE_STRENGTH_4MA);
+        gpio_set_dir(ulPin, true);
+        break;
+    case OUTPUT_2MA:
+        gpio_init(ulPin);
+        gpio_set_drive_strength(ulPin, GPIO_DRIVE_STRENGTH_2MA);
+        gpio_set_dir(ulPin, true);
+        break;
+    case OUTPUT_8MA:
+        gpio_init(ulPin);
+        gpio_set_drive_strength(ulPin, GPIO_DRIVE_STRENGTH_8MA);
+        gpio_set_dir(ulPin, true);
+        break;
+    case OUTPUT_12MA:
+        gpio_init(ulPin);
+        gpio_set_drive_strength(ulPin, GPIO_DRIVE_STRENGTH_12MA);
         gpio_set_dir(ulPin, true);
         break;
     default:

docs/analog.rst

@@ -30,10 +30,21 @@ While up to 16 PWM channels can be generated, they are not independent
 and there are significant restrictions as to allowed pins in parallel.
 See the `RP2040 datasheet <https://datasheets.raspberrypi.org/rp2040/rp2040-datasheet.pdf>`_ for full details.
 
+Analog Output Restrictions
+--------------------------
+
+The PWM generator source clock restricts the legal combinations of
+frequency and ranges.  For example, at 1MHz only about 6 bits of range
+are possible.  When you define an ``analogWriteFreq`` and ``analogWriteRange``
+that can't be fulfilled by the hardware, the frequency will be preserved
+but the accuracy (range) will be reduced automatically.  Your code will
+still send in the range you specify, but the core itself will transparently
+map it into the allowable PWN range.
+
 void analogWriteFreq(uint32_t freq)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 Sets the master PWM frequency used (i.e. how often the PWM output cycles).
-From 100Hz to 60KHz are supported.
+From 100Hz to 1MHz are supported.
 
 void analogWriteRange(uint32_t range) and analogWriteResolution(int res)
 ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

docs/conf.py

@@ -19,7 +19,7 @@
 # import os
 # import sys
 # sys.path.insert(0, os.path.abspath('.'))
-
+import sphinx_rtd_theme
 
 # -- General configuration ------------------------------------------------
 
@@ -30,7 +30,7 @@
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
-extensions = []
+extensions = ['sphinx_rtd_theme']
 
 # Add any paths that contain templates here, relative to this directory.
 templates_path = ['_templates']
@@ -46,7 +46,7 @@ master_doc = 'index'
 
 # General information about the project.
 project = u'Arduino-Pico'
-copyright = u'2021, Earle F. Philhower, III'
+copyright = u'2022, Earle F. Philhower, III'
 author = u'Earle F. Philhower, III'
 
 # The version info for the project you're documenting, acts as replacement for
@@ -82,7 +82,7 @@ todo_include_todos = False
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
 #
-html_theme = 'alabaster'
+html_theme = 'sphinx_rtd_theme'
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the

docs/freertos.rst

@@ -0,0 +1,49 @@
+FreeRTOS SMP
+============
+
+The SMP (multicore) port of FreeRTOS is included with the core.  This allows complex
+task operations and real preemptive multithreading in your sketches.  While the
+``setup1`` and ``loop1`` way of multitasking is simplest for most folks, FreeRTOS
+is much more powerful.
+
+Enabling FreeRTOS
+-----------------
+
+To enable FreeRTOS, simply add
+
+.. code:: c++
+
+    #include <FreeRTOS.h>
+
+to your sketch and it will be included and enabled automatically.
+
+Configuration and Predefined Tasks
+----------------------------------
+
+FreeRTOS is configured with 8 priority levels (0 through 7) and a process for
+``setup()/loop()``, ``setup1()/loop1()``, and the USB port will be created.  The task
+quantum is 1 millisecond (i.e. 1,000 switches per second).
+
+``setup()`` and ``loop()`` are assigned to only run on core 0, while ``setup1()`` and ``loop1()``
+only run in core 1 in this mode, the same as the default multithreading mode.
+
+You can launch and manage additional processes using the standard FreeRTOS routines.
+
+``delay()`` and ``yield()`` free the CPU for other tasks, while ``delayMicroseconds()`` does not.
+
+Caveats
+-------
+
+While the core now supports FreeRTOS, most (probably all) Arduino libraries were not written
+to support preemptive multithreading.  This means that all calls to a particular library should
+be made from a single task.
+
+In particular, the ``LittleFS`` and ``SDFS`` libraries can not be called from different
+threads.  Do all ``File`` operations from a single thread or else undefined behavior
+(aka strange crashes or data corruption) can occur.
+
+More Information
+----------------
+
+For full FreeRTOS documentation look at `FreeRTOS.org <https://freertos.org/index.html>`__
+and `FreeRTOS SMP support <https://freertos.org/symmetric-multiprocessing-introduction.html>`__.

docs/ide.rst

@@ -34,3 +34,40 @@ Debug messages from `printf` and the Core can be printed to a Serial port
 to allow for easier debugging.  Select the desired port and verbosity.
 Selecting a port for debug output does not stop a sketch from using it
 for normal operations.
+
+Generic RP2040 Support
+----------------------
+If your RP2040 board isn't in the menus you can still use it with the
+IDE bu using the `Board->Generic RP2040` menu option.  You will need to
+then set the flash size (see above) and tell the IDE how to communicate
+with the flash chip using the `Tools->Boot Stage 2` menu.
+
+Boot Stage 2 Options for Generic RP2040
+---------------------------------------
+The Arduino Pico needs to set up its internal flash interface to talk to
+whatever flash chip is in the system.  While all flash chips support a
+basic (and slow) 1-bit operation using common timings, each different
+brand (and sometimes model) of flash chip require custom timings to work
+in QSPI (4-bit) mode.  The `Boot Stage 2` menu lets you select from
+the supported timings.
+
+The options with `/2` in them divide the system clock by 2 to drive the
+bus.  Options with `/4` divide the clock by 4 and so are slower but more
+compatible.
+
+If you can't match a chip name in the menu to your flash chip, a simple
+test can be run to determine which is correct.  Simpily load the `Blink`
+example, select the first option in the `Boot Stage 2` menu, and upload.
+If that works, note it and continue.  Iterate through the options and
+note which ones work.  If an option doesn't work, unplug the chip and
+hold the BOOTSEL button down while re-inserting it to enter the ROM
+uploader mode.  (The CPU and flash will not be harmed if the test fails.)
+
+If one of the custom bootloaders (not `Generic SPI /2 or /4`) worked, use
+that option to get best performance.  If none worked other than the
+`Generic SPI /2 or /4` then use that.  The `/2` options of all models
+is preferred as it is faster, but some boards do require `/4` on the
+custom chip interfaces.
+
+When in doubt, `Generic SPI /4` should work with any flash chip but is
+slow.  

docs/index.rst

@@ -37,6 +37,8 @@ For the latest version, always check https://github.com/earlephilhower/arduino-p
    USB (Arduino and Adafruit_TinyUSB) <usb>
    Multicore Processing <multicore>
 
+   FreeRTOS SMP (multicore) <freertos>
+
    Ported/Optimized Libraries <libraries>
    Using Pico-SDK <sdk>
 

docs/pins.rst

@@ -60,3 +60,8 @@ it use a non-default pinout with a simple call
         SPI.setCS(5);
         SD.begin(5);
     }
+
+Pad Strength
+============
+
+The Raspberry Pi Pico has the ability to set the current that a pin (actually the pad associated with it) is capable of supplying. The current can be set to values of 2mA, 4mA, 8mA and 12mA. By default, on a reset, the setting is 4mA. A `pinMode(x, OUTPUT)`, where `x` is the pin number, is also the default setting. 4 settings have been added for use with `pinMode`: `OUTPUT_2MA`, `OUTPUT_4MA`, which has the same behavior as `OUTPUT`, `OUTPUT_8MA` and `OUTPUT_12MA`.

docs/piouart.rst

@@ -21,3 +21,13 @@ For example, to make a transmit-only port on GP16
 
 For detailed information about the Serial ports, see the
 Arduino `Serial Reference <https://www.arduino.cc/reference/en/language/functions/communication/serial/>`_ .
+
+
+SoftwareSerial Emulation
+========================
+A ``SoftwareSerial`` wrapper is included to provide plug-and-play compatibility
+with the Arduino `Software Serial <https://docs.arduino.cc/learn/built-in-libraries/software-serial>`_
+library.  Use the normal ``#include <SoftwareSerial.h>`` to include it.   The following
+differences from the Arduino standard are present:
+* Inverted mode is not supported
+* All ports are always listening.  The ``listen`` call is a no-op, and ``isListening()`` always returns ``true`` .

keywords.txt

@@ -11,7 +11,7 @@
 #######################################
 
 setup1	KEYWORD2
-loop2	KEYWORD2
+loop1	KEYWORD2
 
 analogWriteFreq	KEYWORD2
 analogWriteRange	KEYWORD2
@@ -36,3 +36,8 @@ prepare	KEYWORD2
 SerialPIO	KEYWORD2
 setFIFOSize	KEYWORD2
 setPollingMode	KEYWORD2
+
+OUTPUT_2MA	LITERAL1
+OUTPUT_4MA	LITERAL1
+OUTPUT_8MA	LITERAL1
+OUTPUT_12MA	LITERAL1

libraries/FreeRTOS/examples/Multicore-FreeRTOS/Multicore-FreeRTOS.ino

@@ -0,0 +1,81 @@
+// Demonstrates a simple use of the setup1()/loop1() functions
+// for a multiprocessor run.
+
+// Will output something like, where C0 is running on core 0 and
+// C1 is on core 1, in parallel.
+
+// 11:23:07.507 -> C0: Blue leader standing by...
+// 11:23:07.507 -> C1: Red leader standing by...
+// 11:23:07.507 -> C1: Stay on target...
+// 11:23:08.008 -> C1: Stay on target...
+// 11:23:08.505 -> C0: Blue leader standing by...
+// 11:23:08.505 -> C1: Stay on target...
+// 11:23:09.007 -> C1: Stay on target...
+// 11:23:09.511 -> C0: Blue leader standing by...
+// 11:23:09.511 -> C1: Stay on target...
+// 11:23:10.015 -> C1: Stay on target...
+
+// Released to the public domain
+#include <FreeRTOS.h>
+#include <task.h>
+#include <map>
+#include <EEPROM.h>
+
+std::map<eTaskState, const char *> eTaskStateName { {eReady, "Ready"}, { eRunning, "Running" }, {eBlocked, "Blocked"}, {eSuspended, "Suspended"}, {eDeleted, "Deleted"} };
+void ps() {
+  int tasks = uxTaskGetNumberOfTasks();
+  TaskStatus_t *pxTaskStatusArray = new TaskStatus_t[tasks];
+  unsigned long runtime;
+  tasks = uxTaskGetSystemState( pxTaskStatusArray, tasks, &runtime );
+  Serial.printf("# Tasks: %d\n", tasks);
+  Serial.println("ID, NAME, STATE, PRIO, CYCLES");
+  for (int i=0; i < tasks; i++) {
+    Serial.printf("%d: %-16s %-10s %d %lu\n", i, pxTaskStatusArray[i].pcTaskName, eTaskStateName[pxTaskStatusArray[i].eCurrentState], pxTaskStatusArray[i].uxCurrentPriority, pxTaskStatusArray[i].ulRunTimeCounter);
+  }
+  delete[] pxTaskStatusArray;
+}
+
+
+void blink(void *param) {
+  (void) param;
+  pinMode(LED_BUILTIN, OUTPUT);
+  while (true) {
+    digitalWrite(LED_BUILTIN, LOW);
+    delay(750);
+    digitalWrite(LED_BUILTIN, HIGH);
+    delay(250);
+  }
+}
+
+
+void setup() {
+  Serial.begin(115200);
+  xTaskCreate(blink, "BLINK", 128, nullptr, 1, nullptr);
+  delay(5000);
+}
+
+volatile int val= 0;
+void loop() {
+  Serial.printf("C0: Blue leader standing by...\n");
+  ps();
+  Serial.printf("val: %d\n", val);
+  delay(1000);
+}
+
+// Running on core1
+void setup1() {
+  delay(5000);
+  Serial.printf("C1: Red leader standing by...\n");
+}
+
+void loop1() {
+  static int x = 0;
+  Serial.printf("C1: Stay on target...\n");
+  val++;
+  if (++x < 10) {
+    EEPROM.begin(512);
+    EEPROM.write(0,x);
+    EEPROM.commit();
+  }
+  delay(1000);
+}

libraries/FreeRTOS/keywords.txt

@@ -0,0 +1,60 @@
+# Syntax Coloring Map For FreeRTOS
+# https://arduino.github.io/arduino-cli/library-specification/#keywords
+# Formatted by a single true tab (not spaces)
+
+# Datatypes (KEYWORD1)
+StackType_t	KEYWORD1
+BaseType_t	KEYWORD1
+UBaseType_t	KEYWORD1
+TickType_t	KEYWORD1
+
+TaskHandle_t	KEYWORD1
+QueueHandle_t	KEYWORD1
+TimerHandle_t	KEYWORD1
+SemaphoreHandle_t	KEYWORD1
+StreamBufferHandle_t	KEYWORD1
+MessageBufferHandle_t	KEYWORD1
+EventGroupHandle_t	KEYWORD1
+
+# Methods and Functions (KEYWORD2)
+xSemaphoreCreateMutex	KEYWORD2
+xSemaphoreCreateBinary	KEYWORD2
+xSemaphoreTake	KEYWORD2
+xSemaphoreTakeFromISR	KEYWORD2
+xSemaphoreGive	KEYWORD2
+xSemaphoreGiveFromISR	KEYWORD2
+xTaskCreate	KEYWORD2
+vTaskDelete	KEYWORD2
+vTaskDelay	KEYWORD2
+xTaskDelayUntil	KEYWORD2
+xQueueCreate	KEYWORD2
+xQueueSend	KEYWORD2
+xQueueReceive	KEYWORD2
+pcTaskGetName KEYWORD2
+ulTaskNotifyTake	KEYWORD2
+vTaskNotifyGiveFromISR	KEYWORD2
+taskYIELD	KEYWORD2
+vTaskSuspend	KEYWORD2
+vTaskResume	KEYWORD2
+xTaskResumeFromISR	KEYWORD2
+xTaskGetTickCount	KEYWORD2
+xTaskGetTickCountFromISR	KEYWORD2
+uxTaskGetNumberOfTasks	KEYWORD2
+uxTaskGetStackHighWaterMark	KEYWORD2
+
+# Instances (KEYWORD2)
+
+# Structures (KEYWORD3)
+TaskParameters_t	KEYWORD3
+TaskStatus_t	KEYWORD3
+ListItem_t	KEYWORD3
+MiniListItem_t	KEYWORD3
+HeapStats_t	KEYWORD3
+
+# Constants (LITERAL1)
+portUSE_WDTO	LITERAL1
+portTICK_PERIOD_MS	LITERAL1
+configTICK_RATE_HZ	LITERAL1
+configCPU_CLOCK_HZ	LITERAL1
+configMAX_PRIORITIES	LITERAL1
+configMINIMAL_STACK_SIZE	LITERAL1

libraries/FreeRTOS/library.properties

@@ -0,0 +1,10 @@
+name=FreeRTOS
+version=1.0.0
+author=Graham Sanderson <info@freertos.org>
+maintainer=Graham Sanderson <info@freertos.org>
+sentence=<h3>FreeRTOS Real Time Operating System implemented for RP2040.</h3>
+paragraph=Taken from the official FreeRTOS SMP branch.
+category=Timing
+url=https://github.com/FreeRTOS/FreeRTOS-Kernel
+architectures=rp2040
+license=MIT

libraries/FreeRTOS/readme.md

@@ -0,0 +1,39 @@
+**ATTENTION**  
+Please be aware that this library was copied from the original Arduino AVR FreeRTOS library and may still contain files from that library that have no meaning in the context of this package, i.e. the licensing and code of conduct file! Each file retains the license and copyright from where it was taken (FreeRTOS repository or AVR FreeRTOS library, respectively.)
+
+______
+
+This is a copy of the RP2040 port of the FreeRTOS SMP branch, packaged as an Arduino library.
+
+It has been created to provide access to FreeRTOS capabilities, with full compatibility to the Arduino environment.
+It does this by keeping hands off almost everything, and only touching the minimum of hardware to be successful.
+
+## General
+
+FreeRTOS has a multitude of configuration options, which can be specified from within the FreeRTOSConfig.h file.
+To keep commonality with all of the Arduino hardware options, some sensible defaults have been selected.
+
+System ticks are 1ms, which means that Tasks can only be scheduled to run up to 1000 times per second.
+
+Stack for the `loop()` function has been set at 256 bytes. This can be configured by adjusting the `configMINIMAL_STACK_SIZE` parameter. If you have stack overflow issues, just increase it.
+Users should prefer to allocate larger structures, arrays, or buffers using `pvPortMalloc()`, rather than defining them locally on the stack.
+
+Memory for the heap is allocated by the normal `malloc()` function, wrapped by `pvPortMalloc()`.
+This option has been selected because it is automatically adjusted to use the capabilities of each device.
+Other heap allocation schemes are supported by FreeRTOS, and they can used with additional configuration.
+
+## Errors
+
+* Stack Overflow: If any stack (for the `loop()` or) for any Task overflows, there will be a slow LED blink, with 4 second cycle.
+* Heap Overflow: If any Task tries to allocate memory and that allocation fails, there will be a fast LED blink, with 100 millisecond cycle.
+
+## Files & Configuration
+
+* `RP2040_FreeRTOS.h` : Must always be `#include` first. It references other configuration files, and sets defaults where necessary.
+* `FreeRTOSConfig.h` : Contains a multitude of API and environment configurations.
+* `variantHooks.cpp` : Contains the RP2040 specific configurations for this port of FreeRTOS.
+* `heap_3.c` : Contains the heap allocation scheme based on `malloc()`. Other schemes are available, but depend on user configuration for specific MCU choice.
+
+## Sources / Credits ✨
+
+This library is built on the efforts of the authors of the FreeRTOS SMP port for the RP2040, using the original Arduino FreeRTOS library as a template for the library package and the Arduino specific behavior.

libraries/FreeRTOS/src/FreeRTOS.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/FreeRTOS.h"

libraries/FreeRTOS/src/FreeRTOSConfig.h

@@ -0,0 +1,122 @@
+/* Cores */
+#define configNUM_CORES                 2
+#define configUSE_CORE_AFFINITY         1
+#define configRUN_MULTIPLE_PRIORITIES   1
+
+#define configUSE_PREEMPTION			1
+#define configUSE_IDLE_HOOK				1
+#define configUSE_MINIMAL_IDLE_HOOK     1
+#define configUSE_TICK_HOOK				1
+#define configCPU_CLOCK_HZ				( ( unsigned long ) F_CPU  )
+#define configTICK_RATE_HZ				( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES			( 8 )
+#define configMINIMAL_STACK_SIZE		( ( unsigned short ) 256 )
+#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 164 * 1024 ) )
+#define configMAX_TASK_NAME_LEN			( 10 )
+#define configUSE_TRACE_FACILITY		1
+#define configUSE_16_BIT_TICKS			0
+#define configIDLE_SHOULD_YIELD			1
+#define configUSE_MUTEXES				1
+#define configQUEUE_REGISTRY_SIZE		8
+#define configUSE_RECURSIVE_MUTEXES		1
+#define configUSE_MALLOC_FAILED_HOOK	1
+#define configUSE_APPLICATION_TASK_TAG	0
+#define configUSE_COUNTING_SEMAPHORES	1
+#define configUSE_QUEUE_SETS			1
+#define configSUPPORT_DYNAMIC_ALLOCATION 1
+#define configSUPPORT_STATIC_ALLOCATION 0
+
+/* Run time stats related definitions. */
+void vMainConfigureTimerForRunTimeStats( void );
+unsigned long ulMainGetRunTimeCounterValue( void );
+#define configGENERATE_RUN_TIME_STATS	1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() //vMainConfigureTimerForRunTimeStats()
+#define portGET_RUN_TIME_COUNTER_VALUE() ulMainGetRunTimeCounterValue()
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES 			1
+#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
+
+/* Software timer definitions. */
+#define configUSE_TIMERS				1
+#define configTIMER_TASK_PRIORITY		( 2 )
+#define configTIMER_QUEUE_LENGTH		5
+#define configTIMER_TASK_STACK_DEPTH	( 80 )
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_xTaskGetCurrentTaskHandle   1
+#define INCLUDE_vTaskPrioritySet		1
+#define INCLUDE_uxTaskPriorityGet		1
+#define INCLUDE_vTaskDelete				1
+#define INCLUDE_vTaskCleanUpResources	1
+#define INCLUDE_vTaskSuspend			1
+#define INCLUDE_vTaskDelayUntil			1
+#define INCLUDE_vTaskDelay				1
+#define INCLUDE_eTaskGetState			1
+
+/* This demo makes use of one or more example stats formatting functions.  These
+format the raw data provided by the uxTaskGetSystemState() function in to human
+readable ASCII form.  See the notes in the implementation of vTaskList() within
+FreeRTOS/Source/tasks.c for limitations. */
+#define configUSE_STATS_FORMATTING_FUNCTIONS	1
+
+#define configUSE_MUTEXES        				1
+#define INCLUDE_uxTaskGetStackHighWaterMark 	1
+#define INCLUDE_xTaskGetIdleTaskHandle 			1
+#define configUSE_MALLOC_FAILED_HOOK			1
+#define configCHECK_FOR_STACK_OVERFLOW 			2
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+
+/* Cortex-M specific definitions. */
+#undef __NVIC_PRIO_BITS
+#ifdef __NVIC_PRIO_BITS
+	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+	#define configPRIO_BITS       		__NVIC_PRIO_BITS
+#else
+	#define configPRIO_BITS       		3        /* 8 priority levels */
+#endif
+
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0x7
+
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5
+
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+
+extern void rtosFatalError(void);
+#define configASSERT( x ) \
+	if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); rtosFatalError(); }
+
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names - or at least those used in the unmodified vector table. */
+//#define xPortPendSVHandler PendSV_Handler
+//#define xPortSysTickHandler SysTick_Handler
+//#define vPortSVCHandler    SVC_Handler
+
+/* The size of the global output buffer that is available for use when there
+are multiple command interpreters running at once (for example, one on a UART
+and one on TCP/IP).  This is done to prevent an output buffer being defined by
+each implementation - which would waste RAM.  In this case, there is only one
+command interpreter running. */
+#define configCOMMAND_INT_MAX_OUTPUT_SIZE 2048
+
+
+#define configUSE_DYNAMIC_EXCEPTION_HANDLERS 0
+#define configSUPPORT_PICO_SYNC_INTEROP 1
+#define configSUPPORT_PICO_TIME_INTEROP 1
+
+
+#include "rp2040_config.h"
+//#include "task.h"

libraries/FreeRTOS/src/StackMacros.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/StackMacros.h"

libraries/FreeRTOS/src/atomic.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/atomic.h"

libraries/FreeRTOS/src/croutine.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/croutine.c"

libraries/FreeRTOS/src/croutine.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/croutine.h"

libraries/FreeRTOS/src/deprecated_definitions.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/deprecated_definitions.h"

libraries/FreeRTOS/src/event_groups.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/event_groups.c"

libraries/FreeRTOS/src/event_groups.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/event_groups.h"

libraries/FreeRTOS/src/freertos_sdk_config.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/freertos_sdk_config.h"

libraries/FreeRTOS/src/heap_3.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/MemMang/heap_3.c"

libraries/FreeRTOS/src/idle_task_static_memory.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/idle_task_static_memory.c"

libraries/FreeRTOS/src/list.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/list.c"

libraries/FreeRTOS/src/list.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/list.h"

libraries/FreeRTOS/src/message_buffer.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/message_buffer.h"

libraries/FreeRTOS/src/mpu_prototypes.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/mpu_prototypes.h"

libraries/FreeRTOS/src/mpu_wrappers.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/mpu_wrappers.h"

libraries/FreeRTOS/src/port.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c"

libraries/FreeRTOS/src/portable.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/portable.h"

libraries/FreeRTOS/src/portmacro.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/portmacro.h"

libraries/FreeRTOS/src/projdefs.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/projdefs.h"

libraries/FreeRTOS/src/queue.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/queue.c"

libraries/FreeRTOS/src/queue.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/queue.h"

libraries/FreeRTOS/src/rp2040_config.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/rp2040_config.h"

libraries/FreeRTOS/src/semphr.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/semphr.h"

libraries/FreeRTOS/src/stack_macros.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/stack_macros.h"

libraries/FreeRTOS/src/stream_buffer.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/stream_buffer.c"

libraries/FreeRTOS/src/stream_buffer.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/stream_buffer.h"

libraries/FreeRTOS/src/task.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/task.h"

libraries/FreeRTOS/src/tasks.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/tasks.c"

libraries/FreeRTOS/src/timers.c

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/timers.c"

libraries/FreeRTOS/src/timers.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/timers.h"

libraries/FreeRTOS/src/variantHooks.cpp

@@ -0,0 +1,419 @@
+/*
+ * Copyright (C) 2021 Phillip Stevens  All Rights Reserved.
+ * Modifications by Earle F. Philhower, III, for Arduino-Pico
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ *
+ * This file is NOT part of the FreeRTOS distribution.
+ *
+ */
+#include <stdlib.h>
+
+/* Arduino Core includes */
+#include <Arduino.h>
+#include <RP2040USB.h>
+#include "tusb.h"
+#define USB_TASK_IRQ 31
+
+
+/* Raspberry PI Pico includes */
+#include <pico.h>
+#include <pico/time.h>
+
+/* FreeRTOS includes. */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "timers.h"
+
+/*-----------------------------------------------------------*/
+
+void initFreeRTOS(void)
+{
+}
+
+extern void setup() __attribute__((weak));
+extern void loop() __attribute__((weak));
+extern void setup1() __attribute__((weak));
+extern void loop1() __attribute__((weak));
+// Idle functions (USB, events, ...) from the core
+extern void __loop();
+volatile bool __usbInitted = false;
+
+static void __core0(void *params)
+{
+    (void) params;
+#ifndef NO_USB
+    while (!__usbInitted) {
+        delay(1);
+    }
+#endif
+    if (setup) {
+        setup();
+    }
+    if (loop) {
+        while (1) {
+            loop();
+            __loop();
+        }
+    } else {
+        while (1) {
+            __loop();
+        }
+    }
+}
+
+static void __core1(void *params)
+{
+    (void) params;
+#ifndef NO_USB
+    while (!__usbInitted) {
+        delay(1);
+    }
+#endif
+    if (setup1) {
+        setup1();
+    }
+    if (loop1) {
+        while (1) {
+            loop1();
+        }
+    } else {
+        while (1) {
+            vTaskDelay(1000);
+        }
+    }
+}   
+
+extern "C" void delay(unsigned long ms) {
+    vTaskDelay(ms / portTICK_PERIOD_MS);
+}
+
+extern "C" void yield() {
+    taskYIELD();
+}
+
+extern mutex_t __usb_mutex;
+static TaskHandle_t __usbTask;
+static void __usb(void *param);
+
+void startFreeRTOS(void)
+{
+
+    TaskHandle_t c0;
+    xTaskCreate(__core0, "CORE0", 1024, 0, configMAX_PRIORITIES / 2, &c0);
+    vTaskCoreAffinitySet( c0, 1 << 0 ); 
+
+    if (setup1 || loop1) {
+        TaskHandle_t c1;
+        xTaskCreate(__core1, "CORE1", 1024, 0, configMAX_PRIORITIES / 2, &c1);
+        vTaskCoreAffinitySet( c1, 1 << 1 );
+    }
+
+    // Initialise and run the freeRTOS scheduler. Execution should never return here.
+    vTaskStartScheduler();
+
+    while (true) {
+        /* noop */
+    }
+}
+
+
+/*-----------------------------------------------------------*/
+
+void prvDisableInterrupts()
+{
+    portDISABLE_INTERRUPTS();
+}
+
+void prvEnableInterrupts()
+{
+    portENABLE_INTERRUPTS();
+}
+
+/*-----------------------------------------------------------*/
+#if ( configUSE_IDLE_HOOK == 1 )
+/*
+ * Call the user defined loop() function from within the idle task.
+ * This allows the application designer to add background functionality
+ * without the overhead of a separate task.
+ *
+ * NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
+ *
+ */
+
+extern "C"
+void vApplicationIdleHook( void ) __attribute__((weak));
+
+
+void vApplicationIdleHook( void )
+{
+    __wfe(); // Low power idle if nothing to do...
+}
+
+#endif /* configUSE_IDLE_HOOK == 1 */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MINIMAL_IDLE_HOOK == 1 )
+/*
+ * Call the user defined minimalIdle() function from within the idle task.
+ * This allows the application designer to add background functionality
+ * without the overhead of a separate task.
+ *
+ * NOTE: vApplicationMinimalIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
+ *
+ */
+void minimalIdle( void ) __attribute__((weak));
+void minimalIdle() {} //Empty minimalIdle function
+
+extern "C"
+void vApplicationMinimalIdleHook( void ) __attribute__((weak));
+
+void vApplicationMinimalIdleHook( void )
+{
+	minimalIdle();
+}
+
+#endif /* configUSE_MINIMAL_IDLE_HOOK == 1 */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_TICK_HOOK == 1 )
+/*
+ * Call the user defined minimalIdle() function from within the idle task.
+ * This allows the application designer to add background functionality
+ * without the overhead of a separate task.
+ *
+ * NOTE: vApplicationMinimalIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, CALL A FUNCTION THAT MIGHT BLOCK.
+ *
+ */
+void tick( void ) __attribute__((weak));
+void tick() {} //Empty minimalIdle function
+
+extern "C"
+void vApplicationTickHook( void ) __attribute__((weak));
+
+void vApplicationTickHook( void )
+{
+	tick();
+}
+
+#endif /* configUSE_TICK_HOOK == 1 */
+/*-----------------------------------------------------------*/
+
+#if ( configUSE_MALLOC_FAILED_HOOK == 1 || configCHECK_FOR_STACK_OVERFLOW >= 1 || configDEFAULT_ASSERT == 1 )
+
+/**
+ * Private function to enable board led to use it in application hooks
+ */
+void prvSetMainLedOn( void ) 
+{
+	gpio_init(LED_BUILTIN);
+	gpio_set_dir(LED_BUILTIN, true);
+	gpio_put(LED_BUILTIN, true);
+}
+
+/**
+ * Private function to blink board led to use it in application hooks
+ */
+void prvBlinkMainLed( void ) 
+{
+	gpio_put(LED_BUILTIN, !gpio_get(LED_BUILTIN));
+}
+
+#endif
+
+/*---------------------------------------------------------------------------*\
+Usage:
+	called on fatal error (interrupts disabled already)
+\*---------------------------------------------------------------------------*/
+extern "C"
+void rtosFatalError(void)
+{
+    prvSetMainLedOn(); // Main LED on.
+    
+    for(;;)
+    {
+    	// Main LED slow flash
+        sleep_ms(100);
+        prvBlinkMainLed();
+        sleep_ms(2000);
+        prvBlinkMainLed();
+    }
+}
+
+#if ( configUSE_MALLOC_FAILED_HOOK == 1 )
+/*---------------------------------------------------------------------------*\
+Usage:
+    called by task system when a malloc failure is noticed
+Description:
+    Malloc failure handler -- Shut down all interrupts, send serious complaint
+    to command port. FAST Blink on main LED.
+Arguments:
+    pxTask - pointer to task handle
+    pcTaskName - pointer to task name
+Results:
+    <none>
+Notes:
+    This routine will never return.
+    This routine is referenced in the task.c file of FreeRTOS as an extern.
+\*---------------------------------------------------------------------------*/
+extern "C"
+void vApplicationMallocFailedHook( void ) __attribute__((weak));
+
+void vApplicationMallocFailedHook( void )
+{
+    prvSetMainLedOn(); // Main LED on.
+    
+    for(;;)
+    {
+        sleep_ms(50);
+        prvBlinkMainLed(); // Main LED fast blink.
+    }
+}
+
+#endif /* configUSE_MALLOC_FAILED_HOOK == 1 */
+/*-----------------------------------------------------------*/
+
+
+#if ( configCHECK_FOR_STACK_OVERFLOW >= 1 )
+
+extern "C"
+void vApplicationStackOverflowHook( TaskHandle_t xTask,
+                                    char * pcTaskName ) __attribute__((weak));
+
+void vApplicationStackOverflowHook( TaskHandle_t xTask __attribute__((unused)),
+                                    char * pcTaskName __attribute__((unused)) )
+{
+    prvSetMainLedOn(); // Main LED on.
+
+    for(;;)
+    {
+        sleep_ms(2000);
+        prvBlinkMainLed();  // Main LED slow blink.
+    }
+}
+
+#endif /* configCHECK_FOR_STACK_OVERFLOW >= 1 */
+/*-----------------------------------------------------------*/
+
+#if ( configSUPPORT_STATIC_ALLOCATION >= 1 )
+
+extern "C"
+void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                    StackType_t ** ppxIdleTaskStackBuffer,
+                                    configSTACK_DEPTH_TYPE * pulIdleTaskStackSize ) __attribute__((weak));
+
+void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
+                                    StackType_t ** ppxIdleTaskStackBuffer,
+                                    configSTACK_DEPTH_TYPE * pulIdleTaskStackSize )
+{
+    static StaticTask_t xIdleTaskTCB;
+    static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
+
+    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
+}
+
+#if ( configUSE_TIMERS >= 1 )
+
+extern "C"
+void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                     StackType_t ** ppxTimerTaskStackBuffer,
+                                     configSTACK_DEPTH_TYPE * pulTimerTaskStackSize ) __attribute__((weak));
+
+void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
+                                     StackType_t ** ppxTimerTaskStackBuffer,
+                                     configSTACK_DEPTH_TYPE * pulTimerTaskStackSize )
+{
+    static StaticTask_t xTimerTaskTCB;
+    static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
+
+    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
+    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
+    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
+}
+
+#endif /* configUSE_TIMERS >= 1 */
+
+#endif /* configSUPPORT_STATIC_ALLOCATION >= 1 */
+
+/**
+ * configASSERT default implementation
+ */
+#if configDEFAULT_ASSERT == 1
+
+extern "C"
+void vApplicationAssertHook() {
+
+    taskDISABLE_INTERRUPTS(); // Disable task interrupts
+
+    prvSetMainLedOn(); // Main LED on.
+    for(;;)
+    {
+        sleep_ms(100);
+        prvBlinkMainLed(); // Led off.
+
+        sleep_ms(2000);
+        prvBlinkMainLed(); // Led on.
+
+        sleep_ms(100);
+        prvBlinkMainLed(); // Led off
+
+        sleep_ms(100);
+        prvBlinkMainLed(); // Led on.
+    }
+}
+#endif
+
+
+static void __usb_irq() {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+    vTaskNotifyGiveFromISR( __usbTask, &xHigherPriorityTaskWoken );
+    portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
+}
+
+static void __usb(void *param)
+{
+    (void) param;
+
+    tusb_init();
+    irq_set_exclusive_handler(USB_TASK_IRQ, __usb_irq);
+    irq_set_enabled(USB_TASK_IRQ, true);
+
+    Serial.begin(115200);
+
+    __usbInitted = true;
+
+    while (true) {
+        if (mutex_try_enter(&__usb_mutex, NULL)) {
+            tud_task();
+            mutex_exit(&__usb_mutex);
+        }
+        vTaskDelay(1 / portTICK_PERIOD_MS);
+    }
+}
+
+
+void __USBStart()
+{
+    mutex_init(&__usb_mutex);
+    // Make highest prio and locked to core 0
+    xTaskCreate(__usb, "USB", 256, 0, configMAX_PRIORITIES - 1, &__usbTask);
+    vTaskCoreAffinitySet( __usbTask, 1 << 0 );
+}

libraries/I2S/examples/SimpleTone/SimpleTone.ino

@@ -6,28 +6,59 @@
   created 17 November 2016
   by Sandeep Mistry
   modified for ESP8266 by Earle F. Philhower, III <earlephilhower@yahoo.com>
+
+
+  Only 16 bitsPerSample are allowed by the PIO code.  Only write, no read.
+
+    bool setBCLK(pin_size_t pin);	// Must be 28 or less.  Default is 26
+	// This assigns two adjacent pins - the pin after this one (one greater) is the WS (word select) signal,
+	// which toggles before the sample for each channel is sent
+
+    bool setDOUT(pin_size_t pin);	// Must be 29 or less.  Default is 28
+
+
 */
 
 #include <I2S.h>
 
+// GPIO pin numbers
+
+//define pBCLK 26
+#define pBCLK 20
+#define pWS (pBCLK+1)
+//define pDOUT 28
+#define pDOUT 22
+
 const int frequency = 440; // frequency of square wave in Hz
 const int amplitude = 500; // amplitude of square wave
-const int sampleRate = 8000; // sample rate in Hz
+//const int sampleRate = 8000; // sample rate in Hz
+const int sampleRate = 16000; // minimum for UDA1334A
 
 const int halfWavelength = (sampleRate / frequency); // half wavelength of square wave
 
 short sample = amplitude; // current sample value
 int count = 0;
 
+
 void setup() {
-  Serial.begin(115200);
+  pinMode(LED_BUILTIN, OUTPUT);
+  digitalWrite(LED_BUILTIN, 1);
+
+  Serial.begin(9600);
   Serial.println("I2S simple tone");
 
+  I2S.setBCLK(pBCLK);  // Must be 28 or less.  Default is 26
+  // This assigns two adjacent pins - the pin after this one (one greater) is the WS (word select) signal,
+  // which toggles before the sample for each channel is sent
+
+  I2S.setDOUT(pDOUT); // Must be 29 or less.  Default is 28
+
   // start I2S at the sample rate with 16-bits per sample
   if (!I2S.begin(sampleRate)) {
     Serial.println("Failed to initialize I2S!");
     while (1); // do nothing
   }
+
 }
 
 void loop() {
@@ -43,4 +74,3 @@ void loop() {
   // increment the counter for the next sample
   count++;
 }
-

package.json

@@ -1,6 +1,6 @@
 {
   "name": "framework-arduinopico",
-  "version": "1.11301.0",
+  "version": "1.20000.0",
   "description": "Arduino Wiring-based Framework (RPi Pico RP2040)",
   "keywords": [
     "framework",

package/package_pico_index.template.json

@@ -71,12 +71,18 @@
                   {
                      "name": "Invector Labs RPICO32"
                   },
+                  {
+                     "name": "Seeed XIAO RP2040"
+                  },
                   {
                      "name": "Solder Party RP2040 Stamp"
                   },
                   {
                      "name": "SparkFun ProMicro RP2040"
                   },
+                  {
+                     "name": "SparkFun Thing Plus RP2040"
+                  },
                   {
                      "name": "Melopero Shake RP2040"
                   },

platform.txt

@@ -20,7 +20,7 @@
 # https://github.com/arduino/Arduino/wiki/Arduino-IDE-1.5---3rd-party-Hardware-specification
 
 name=Raspberry Pi RP2040 Boards
-version=1.13.1
+version=2.0.0
 
 runtime.tools.pqt-gcc.path={runtime.platform.path}/system/arm-none-eabi
 runtime.tools.pqt-python3.path={runtime.platform.path}/system/python3

tools/makeboards.py

@@ -32,7 +32,7 @@ def BuildDebugLevel(name):
         print("%s.menu.dbglvl.%s.build.debug_level=%s" % (name, l[0], l[1]))
 
 def BuildFreq(name):
-    for f in [ 125, 50, 100, 133, 150, 175, 200, 225, 250, 275, 300]:
+    for f in [ 133,  50, 100, 125, 150, 175, 200, 225, 250, 275, 300]:
         warn = ""
         if f > 133: warn = " (Overclock)"
         print("%s.menu.freq.%s=%s MHz%s" % (name, f, f, warn))
@@ -225,7 +225,6 @@ BuildGlobalMenuList()
 # Raspberry Pi
 MakeBoard("rpipico", "Raspberry Pi", "Pico", "0x2e8a", "0x000a", 250, "RASPBERRY_PI_PICO", 2, "boot2_w25q080_2_padded_checksum")
 
-
 # Adafruit
 MakeBoard("adafruit_feather", "Adafruit", "Feather RP2040", "0x239a", "0x80f1", 250, "ADAFRUIT_FEATHER_RP2040", 8, "boot2_w25x10cl_4_padded_checksum")
 MakeBoard("adafruit_itsybitsy", "Adafruit", "ItsyBitsy RP2040", "0x239a", "0x80fd", 250, "ADAFRUIT_ITSYBITSY_RP2040", 8, "boot2_w25q080_2_padded_checksum")
@@ -263,10 +262,14 @@ MakeBoard("solderparty_rp2040_stamp", "Solder Party", "RP2040 Stamp", "0x1209",
 
 # SparkFun
 MakeBoard("sparkfun_promicrorp2040", "SparkFun", "ProMicro RP2040", "0x1b4f", "0x0026", 250, "SPARKFUN_PROMICRO_RP2040", 16, "boot2_generic_03h_4_padded_checksum")
+MakeBoard("sparkfun_thingplusrp2040", "SparkFun", "Thing Plus RP2040", "0x1b4f", "0x0026", 250, "SPARKFUN_THINGPLUS_RP2040", 16, "boot2_w25q080_2_padded_checksum")
 
 # Upesy
 MakeBoard("upesy_rp2040_devkit", "uPesy", "RP2040 DevKit", "0x2e8a", "0x1007", 250, "UPESY_RP2040_DEVKIT", 2, "boot2_w25q080_2_padded_checksum")
 
+# Seeed
+MakeBoard("seeed_xiao_rp2040", "Seeed", "XAIO RP2040", "0x2e8a", "0x000a", 250, "SEEED_XAIO_RP2040", 2, "boot2_w25q080_2_padded_checksum")
+
 # WIZnet
 MakeBoard("wiznet_5100s_evb_pico", "WIZnet", "W5100S-EVB-Pico", "0x2e8a", "0x1008", 250, "WIZNET_5100S_EVB_PICO", 2, "boot2_w25q080_2_padded_checksum")
 
@@ -274,5 +277,4 @@ MakeBoard("wiznet_5100s_evb_pico", "WIZnet", "W5100S-EVB-Pico", "0x2e8a", "0x100
 MakeBoard("generic", "Generic", "RP2040", "0x2e8a", "0xf00a", 250, "GENERIC_RP2040", 16, "boot2_generic_03h_4_padded_checksum")
 
 
-
 sys.stdout.close()

variants/arduino_nano_connect/pins_arduino.h

@@ -47,8 +47,10 @@ static const uint8_t A3 = (29u);
 #define PIN_SERIAL1_TX (D1)
 #define PIN_SERIAL1_RX (D0)
 
-#define PIN_SERIAL2_TX (D25)
-#define PIN_SERIAL2_RX (D26)
+#define PIN_SERIAL2_TX  (D25)
+#define PIN_SERIAL2_RX  (D26)
+#define PIN_SERIAL2_CTS (D27)
+#define PIN_SERIAL2_RTS (D28)
 
 // SPI
 #define PIN_SPI0_MISO  (D12)

variants/dfrobot_beetle_rp2040/pins_arduino.h

@@ -4,19 +4,19 @@
 //    https://www.dfrobot.com
 
 // Not pinned out
-#define PIN_LED        (31u)
+#define PIN_LED        (13u)
 
 
-// Serial
-#define PIN_SERIAL1_TX (0u)
-#define PIN_SERIAL1_RX (1u)
+// UART0
+#define PIN_SERIAL1_TX (28u)
+#define PIN_SERIAL1_RX (29u)
 
-// Not pinned out
-#define PIN_SERIAL2_TX (31u)
-#define PIN_SERIAL2_RX (31u)
+// UART1
+#define PIN_SERIAL2_TX      (4u)
+#define PIN_SERIAL2_RX      (5u)
 
 // SPI
-#define PIN_SPI0_MISO  (0u)
+#define PIN_SPI0_MISO  (0u) 
 #define PIN_SPI0_MOSI  (3u)
 #define PIN_SPI0_SCK   (2u)
 #define PIN_SPI0_SS    (1u)
@@ -28,13 +28,18 @@
 #define PIN_SPI1_SS    (31u)
 
 // Wire
-#define PIN_WIRE0_SDA  (31u)
-#define PIN_WIRE0_SCL  (31u)
-#define PIN_WIRE1_SDA  (26u)
-#define PIN_WIRE1_SCL  (27u)
+#define PIN_WIRE0_SDA  (4u) 
+#define PIN_WIRE0_SCL  (5u) 
+#define PIN_WIRE1_SDA  (2u)
+#define PIN_WIRE1_SCL  (3u)
 
-#define SERIAL_HOWMANY (2u)
+#define SERIAL_HOWMANY (3u)
 #define SPI_HOWMANY    (1u)
-#define WIRE_HOWMANY   (1u)
+#define WIRE_HOWMANY   (2u)
+
+#define __PIN_A0 (29u)
+#define __PIN_A1 (28u)
+#define __PIN_A2 (31u)
+#define __PIN_A3 (31u)
 
 #include "../generic/common.h"

variants/seeed_xiao_rp2040/pins_arduino.h

@@ -0,0 +1,48 @@
+#pragma once
+
+// Pin definitions taken from:
+//    https://www.seeedstudio.com/XIAO-RP2040-v1-0-p-5026.html
+
+// LEDs
+#define PIN_LED        (17u)
+#define PIN_LED_R      (17u)
+#define PIN_LED_G      (16u)
+#define PIN_LED_B      (25u)
+
+// NeoPixel
+#define PIN_NEOPIXEL   (12u)
+#define NEOPIXEL_POWER (11u)
+
+// Serial1
+#define PIN_SERIAL1_TX (0u)
+#define PIN_SERIAL1_RX (1u)
+
+// Serial2 not pinned out
+#define PIN_SERIAL2_TX (31u)
+#define PIN_SERIAL2_RX (31u)
+
+// SPI
+#define PIN_SPI0_MISO  (4u)
+#define PIN_SPI0_MOSI  (3u)
+#define PIN_SPI0_SCK   (2u)
+#define PIN_SPI0_SS    (31u) // not pinned out
+
+// Not pinned out
+#define PIN_SPI1_MISO  (31u)
+#define PIN_SPI1_MOSI  (31u)
+#define PIN_SPI1_SCK   (31u)
+#define PIN_SPI1_SS    (31u)
+
+// Wire
+#define PIN_WIRE0_SDA  (6u)
+#define PIN_WIRE0_SCL  (7u)
+
+// Wire1 not pinned out
+#define PIN_WIRE1_SDA  (31u)
+#define PIN_WIRE1_SCL  (31u)
+
+#define SERIAL_HOWMANY (2u)
+#define SPI_HOWMANY    (1u)
+#define WIRE_HOWMANY   (1u)
+
+#include "../generic/common.h"

variants/sparkfun_thingplusrp2040/pins_arduino.h

@@ -0,0 +1,40 @@
+#pragma once
+
+// Taken from schematic at https://cdn.sparkfun.com/assets/e/2/7/6/b/ProMicroRP2040_Graphical_Datasheet.pdf
+
+// LEDs
+#define PIN_LED        (25u)
+
+#define PIN_NEOPIXEL   (8u)
+#define NUM_NEOPIXEL   (1)
+
+// UARTs
+#define PIN_SERIAL1_TX (0u)
+#define PIN_SERIAL1_RX (1u)
+
+#define PIN_SERIAL2_TX (31u)
+#define PIN_SERIAL2_RX (31u)
+
+// SPI
+#define PIN_SPI0_MISO  (4u)
+#define PIN_SPI0_MOSI  (3u)
+#define PIN_SPI0_SCK   (2u)
+#define PIN_SPI0_SS    (31u)
+
+#define PIN_SPI1_MISO  (12u)
+#define PIN_SPI1_MOSI  (15u)
+#define PIN_SPI1_SCK   (14u)
+#define PIN_SPI1_SS    (9u)
+
+// Wire
+#define PIN_WIRE0_SDA  (16u)
+#define PIN_WIRE0_SCL  (17u)
+
+#define PIN_WIRE1_SDA  (6u)
+#define PIN_WIRE1_SCL  (7u)
+
+#define SERIAL_HOWMANY (3u)
+#define SPI_HOWMANY    (1u)
+#define WIRE_HOWMANY   (1u)
+
+#include "../generic/common.h"