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## Further Reading
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The canonical source for information is the [FreeRTOS Web Site](https://www.freertos.org/"FreeRTOS").
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Within this site, the [Getting Started](https://www.freertos.org/FreeRTOS-quick-start-guide.html"Quick Start Guide") page is very useful.
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The canonical source for information is the [FreeRTOS Web Site](https://www.freertos.org/).
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Within this site, the [Getting Started](https://www.freertos.org/FreeRTOS-quick-start-guide.html) page is very useful.
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I have a short blog post on [Arduino FreeRTOS](https://feilipu.me/2015/11/24/arduino_freertos/), and another much older post on using [FreeRTOS with AVR](https://feilipu.me/2011/09/22/freertos-and-libraries-for-avr-atmega/), which may be useful to read too. There are some further posts I've written on [Hackster.IO](https://www.hackster.io/feilipu), but they're essentially the same content.
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Time slices can be selected from 15ms up to 500ms. Slower time slicing can allow the Arduino MCU to sleep for longer, without the complexity of a Tickless idle.
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Watchdog period options:
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* WDTO_15MS
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* WDTO_30MS
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* WDTO_60MS
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* WDTO_120MS
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* WDTO_250MS
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* WDTO_500MS
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Note that Timer resolution is affected by integer math division and the time slice selected. Trying to measure 100ms, using a 60ms time slice for example, won't work.
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Stack for the loop() function has been set at 192 bytes. This can be configured by adjusting the configMINIMAL_STACK_SIZE parameter. If you have stack overflow issues, just increase it.
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Users should prefer to allocate larger structures, arrays, or buffers using pvPortMalloc(), rather than defining them locally on the stack.
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Memory for the heap is allocated by the normal malloc() function, wrapped by pvPortMalloc().
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*`WDTO_15MS`
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*`WDTO_30MS`
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*`WDTO_60MS`
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*`WDTO_120MS`
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*`WDTO_250MS`
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*`WDTO_500MS`
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Note that Timer resolution is affected by integer math division and the time slice selected. Trying to measure 50ms, using a 120ms time slice for example, won't work.
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Stack for the `loop()` function has been set at 192 bytes. This can be configured by adjusting the `configMINIMAL_STACK_SIZE` parameter. If you have stack overflow issues, just increase it.
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Users should prefer to allocate larger structures, arrays, or buffers using `pvPortMalloc()`, rather than defining them locally on the stack.
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Memory for the heap is allocated by the normal `malloc()` function, wrapped by `pvPortMalloc()`.
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This option has been selected because it is automatically adjusted to use the capabilities of each device.
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Other heap allocation schemes are supported by FreeRTOS, and they can used with additional configuration.
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## Errors
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* Stack Overflow: If any stack (for the loop() or) for any Task overflows, there will be a slow LED blink, with 4 second cycle.
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* Stack Overflow: If any stack (for the `loop()` or) for any Task overflows, there will be a slow LED blink, with 4 second cycle.
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* Heap Overflow: If any Task tries to allocate memory and that allocation fails, there will be a fast LED blink, with 100 millisecond cycle.
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## Errata
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Testing with the Software Serial library shows some incompatibilities at low baud rates (9600), due to the extended time this library disables the global interrupt.
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Testing with the Software Serial library shows some incompatibilities at low baud rates (9600), due to the extended time this library disables the global interrupt. Use the hardware USARTs.
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## Compatibility
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* ATmega1284p @ 24.576MHz : Seeed Studio Goldilocks, Seeed Studio Goldilocks Analogue
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* ATmega2560 @ 16MHz : Arduino Mega, Arduino ADK
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* ATmega2560 @ 16MHz : Seeed Studio ADK
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* ATmegaXXXX @ XXMHz : Anything with an ATmega MCU, really.
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## Files & Configuration
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* Arduino_FreeRTOS.h : Must always be #include first. It references other configuration files, and sets defaults where necessary.
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* FreeRTOSConfig.h : Contains a multitude of API and environment configurations.
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* FreeRTOSVariant.h : Contains the AVR specific configurations for this port of freeRTOS.
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* heap_3.c : Contains the heap allocation scheme based on malloc(). Other schemes are available, but depend on user configuration for specific MCU choice.
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*`Arduino_FreeRTOS.h` : Must always be `#include` first. It references other configuration files, and sets defaults where necessary.
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*`FreeRTOSConfig.h` : Contains a multitude of API and environment configurations.
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*`FreeRTOSVariant.h` : Contains the AVR specific configurations for this port of freeRTOS.
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*`heap_3.c` : Contains the heap allocation scheme based on `malloc()`. Other schemes are available, but depend on user configuration for specific MCU choice.
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