added freeRTOS on linux build

mission/mission.c

@@ -0,0 +1,102 @@
+/* Standard includes. */
+#include <limits.h>
+#include <stdio.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "semphr.h"
+#include "task.h"
+
+void rust_main();
+
+// called to stop execution (either a panic or program ended)
+// to be implemented by bsp (do not return from it!)
+void done();
+
+void init_task(void *) {
+  // printf("Starting Mission\n");
+
+  rust_main();
+
+  // printf("Started Tasks, deleting init task\n");
+
+  done();
+
+  vTaskDelete(NULL);
+}
+
+void mission(void) {
+
+  int taskParameters = 0;
+
+  static const size_t stackSizeWords = 102400;
+  StaticTask_t xTaskBuffer;
+  StackType_t xStack[stackSizeWords];
+
+  xTaskCreate(init_task, /* The function that implements the task. */
+              "init", /* The text name assigned to the task - for debug only as
+                         it is not used by the  kernel. */
+              10240,  /* The size of the stack to allocate to the task. */
+              &taskParameters, /* The parameter passed to the task - not used in
+                                  this simple case. */
+              4,               /* The priority assigned to the task. */
+              NULL);
+
+  vTaskStartScheduler();
+
+  /* If all is well, the scheduler will now be running, and the following
+  line will never be reached.  If the following line does execute, then
+  there was either insufficient FreeRTOS heap memory available for the idle
+  and/or timer tasks to be created, or vTaskStartScheduler() was called from
+  User mode.  See the memory management section on the FreeRTOS web site for
+  more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
+  mode from which main() is called is set in the C start up code and must be
+  a privileged mode (not user mode). */
+
+  done();
+
+  for (;;)
+    ;
+  /* Don't expect to reach here. */
+  return;
+}
+
+/*-----------------------------------------------------------*/
+void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
+  (void)pcTaskName;
+  (void)pxTask;
+
+  /* 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. */
+  taskDISABLE_INTERRUPTS();
+  // TODO panic
+  for (;;)
+    ;
+}
+
+/*-----------------------------------------------------------*/
+void rust_alloc_failed();
+
+void vApplicationMallocFailedHook(void) {
+  /* Called if a call to pvPortMalloc() fails because there is insufficient
+  free memory available in the FreeRTOS heap.  pvPortMalloc() is called
+  internally by FreeRTOS API functions that create tasks, queues, software
+  timers, and semaphores.  The size of the FreeRTOS heap is set by the
+  configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
+  taskDISABLE_INTERRUPTS();
+  rust_alloc_failed();
+  for (;;)
+    ;
+}
+
+void rust_assert_called(const char *pcFile, unsigned long ulLine);
+
+void vAssertCalled(const char *pcFile, unsigned long ulLine) {
+  taskDISABLE_INTERRUPTS();
+  rust_assert_called(pcFile, ulLine);
+}
+
+/*-----------------------------------------------------------*/
+
+/*-----------------------------------------------------------*/