Merge remote-tracking branch 'origin/sam_rtos_debugging' into devel

Firmware/.vscode/launch.json

@@ -17,5 +17,19 @@
             ],
             "cwd": "${workspaceRoot}"
         },
+        {
+            // For the Cortex-Debug extension
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "request": "launch",
+            "name": "Debug ODrive - FreeRTOS",
+            "executable": "${workspaceRoot}/build/ODriveFirmware.elf",
+            "rtos": "FreeRTOS",
+            "configFiles": [
+                "interface/stlink-v2.cfg",
+                "target/stm32f4x_stlink.cfg",
+            ],
+            "cwd": "${workspaceRoot}"
+        },
     ]
 }

Firmware/FreeRTOS-openocd.c

@@ -0,0 +1,20 @@
+/*
+ * Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
+ * present in the kernel, so it has to be supplied by other means for
+ * OpenOCD's threads awareness.
+ *
+ * Add this file to your project, and, if you're using --gc-sections,
+ * ``--undefined=uxTopUsedPriority'' (or
+ * ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final
+ * linking) to your LDFLAGS; same with all the other symbols you need.
+ */
+
+#include "FreeRTOS.h"
+
+#ifdef __GNUC__
+#define USED __attribute__((used))
+#else
+#define USED
+#endif
+
+const int USED uxTopUsedPriority = configMAX_PRIORITIES - 1;

Firmware/Tupfile.lua

@@ -85,6 +85,7 @@ LDFLAGS += '-T'..boarddir..'/STM32F405RGTx_FLASH.ld'
 LDFLAGS += '-L'..boarddir..'/Drivers/CMSIS/Lib' -- lib dir
 LDFLAGS += '-lc -lm -lnosys -larm_cortexM4lf_math' -- libs
 LDFLAGS += '-mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float -Wl,--cref -Wl,--gc-sections'
+LDFLAGS += '-Wl,--undefined=uxTopUsedPriority'
 
 
 -- common flags for ASM, C and C++
@@ -133,7 +134,8 @@ build{
         'MotorControl/axis.cpp',
         'MotorControl/commands.cpp',
         'MotorControl/protocol.cpp',
-        'MotorControl/config.cpp'
+        'MotorControl/config.cpp',
+        'FreeRTOS-openocd.c'
     },
     includes={
         'Drivers/DRV8301',