copied over all of the custom pcb stuff and switched connectors + added PWM headers to the power board
git-svn-id: https://robotics.mvla.net/svn/frc971/2013/trunk/src@4029 f308d9b7-e957-4cde-b6ac-9a88185e7312
diff --git a/gyro_board/src/usb/CommonDemoTasks/flash.c b/gyro_board/src/usb/CommonDemoTasks/flash.c
new file mode 100644
index 0000000..fadc899
--- /dev/null
+++ b/gyro_board/src/usb/CommonDemoTasks/flash.c
@@ -0,0 +1,146 @@
+/*
+ FreeRTOS V6.0.5 - Copyright (C) 2010 Real Time Engineers Ltd.
+
+ ***************************************************************************
+ * *
+ * If you are: *
+ * *
+ * + New to FreeRTOS, *
+ * + Wanting to learn FreeRTOS or multitasking in general quickly *
+ * + Looking for basic training, *
+ * + Wanting to improve your FreeRTOS skills and productivity *
+ * *
+ * then take a look at the FreeRTOS eBook *
+ * *
+ * "Using the FreeRTOS Real Time Kernel - a Practical Guide" *
+ * http://www.FreeRTOS.org/Documentation *
+ * *
+ * A pdf reference manual is also available. Both are usually delivered *
+ * to your inbox within 20 minutes to two hours when purchased between 8am *
+ * and 8pm GMT (although please allow up to 24 hours in case of *
+ * exceptional circumstances). Thank you for your support! *
+ * *
+ ***************************************************************************
+
+ This file is part of the FreeRTOS distribution.
+
+ FreeRTOS is free software; you can redistribute it and/or modify it under
+ the terms of the GNU General Public License (version 2) as published by the
+ Free Software Foundation AND MODIFIED BY the FreeRTOS exception.
+ ***NOTE*** The exception to the GPL is included to allow you to distribute
+ a combined work that includes FreeRTOS without being obliged to provide the
+ source code for proprietary components outside of the FreeRTOS kernel.
+ FreeRTOS 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 General Public License for
+ more details. You should have received a copy of the GNU General Public
+ License and the FreeRTOS license exception along with FreeRTOS; if not it
+ can be viewed here: http://www.freertos.org/a00114.html and also obtained
+ by writing to Richard Barry, contact details for whom are available on the
+ FreeRTOS WEB site.
+
+ 1 tab == 4 spaces!
+
+ http://www.FreeRTOS.org - Documentation, latest information, license and
+ contact details.
+
+ http://www.SafeRTOS.com - A version that is certified for use in safety
+ critical systems.
+
+ http://www.OpenRTOS.com - Commercial support, development, porting,
+ licensing and training services.
+*/
+
+/**
+ * This version of flash .c is for use on systems that have limited stack space
+ * and no display facilities. The complete version can be found in the
+ * Demo/Common/Full directory.
+ *
+ * Three tasks are created, each of which flash an LED at a different rate. The first
+ * LED flashes every 200ms, the second every 400ms, the third every 600ms.
+ *
+ * The LED flash tasks provide instant visual feedback. They show that the scheduler
+ * is still operational.
+ *
+ */
+
+
+#include <stdlib.h>
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo program include files. */
+#include "partest.h"
+#include "flash.h"
+
+#define ledSTACK_SIZE configMINIMAL_STACK_SIZE
+#define ledNUMBER_OF_LEDS ( 3 )
+#define ledFLASH_RATE_BASE ( ( portTickType ) 333 )
+
+/* Variable used by the created tasks to calculate the LED number to use, and
+the rate at which they should flash the LED. */
+static volatile unsigned portBASE_TYPE uxFlashTaskNumber = 0;
+
+/* The task that is created three times. */
+static portTASK_FUNCTION_PROTO(vLEDFlashTask, pvParameters);
+
+/*-----------------------------------------------------------*/
+
+// To continually print out the serial output, run the following command.
+// while true; do [ `ls /dev/ttyACM* 2>/dev/null` ] && ls /dev/ttyACM* | python -c "import sys; x = sys.stdin.readline()[:-1].split(' ')[0]; sys.stderr.write('Connecting to %s\n' % (x,)); print x" | xargs cat || sleep 0.25; done
+
+void vStartLEDFlashTasks(unsigned portBASE_TYPE uxPriority)
+{
+ signed portBASE_TYPE xLEDTask;
+
+ /* Create the three tasks. */
+ for (xLEDTask = 0; xLEDTask < ledNUMBER_OF_LEDS; ++xLEDTask) {
+ /* Spawn the task. */
+ xTaskCreate(vLEDFlashTask, (signed char *) "LEDx", ledSTACK_SIZE, NULL, uxPriority, (xTaskHandle *) NULL);
+ }
+}
+/*-----------------------------------------------------------*/
+
+static portTASK_FUNCTION(vLEDFlashTask, pvParameters)
+{
+ portTickType xFlashRate, xLastFlashTime;
+ unsigned portBASE_TYPE uxLED;
+
+ /* The parameters are not used. */
+ (void) pvParameters;
+
+ /* Calculate the LED and flash rate. */
+ portENTER_CRITICAL();
+ {
+ /* See which of the eight LED's we should use. */
+ uxLED = uxFlashTaskNumber;
+
+ /* Update so the next task uses the next LED. */
+ uxFlashTaskNumber++;
+ }
+ portEXIT_CRITICAL();
+
+ xFlashRate = ledFLASH_RATE_BASE + (ledFLASH_RATE_BASE * (portTickType) uxLED);
+ xFlashRate /= portTICK_RATE_MS;
+
+ /* We will turn the LED on and off again in the delay period, so each
+ delay is only half the total period. */
+ xFlashRate /= (portTickType) 2;
+
+ /* We need to initialise xLastFlashTime prior to the first call to
+ vTaskDelayUntil(). */
+ xLastFlashTime = xTaskGetTickCount();
+
+ for (;;) {
+ /* Delay for half the flash period then turn the LED on. */
+ vTaskDelayUntil(&xLastFlashTime, xFlashRate);
+ vParTestToggleLED(uxLED);
+
+ /* Delay for half the flash period then turn the LED off. */
+ vTaskDelayUntil(&xLastFlashTime, xFlashRate);
+ vParTestToggleLED(uxLED);
+ }
+} /*lint !e715 !e818 !e830 Function definition must be standard for task creation. */
+