Verison 2.0alpha1

Initial build using FreeRTOS

9 files changed, 515 insertions, 163 deletions

diff --git a/.cproject b/.cproject
index 76cc2e2f..468a0795 100644
--- a/.cproject
+++ b/.cproject
@@ -213,6 +213,8 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/DuetNG}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/portable/GCC/ARM_CM4F}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1610427238" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAM4E8E__"/>
@@ -562,8 +564,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/DuetM}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/W5500Ethernet}&quot;"/>
-									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/W5500Ethernet/Wiznet/Ethernet}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.1565207565" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAM4S8C__"/>
@@ -691,6 +692,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking/LwipEthernet/Lwip/src/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
 								</option>
 								<option id="gnu.cpp.compiler.option.preprocessor.def.178336065" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="__SAME70Q21__"/>
@@ -709,6 +711,127 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 		</cconfiguration>
+		<cconfiguration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" moduleId="org.eclipse.cdt.core.settings" name="Duet2_RTOS">
+				<macros>
+					<stringMacro name="LinkFlags2" type="VALUE_TEXT" value="-Wl,--end-group -lm"/>
+					<stringMacro name="LinkFlags1" type="VALUE_TEXT" value="-mthumb -Wl,--cref -Wl,--check-sections -Wl,--gc-sections -Wl,--entry=Reset_Handler -Wl,--unresolved-symbols=report-all -Wl,--warn-common -Wl,--warn-section-align -Wl,--warn-unresolved-symbols -Wl,--start-group"/>
+					<stringMacro name="CoreName" type="VALUE_TEXT" value="CoreNG"/>
+					<stringMacro name="GccPath" type="VALUE_TEXT" value="C:\Program Files (x86)\GNU Tools ARM Embedded\6 2017-q2-update\bin"/>
+				</macros>
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactExtension="elf" artifactName="Duet2CombinedFirmware" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS" parent="cdt.managedbuild.config.gnu.cross.exe.release" postannouncebuildStep="Generating binary file" postbuildStep="arm-none-eabi-objcopy -O binary ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.elf ${workspace_loc:/${ProjName}/${ConfigName}}/Duet2CombinedFirmware.bin">
+					<folderInfo id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622." name="/" resourcePath="">
+						<toolChain id="cdt.managedbuild.toolchain.gnu.cross.exe.release.435431950" name="Cross GCC" superClass="cdt.managedbuild.toolchain.gnu.cross.exe.release">
+							<option id="cdt.managedbuild.option.gnu.cross.path.1881231799" name="Path" superClass="cdt.managedbuild.option.gnu.cross.path" useByScannerDiscovery="false" value="${GccPath}" valueType="string"/>
+							<option id="cdt.managedbuild.option.gnu.cross.prefix.172065168" name="Prefix" superClass="cdt.managedbuild.option.gnu.cross.prefix" useByScannerDiscovery="false" value="arm-none-eabi-" valueType="string"/>
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.targetPlatform.gnu.cross.1838379384" isAbstract="false" osList="all" superClass="cdt.managedbuild.targetPlatform.gnu.cross"/>
+							<builder buildPath="${workspace_loc:/RepRapFirmware}/Release" id="cdt.managedbuild.builder.gnu.cross.591414239" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.builder.gnu.cross"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.assembler.1539163958" name="Cross GCC Assembler" superClass="cdt.managedbuild.tool.gnu.cross.assembler">
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1036697395" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+							<tool commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${INPUTS}" id="cdt.managedbuild.tool.gnu.cross.c.compiler.463703707" name="Cross GCC Compiler" superClass="cdt.managedbuild.tool.gnu.cross.c.compiler">
+								<option defaultValue="gnu.c.optimization.level.most" id="gnu.c.compiler.option.optimization.level.456685708" name="Optimization Level" superClass="gnu.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.c.optimization.level.more" valueType="enumerated"/>
+								<option id="gnu.c.compiler.option.debugging.level.1579494397" name="Debug Level" superClass="gnu.c.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.c.debugging.level.none" valueType="enumerated"/>
+								<option id="gnu.c.compiler.option.misc.verbose.328543251" name="Verbose (-v)" superClass="gnu.c.compiler.option.misc.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
+								<option id="gnu.c.compiler.option.misc.other.465279131" name="Other flags" superClass="gnu.c.compiler.option.misc.other" useByScannerDiscovery="false" value="-c -std=gnu99 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -nostdlib -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.c.compiler.option.include.paths.288982451" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Storage}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/ioport}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/drivers}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/header_files}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/duetNG}&quot;"/>
+								</option>
+								<option id="gnu.c.compiler.option.preprocessor.def.symbols.1227675538" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" useByScannerDiscovery="false" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="__SAM4E8E__"/>
+									<listOptionValue builtIn="false" value="RTOS"/>
+									<listOptionValue builtIn="false" value="DUET_NG"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1065384487" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.cross.c.linker.1102044150" name="Cross GCC Linker" superClass="cdt.managedbuild.tool.gnu.cross.c.linker"/>
+							<tool id="cdt.managedbuild.tool.gnu.cross.archiver.1402882499" name="Cross GCC Archiver" superClass="cdt.managedbuild.tool.gnu.cross.archiver"/>
+							<tool command="gcc" commandLinePattern="${COMMAND} ${FLAGS} ${OUTPUT_FLAG} ${OUTPUT_PREFIX}${OUTPUT} ${LinkFlags1} &quot;${workspace_loc}/${CoreName}/SAM4E8E/cores/arduino/syscalls.o&quot; ${INPUTS} ${LinkFlags2}" id="cdt.managedbuild.tool.gnu.cross.cpp.linker.1768134875" name="Cross G++ Linker" superClass="cdt.managedbuild.tool.gnu.cross.cpp.linker">
+								<option id="gnu.cpp.link.option.nostdlibs.399544265" name="No startup or default libs (-nostdlib)" superClass="gnu.cpp.link.option.nostdlibs" useByScannerDiscovery="false" value="false" valueType="boolean"/>
+								<option id="gnu.cpp.link.option.paths.605414111" name="Library search path (-L)" superClass="gnu.cpp.link.option.paths" useByScannerDiscovery="false" valueType="libPaths">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/SAM4E8E_RTOS/}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/SAM4E}&quot;"/>
+								</option>
+								<option id="gnu.cpp.link.option.libs.847860449" name="Libraries (-l)" superClass="gnu.cpp.link.option.libs" useByScannerDiscovery="false" valueType="libs">
+									<listOptionValue builtIn="false" value="${CoreName}"/>
+									<listOptionValue builtIn="false" value="FreeRtos"/>
+								</option>
+								<option id="gnu.cpp.link.option.flags.161856294" name="Linker flags" superClass="gnu.cpp.link.option.flags" useByScannerDiscovery="false" value="-Os -Wl,--gc-sections -Wl,--fatal-warnings -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -T${workspace_loc:/${CoreName}/variants/duetNG/linker_scripts/gcc/flash.ld} -Wl,-Map,${workspace_loc:/${ProjName}/${ConfigName}}/${BuildArtifactFileBaseName}.map" valueType="string"/>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1270956612" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool command="g++" id="cdt.managedbuild.tool.gnu.cross.cpp.compiler.1697970502" name="Cross G++ Compiler" superClass="cdt.managedbuild.tool.gnu.cross.cpp.compiler">
+								<option id="gnu.cpp.compiler.option.optimization.level.1835678360" name="Optimization Level" superClass="gnu.cpp.compiler.option.optimization.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.optimization.level.more" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.option.debugging.level.737051102" name="Debug Level" superClass="gnu.cpp.compiler.option.debugging.level" useByScannerDiscovery="false" value="gnu.cpp.compiler.debugging.level.none" valueType="enumerated"/>
+								<option id="gnu.cpp.compiler.option.other.verbose.1225557122" name="Verbose (-v)" superClass="gnu.cpp.compiler.option.other.verbose" useByScannerDiscovery="false" value="false" valueType="boolean"/>
+								<option id="gnu.cpp.compiler.option.other.other.1423466590" name="Other flags" superClass="gnu.cpp.compiler.option.other.other" useByScannerDiscovery="false" value="-c -std=gnu++14 -mcpu=cortex-m4 -mthumb -mfpu=fpv4-sp-d16 -mfloat-abi=hard -ffunction-sections -fdata-sections -fno-threadsafe-statics -fno-rtti -fno-exceptions -nostdlib -Wdouble-promotion -fsingle-precision-constant &quot;-Wa,-ahl=$*.s&quot;" valueType="string"/>
+								<option id="gnu.cpp.compiler.option.include.paths.1505018967" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/cores/arduino}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Flash}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/SharedSpi}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Storage}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/libraries/Wire}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/clock}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/common/services/ioport}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/drivers}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/services/flash_efc}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/cmsis/sam4e/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/header_files}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/sam/utils/preprocessor}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/asf/thirdparty/CMSIS/Include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${CoreName}/variants/duetNG}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/DuetNG}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Networking}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/DuetWiFiSocketServer/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/FreeRTOS/src/portable/GCC/ARM_CM4F}&quot;"/>
+								</option>
+								<option id="gnu.cpp.compiler.option.preprocessor.def.1443248224" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" useByScannerDiscovery="false" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="__SAM4E8E__"/>
+									<listOptionValue builtIn="false" value="RTOS"/>
+									<listOptionValue builtIn="false" value="DUET_NG"/>
+									<listOptionValue builtIn="false" value="DUET_WIFI"/>
+									<listOptionValue builtIn="false" value="_XOPEN_SOURCE"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.65828751" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry excluding="src/Networking/LwipEthernet|src/Alligator|src/SAME70_TEST|src/Display|src/Duet|src/DuetM|src/RADDS" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name=""/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
 	</storageModule>
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="RepRapFirmware.cdt.managedbuild.target.gnu.cross.exe.1494358155" name="Executable" projectType="cdt.managedbuild.target.gnu.cross.exe"/>
diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index a8f44d89..c7d9cc75 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -66,4 +66,15 @@
 			</provider>
 		</extension>
 	</configuration>
+	<configuration id="cdt.managedbuild.config.gnu.cross.exe.release.516195201.976458850.241502451.170574622" name="Duet2_RTOS">
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
+			<provider class="org.eclipse.cdt.internal.build.crossgcc.CrossGCCBuiltinSpecsDetector" console="false" env-hash="1189573167678144698" id="org.eclipse.cdt.build.crossgcc.CrossGCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT Cross GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
+				<language-scope id="org.eclipse.cdt.core.g++"/>
+			</provider>
+		</extension>
+	</configuration>
 </project>
diff --git a/src/DuetNG/Pins_DuetNG.h b/src/DuetNG/Pins_DuetNG.h
index 249a3c1e..22454a40 100644
--- a/src/DuetNG/Pins_DuetNG.h
+++ b/src/DuetNG/Pins_DuetNG.h
@@ -129,6 +129,7 @@ constexpr Pin VssaSensePin = 103;
 
 // Digital pin number to turn the IR LED on (high) or off (low), also controls the DIAG LED
 constexpr Pin Z_PROBE_MOD_PIN = 34;
+constexpr Pin DiagPin = Z_PROBE_MOD_PIN;
 
 // Cooling fans
 constexpr size_t NUM_FANS = 9;
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 43dcb2c2..ce6b9cd2 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -32,6 +32,7 @@
 #include "Version.h"
 #include "SoftTimer.h"
 #include "Logger.h"
+#include "Tasks.h"
 #include "Libraries/Math/Isqrt.h"
 #include "Wire.h"
 
@@ -107,8 +108,6 @@ constexpr uint16_t driverNormalVoltageAdcReading = PowerVoltageToAdcReading(27.5
 
 #endif
 
-const uint8_t memPattern = 0xA5;
-
 static uint32_t fanInterruptCount = 0;				// accessed only in ISR, so no need to declare it volatile
 const uint32_t fanMaxInterruptCount = 32;			// number of fan interrupts that we average over
 static volatile uint32_t fanLastResetTime = 0;		// time (microseconds) at which we last reset the interrupt count, accessed inside and outside ISR
@@ -148,7 +147,7 @@ uint32_t lastSoftTimerInterruptScheduledAt = 0;
 // Urgent initialisation function
 // This is called before general init has been done, and before constructors for C++ static data have been called.
 // Therefore, be very careful what you do here!
-void UrgentInit()
+extern "C" void UrgentInit()
 {
 #if defined(DUET_NG)
 	// When the reset button is pressed on pre-production Duet WiFi boards, if the TMC2660 drivers were previously enabled then we get
@@ -172,132 +171,6 @@ void UrgentInit()
 #endif
 }
 
-// Arduino initialise and loop functions
-// Put nothing in these other than calls to the RepRap equivalents
-void setup()
-{
-	// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
-	char* heapend = sbrk(0);
-	register const char * stack_ptr asm ("sp");
-	while (heapend + 16 < stack_ptr)
-	{
-		*heapend++ = memPattern;
-	}
-
-	// Trap integer divide-by-zero.
-	// We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access.
-	SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
-
-	// When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it
-	// being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal
-	// will have gone away by now.
-#ifndef RSTC_MR_KEY_PASSWD
-// Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files
-# define RSTC_MR_KEY_PASSWD (0xA5u << 24)
-#endif
-	RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN;	// ignore any signal on the NRST pin for now so that the reset reason will show as Software
-
-#if USE_CACHE
-	// Enable the cache
-	struct cmcc_config g_cmcc_cfg;
-	cmcc_get_config_defaults(&g_cmcc_cfg);
-	cmcc_init(CMCC, &g_cmcc_cfg);
-	EnableCache();
-#endif
-
-	// Go on and do the main initialisation
-	reprap.Init();
-}
-
-void loop()
-{
-	reprap.Spin();
-}
-
-extern "C"
-{
-	// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
-	int sysTickHook()
-	{
-		reprap.Tick();
-		return 0;
-	}
-
-	// Exception handlers
-	// By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled,
-	// so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them.
-	void hardFaultDispatcher(const uint32_t *pulFaultStackAddress)
-	{
-	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
-	}
-
-	// The fault handler implementation calls a function called hardFaultDispatcher()
-	void HardFault_Handler() __attribute__((naked));
-	void HardFault_Handler()
-	{
-	    __asm volatile
-	    (
-	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
-	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
-	        " mrseq r0, msp                                             \n"
-	        " mrsne r0, psp                                             \n"
-	        " ldr r2, handler_hf_address_const                          \n"
-	        " bx r2                                                     \n"
-	        " handler_hf_address_const: .word hardFaultDispatcher       \n"
-	    );
-	}
-
-	void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress)
-	{
-	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5);
-	}
-
-	void WDT_Handler() __attribute__((naked));
-	void WDT_Handler()
-	{
-	    __asm volatile
-	    (
-	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
-	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
-	        " mrseq r0, msp                                             \n"
-	        " mrsne r0, psp                                             \n"
-	        " ldr r2, handler_wdt_address_const                         \n"
-	        " bx r2                                                     \n"
-	        " handler_wdt_address_const: .word wdtFaultDispatcher       \n"
-	    );
-	}
-
-	void otherFaultDispatcher(const uint32_t *pulFaultStackAddress)
-	{
-	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5);
-	}
-
-	// The fault handler implementation calls a function called otherFaultDispatcher()
-	void OtherFault_Handler() __attribute__((naked));
-	void OtherFault_Handler()
-	{
-	    __asm volatile
-	    (
-	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
-	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
-	        " mrseq r0, msp                                             \n"
-	        " mrsne r0, psp                                             \n"
-	        " ldr r2, handler_oflt_address_const                        \n"
-	        " bx r2                                                     \n"
-	        " handler_oflt_address_const: .word otherFaultDispatcher    \n"
-	    );
-	}
-
-	// We could set up the following fault handlers to retrieve the program counter in the same way as for a Hard Fault,
-	// however these exceptions are unlikely to occur, so for now we just report the exception type.
-	void NMI_Handler        () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::NMI); }
-
-	// 2017-05-25: A user is getting 'otherFault' reports, so now we do a stack dump for those too.
-	void SVC_Handler		() __attribute__ ((alias("OtherFault_Handler")));
-	void DebugMon_Handler   () __attribute__ ((alias("OtherFault_Handler")));
-	void PendSV_Handler		() __attribute__ ((alias("OtherFault_Handler")));
-}
-
 //*************************************************************************************************
 // Platform class
 
@@ -327,6 +200,8 @@ Platform::Platform() :
 // Initialise the Platform. Note: this is the first module to be initialised, so don't call other modules from here!
 void Platform::Init()
 {
+	pinMode(DiagPin, OUTPUT_LOW);				// set up diag LED for debugging and turn it off
+
 	// Deal with power first
 	pinMode(ATX_POWER_PIN, OUTPUT_LOW);
 	deferredPowerDown = false;
@@ -369,6 +244,7 @@ void Platform::Init()
 #if SAM4E || SAM4S || SAME70
 	// Read the unique ID of the MCU
 	memset(uniqueId, 0, sizeof(uniqueId));
+
 	DisableCache();
 	cpu_irq_disable();
 	const uint32_t rc = flash_read_unique_id(uniqueId, 4);
@@ -1878,7 +1754,12 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
 		srdBuf[slot].magic = SoftwareResetData::magicValue;
 		srdBuf[slot].resetReason = reason;
 		srdBuf[slot].when = (uint32_t)realTime;			// some compilers/libraries use 64-bit time_t
-		GetStackUsage(nullptr, nullptr, &srdBuf[slot].neverUsedRam);
+#ifdef RTOS
+		// Should we store the stack data for any other task(s) here?
+		Tasks::GetHandlerStackUsage(nullptr, &srdBuf[slot].neverUsedRam);
+#else
+		Tasks::GetStackUsage(nullptr, nullptr, &srdBuf[slot].neverUsedRam);
+#endif
 		srdBuf[slot].hfsr = SCB->HFSR;
 		srdBuf[slot].cfsr = SCB->CFSR;
 		srdBuf[slot].icsr = SCB->ICSR;
@@ -1936,8 +1817,10 @@ void Platform::InitialiseInterrupts()
 	NVIC_SetPriority(WDT_IRQn, NvicPriorityWatchdog);			// set priority for watchdog interrupts
 #endif
 
+#ifndef RTOS
 	// Set the tick interrupt to the highest priority. We need to to monitor the heaters and kick the watchdog.
 	NVIC_SetPriority(SysTick_IRQn, NvicPrioritySystick);		// set priority for tick interrupts
+#endif
 
 #if SAM4E || SAME70
 	NVIC_SetPriority(UART0_IRQn, NvicPriorityPanelDueUart);		// set priority for UART interrupt
@@ -2138,7 +2021,8 @@ void Platform::Diagnostics(MessageType mtype)
 #endif
 
 	// Print memory stats and error codes to USB and copy them to the current webserver reply
-	const char *ramstart =
+	{
+		const char * const ramstart =
 #if SAME70
 			(char *) 0x20400000;
 #elif SAM4E || SAM4S
@@ -2148,14 +2032,23 @@ void Platform::Diagnostics(MessageType mtype)
 #else
 # error Unsupported processor
 #endif
-	const struct mallinfo mi = mallinfo();
-	MessageF(mtype, "Static ram used: %d\n", &_end - ramstart);
-	MessageF(mtype, "Dynamic ram used: %d\n", mi.uordblks);
-	MessageF(mtype, "Recycled dynamic ram: %d\n", mi.fordblks);
-	uint32_t currentStack, maxStack, neverUsed;
-	GetStackUsage(&currentStack, &maxStack, &neverUsed);
-	MessageF(mtype, "Stack ram used: %" PRIu32 " current, %" PRIu32 " maximum\n", currentStack, maxStack);
-	MessageF(mtype, "Never used ram: %" PRIu32 "\n", neverUsed);
+		MessageF(mtype, "Static ram used: %d\n", &_end - ramstart);
+
+		const struct mallinfo mi = mallinfo();
+		MessageF(mtype, "Dynamic ram used: %d\n", mi.uordblks);
+		MessageF(mtype, "Recycled dynamic ram: %d\n", mi.fordblks);
+
+		uint32_t maxStack, neverUsed;
+#ifdef RTOS
+		Tasks::GetHandlerStackUsage(&maxStack, &neverUsed);
+		MessageF(mtype, "Handler stack ram used: %" PRIu32 "\n", maxStack);
+#else
+		uint32_t currentStack;
+		Tasks::GetStackUsage(&currentStack, &maxStack, &neverUsed);
+		MessageF(mtype, "Stack ram used: %" PRIu32 " current, %" PRIu32 " maximum\n", currentStack, maxStack);
+#endif
+		MessageF(mtype, "Never used ram: %" PRIu32 "\n", neverUsed);
+	}
 
 	// Show the up time and reason for the last reset
 	const uint32_t now = (uint32_t)(millis64()/1000u);		// get up time in seconds
@@ -2334,6 +2227,10 @@ void Platform::Diagnostics(MessageType mtype)
 	MessageF(mtype, "Soft timer interrupts executed %u, next %u scheduled at %u, now %u\n",
 		numSoftTimerInterruptsExecuted, STEP_TC->TC_CHANNEL[STEP_TC_CHAN].TC_RB, lastSoftTimerInterruptScheduledAt, GetInterruptClocks());
 #endif
+
+#ifdef RTOS
+	Tasks::CurrentTaskDiagnostics(mtype);
+#endif
 }
 
 bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d)
@@ -2565,24 +2462,6 @@ bool Platform::DiagnosticTest(GCodeBuffer& gb, const StringRef& reply, int d)
 	return false;
 }
 
-extern "C" uint32_t _estack;		// this is defined in the linker script
-
-// Return the stack usage and amount of memory that has never been used, in bytes
-void Platform::GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed) const
-{
-	const char * const ramend = (const char *)&_estack;
-	register const char * stack_ptr asm ("sp");
-	const char * const heapend = sbrk(0);
-	const char * stack_lwm = heapend;
-	while (stack_lwm < stack_ptr && *stack_lwm == memPattern)
-	{
-		++stack_lwm;
-	}
-	if (currentStack != nullptr) { *currentStack = ramend - stack_ptr; }
-	if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
-	if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
-}
-
 void Platform::ClassReport(uint32_t &lastTime)
 {
 	const Module spinningModule = reprap.GetSpinningModule();
diff --git a/src/Platform.h b/src/Platform.h
index 253b66ec..f1a16a35 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -181,7 +181,12 @@ enum class SoftwareResetReason : uint16_t
 	hardFault = 0x30,				// most exceptions get escalated to a hard fault
 	stuckInSpin = 0x40,				// we got stuck in a Spin() function for too long
 	wdtFault = 0x50,				// secondary watchdog
+	usageFault = 0x60,
 	otherFault = 0x70,
+	stackOverflow = 0x80,
+	assertCalled = 0xA0,
+
+	// Bits that are or'ed in
 	inAuxOutput = 0x0800,			// this bit is or'ed in if we were in aux output at the time
 	inLwipSpin = 0x2000,			// we got stuck in a call to LWIP for too long
 	inUsbOutput = 0x4000,			// this bit is or'ed in if we were in USB output at the time
@@ -713,7 +718,6 @@ private:
 	uint32_t errorCodeBits;
 
 	void InitialiseInterrupts();
-	void GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed) const;
 
 	// DRIVES
 	void SetDriverCurrent(size_t driver, float current, int code);
diff --git a/src/RepRap.cpp b/src/RepRap.cpp
index e9f76235..a51761d6 100644
--- a/src/RepRap.cpp
+++ b/src/RepRap.cpp
@@ -119,7 +119,7 @@ void RepRap::Init()
 #if SUPPORT_12864_LCD
  	display->Init();
 #endif
-	active = true;						// must do this before we start the network, else the watchdog may time out
+	active = true;						// must do this before we start the network or call Spin(), else the watchdog may time out
 
 	platform->MessageF(UsbMessage, "%s Version %s dated %s\n", FIRMWARE_NAME, VERSION, DATE);
 
diff --git a/src/Tasks.cpp b/src/Tasks.cpp
new file mode 100644
index 00000000..9e9b69fb
--- /dev/null
+++ b/src/Tasks.cpp
@@ -0,0 +1,301 @@
+/*
+ * Startup.cpp
+ *
+ *  Created on: 26 Mar 2018
+ *      Author: David
+ */
+
+#include "Tasks.h"
+#include "RepRap.h"
+#include "Platform.h"
+
+#ifdef RTOS
+# include "FreeRTOS.h"
+# include "task.h"
+#endif
+
+const uint8_t memPattern = 0xA5;
+
+extern "C" char *sbrk(int i);
+
+#ifdef RTOS
+const uint32_t MainTaskStackSize = 2048;			// task stack size in dwords
+const uint32_t MainTaskPriority = 1;
+
+static StackType_t mainTaskStack[MainTaskStackSize];
+static StaticTask_t mainTaskBuffer;
+static TaskHandle_t mainTaskHandle;
+
+extern "C" void MainTask(void * pvParameters);
+#endif
+
+// Application entry point
+extern "C" void AppMain()
+{
+	// Fill the free memory with a pattern so that we can check for stack usage and memory corruption
+	char* heapend = sbrk(0);
+	register const char * stack_ptr asm ("sp");
+	while (heapend + 16 < stack_ptr)
+	{
+		*heapend++ = memPattern;
+	}
+
+	// Trap integer divide-by-zero.
+	// We could also trap unaligned memory access, if we change the gcc options to not generate code that uses unaligned memory access.
+	SCB->CCR |= SCB_CCR_DIV_0_TRP_Msk;
+
+	// When doing a software reset, we disable the NRST input (User reset) to prevent the negative-going pulse that gets generated on it
+	// being held in the capacitor and changing the reset reason from Software to User. So enable it again here. We hope that the reset signal
+	// will have gone away by now.
+#ifndef RSTC_MR_KEY_PASSWD
+// Definition of RSTC_MR_KEY_PASSWD is missing in the SAM3X ASF files
+# define RSTC_MR_KEY_PASSWD (0xA5u << 24)
+#endif
+	RSTC->RSTC_MR = RSTC_MR_KEY_PASSWD | RSTC_MR_URSTEN;	// ignore any signal on the NRST pin for now so that the reset reason will show as Software
+
+#if USE_CACHE
+	// Enable the cache
+	struct cmcc_config g_cmcc_cfg;
+	cmcc_get_config_defaults(&g_cmcc_cfg);
+	cmcc_init(CMCC, &g_cmcc_cfg);
+	EnableCache();
+#endif
+
+#ifdef RTOS
+	// Create the startup task
+	mainTaskHandle = xTaskCreateStatic(MainTask, "MAIN", ARRAY_SIZE(mainTaskStack), nullptr, MainTaskPriority, mainTaskStack, &mainTaskBuffer);
+	vTaskStartScheduler();			// doesn't return
+}
+
+extern "C" void MainTask(void *pvParameters)
+{
+#endif
+	reprap.Init();
+	for (;;)
+	{
+		reprap.Spin();
+	}
+}
+
+extern "C" uint32_t _estack;		// this is defined in the linker script
+
+namespace Tasks
+{
+
+#ifdef RTOS
+
+	void GetHandlerStackUsage(uint32_t* maxStack, uint32_t* neverUsed)
+	{
+		const char * const ramend = (const char *)&_estack;
+		const char * const heapend = sbrk(0);
+		const char * stack_lwm = heapend;
+		while (stack_lwm < ramend && *stack_lwm == memPattern)
+		{
+			++stack_lwm;
+		}
+		if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
+		if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
+	}
+
+	static void TaskDiagnostics(MessageType mtype, TaskHandle_t ct)
+	{
+		TaskStatus_t taskDetails;
+		vTaskGetInfo(ct, &taskDetails, pdTRUE, eInvalid);
+		reprap.GetPlatform().MessageF(mtype, "Task %s: state %d stack rem %u\n", taskDetails.pcTaskName, (int)taskDetails.eCurrentState, (unsigned int)taskDetails.usStackHighWaterMark);
+	}
+
+	// Write data about the current task
+	void CurrentTaskDiagnostics(MessageType mtype)
+	{
+		const TaskHandle_t ct = xTaskGetCurrentTaskHandle();
+		TaskDiagnostics(mtype, ct);
+	}
+
+#else
+
+	// Return the system stack usage and amount of memory that has never been used, in bytes
+	void GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed)
+	{
+		const char * const ramend = (const char *)&_estack;
+		const char * const heapend = sbrk(0);
+		const char * stack_lwm = heapend;
+		register const char * stack_ptr asm ("sp");
+		while (stack_lwm < stack_ptr && *stack_lwm == memPattern)
+		{
+			++stack_lwm;
+		}
+		if (currentStack != nullptr) { *currentStack = ramend - stack_ptr; }
+		if (maxStack != nullptr) { *maxStack = ramend - stack_lwm; }
+		if (neverUsed != nullptr) { *neverUsed = stack_lwm - heapend; }
+	}
+
+#endif
+}
+
+#ifdef RTOS
+
+static StaticTask_t xIdleTaskTCB;
+static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
+
+extern "C" void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer,
+                                    StackType_t **ppxIdleTaskStackBuffer,
+                                    uint32_t *pulIdleTaskStackSize )
+{
+    /* Pass out a pointer to the StaticTask_t structure in which the Idle task's state will be stored. */
+    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
+
+    /* Pass out the array that will be used as the Idle task's stack. */
+    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
+
+    /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer. */
+    *pulIdleTaskStackSize = ARRAY_SIZE(uxIdleTaskStack);
+}
+
+static StaticTask_t xTimerTaskTCB;
+static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
+
+extern "C" void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer,
+                                     StackType_t **ppxTimerTaskStackBuffer,
+                                     uint32_t *pulTimerTaskStackSize )
+{
+    /* Pass out a pointer to the StaticTask_t structure in which the Timer task's state will be stored. */
+    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
+
+    /* Pass out the array that will be used as the Timer task's stack. */
+    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
+
+    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer. */
+    *pulTimerTaskStackSize = ARRAY_SIZE(uxTimerTaskStack);
+}
+
+#endif
+
+// Exception handlers
+extern "C"
+{
+	// This intercepts the 1ms system tick. It must return 'false', otherwise the Arduino core tick handler will be bypassed.
+	int sysTickHook()
+	{
+		reprap.Tick();
+		return 0;
+	}
+
+	// Exception handlers
+	// By default the Usage Fault, Bus Fault and Memory Management fault handlers are not enabled,
+	// so they escalate to a Hard Fault and we don't need to provide separate exception handlers for them.
+	void hardFaultDispatcher(const uint32_t *pulFaultStackAddress)
+	{
+	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
+	}
+
+	// The fault handler implementation calls a function called hardFaultDispatcher()
+	void HardFault_Handler() __attribute__((naked));
+	void HardFault_Handler()
+	{
+	    __asm volatile
+	    (
+	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
+	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
+	        " mrseq r0, msp                                             \n"
+	        " mrsne r0, psp                                             \n"
+	        " ldr r2, handler_hf_address_const                          \n"
+	        " bx r2                                                     \n"
+	        " handler_hf_address_const: .word hardFaultDispatcher       \n"
+	    );
+	}
+
+	void wdtFaultDispatcher(const uint32_t *pulFaultStackAddress)
+	{
+	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::wdtFault, pulFaultStackAddress + 5);
+	}
+
+	void WDT_Handler() __attribute__((naked));
+	void WDT_Handler()
+	{
+	    __asm volatile
+	    (
+	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
+	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
+	        " mrseq r0, msp                                             \n"
+	        " mrsne r0, psp                                             \n"
+	        " ldr r2, handler_wdt_address_const                         \n"
+	        " bx r2                                                     \n"
+	        " handler_wdt_address_const: .word wdtFaultDispatcher       \n"
+	    );
+	}
+
+	void otherFaultDispatcher(const uint32_t *pulFaultStackAddress)
+	{
+	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::otherFault, pulFaultStackAddress + 5);
+	}
+
+	// 2017-05-25: A user is getting 'otherFault' reports, so now we do a stack dump for those too.
+	// The fault handler implementation calls a function called otherFaultDispatcher()
+	void OtherFault_Handler() __attribute__((naked));
+	void OtherFault_Handler()
+	{
+	    __asm volatile
+	    (
+	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
+	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
+	        " mrseq r0, msp                                             \n"
+	        " mrsne r0, psp                                             \n"
+	        " ldr r2, handler_oflt_address_const                        \n"
+	        " bx r2                                                     \n"
+	        " handler_oflt_address_const: .word otherFaultDispatcher    \n"
+	    );
+	}
+
+	// We could set up the following fault handlers to retrieve the program counter in the same way as for a Hard Fault,
+	// however these exceptions are unlikely to occur, so for now we just report the exception type.
+	void NMI_Handler        () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::NMI); }
+	void UsageFault_Handler () { reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::usageFault); }
+
+	void DebugMon_Handler   () __attribute__ ((alias("OtherFault_Handler")));
+
+#ifdef RTOS
+	// FreeRTOS hooks that we need to provide
+	void stackOverflowDispatcher(const uint32_t *pulFaultStackAddress)
+	{
+	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::stackOverflow, pulFaultStackAddress + 5);
+	}
+
+	void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) __attribute((naked));
+	void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName)
+	{
+	    __asm volatile
+	    (
+	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
+	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
+	        " mrseq r0, msp                                             \n"
+	        " mrsne r0, psp                                             \n"
+	        " ldr r2, handler_sovf_address_const                        \n"
+	        " bx r2                                                     \n"
+	        " handler_sovf_address_const: .word stackOverflowDispatcher \n"
+	    );
+	}
+
+	void assertCalledDispatcher(const uint32_t *pulFaultStackAddress)
+	{
+	    reprap.GetPlatform().SoftwareReset((uint16_t)SoftwareResetReason::assertCalled, pulFaultStackAddress + 5);
+	}
+
+	void vAssertCalled(uint32_t line, const char *file) __attribute((naked));
+	void vAssertCalled(uint32_t line, const char *file)
+	{
+	    __asm volatile
+	    (
+	        " tst lr, #4                                                \n"		/* test bit 2 of the EXC_RETURN in LR to determine which stack was in use */
+	        " ite eq                                                    \n"		/* load the appropriate stack pointer into R0 */
+	        " mrseq r0, msp                                             \n"
+	        " mrsne r0, psp                                             \n"
+	        " ldr r2, handler_asrt_address_const                        \n"
+	        " bx r2                                                     \n"
+	        " handler_asrt_address_const: .word assertCalledDispatcher  \n"
+	    );
+	}
+#endif
+
+}
+
+// End
diff --git a/src/Tasks.h b/src/Tasks.h
new file mode 100644
index 00000000..7822c201
--- /dev/null
+++ b/src/Tasks.h
@@ -0,0 +1,27 @@
+/*
+ * Startup.h
+ *
+ *  Created on: 26 Mar 2018
+ *      Author: David
+ */
+
+#ifndef SRC_TASKS_H_
+#define SRC_TASKS_H_
+
+#include "RepRapFirmware.h"
+#include "MessageType.h"
+
+void setup();
+void loop();
+
+namespace Tasks
+{
+#ifdef RTOS
+	void GetHandlerStackUsage(uint32_t* maxStack, uint32_t* neverUsed);
+	void CurrentTaskDiagnostics(MessageType mtype);
+#else
+	void GetStackUsage(uint32_t* currentStack, uint32_t* maxStack, uint32_t* neverUsed);
+#endif
+}
+
+#endif /* SRC_TASKS_H_ */
diff --git a/src/Version.h b/src/Version.h
index 09aa937a..55e79c07 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -8,12 +8,18 @@
 #ifndef SRC_VERSION_H_
 #define SRC_VERSION_H_
 
+#ifdef RTOS
+# define RTOSVER "(RTOS)"
+#else
+# define RTOSVER
+#endif
+
 #ifndef VERSION
-# define VERSION "1.21"
+# define VERSION "2.0" RTOSVER "alpha1"
 #endif
 
 #ifndef DATE
-# define DATE "2018-03-21"
+# define DATE "2018-03-28"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"