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freeRTOS & libraries for AVR ATmega

freeRTOS for Arduino Uno, Goldilocks 1284p & Mega 2560

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A port of freeRTOS to flexibly use Timer0, Timer1, Timer3 (1284p or 2560), or Watchdog Timer on AVR ATmega devices commonly found in Arduino, but also in Freetronics and Pololu products.

Integrated Timer2 RTC system_time off 32.768kHz crystal for 1284p Goldilocks or other RTC equipped boards. Also works as approximate RTC off other timers using 16MHz and other crystals.

Goldilocks Analogue - Kickstarter Campaign
Hackaday Prize 2015 Quarter Finalist.

The Goldilocks Analogue story is told here.

The Goldilocks 1284p story is here.

A minimum AVR freeRTOS using the Watchdog Timer.

A minimum freeRTOS Library, available in the Arduino IDE Library manager.

freeRTOS & libraries for AVR ATmega Web Site


  • freeRTOS 8.2.3 implemented for selected AVR ATmega devices.
  • Arduino Uno, Pro, Mini, Nano, & LilyPad with ATmega328p supported.
  • Arduino Mega (Seeed ADK, Freetronics EtherMega) with ATmega2560 supported.
  • Goldilocks (Analogue) & Pololu Orangutan SVP with ATmega1284p supported.
  • Watchdog Timer supported for scheduler
  • Integrated Timer2 for real time system_time operation with 32.768kHz Crystal.
  • Multiple DAC Support: Goldilocks Analogue MCP4822, DAC8564, & WM8731.
  • Master SPI Mode on ATmega1284p USART1 for MCP4822 DAC
  • ChaN's SD Card FAT FS library (Update March 9, 2015: v0.11)
  • time.h library from avr-libc upstream for standard and esoteric time calculations
  • IP protocols, DHCP, NTP, PING, HTTP web server for WIZNET W5x00
  • W5500 Driver, same BSD Socket API as W5100
  • W5200 v1.3 Driver, same BSD Socket API as W5100
  • W5100 v1.6.1 Driver with BSD Socket API
  • USB Host support through MAX3421E for Seeed ADK (and Shields).
  • EEFS (NASA Flash File System v2.0) for SPI EEPROM, FRAM, SRAM
  • uIP (working) and uIPv6 (untested) on Wiznet (IINChip) W5x00 MACRAW
  • uIP support for BlackWidow WiFi (TESTING ONLY)
  • Library for 2560 XRAM using Rugged Circuits QuadRAM (512kB) & MegaRAM (128kB)
  • XRAMFS (16x Arduino Clients sharing 512kByte Supervisor SDRAM) for ArduSat
  • Abstract Serial to support multiple USART (1284p, 2560) and implemented fast ring buffers.
  • XBee API Mode support.
  • FTDI FT800 EVE support for the Gameduino2 (1284p, 328p) & 4D Systems ADAM
  • HD44780 for Freetronics LCD (and other) Shields (based on ChaN)
  • Nokia 6100 LCD support.
  • SM130 RFID support (TESTING ONLY)
  • stk500v2 (wiring) bootloader (with boot monitor) for Arduino Mega2560 & Goldilocks 1284p


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Additional Project Details



Intended Audience

Information Technology, Advanced End Users, Developers, Engineering

User Interface

Web-based, Console/Terminal

Programming Language



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