Training Zephyr RTOS Programming: From Theory to Practice

RT5Zephyr RTOS Programming
From Theory to Practice
Objectives
  • Learn how to develop, configure, debug and trace Zephyr applications
  • Devicetree and Kconfig usage and development
  • Using west and writing west manifest
  • Zephyr real time multitasking overview
  • Understand the Zephyr kernel Services and ecosystem
  • Learn communication and synchronization mechanisms
  • Understand Zephyr memory management and data structures
  • Understand User mode and kernel mode
  • Writing a device tree, and driver
  • Using common subsystems
  • Theoretical course
    • PDF course material (in English) supplemented by a printed version.
    • The trainer answers trainees' questions during the training and provide technical and pedagogical assistance.
  • Practical activities
    • Practical activities represent from 40% to 50% of course duration.
    • Code examples, exercises and solutions
    • One PC (Linux ou Windows) for the practical activities with, if appropriate, a target board.
      • One PC for two trainees when there are more than 6 trainees.
    • For onsite trainings:
      • An installation and test manual is provided to allow preinstallation of the needed software.
      • The trainer come with target boards if needed during the practical activities (and bring them back at the end of the course).
  • Downloadable preconfigured virtual machine for post-course practical activities
  • At the start of each session the trainer will interact with the trainees to ensure the course fits their expectations and correct if needed
  • Total: 5 days
  • From 40% to 50% of training time is devoted to practical activities
  • Some Labs may be completed between sessions and are checked by the trainer on the next session
  • Any embedded systems engineer or technician with the above prerequisites.
  • The prerequisites indicated above are assessed before the training by the technical supervision of the traineein his company, or by the trainee himself in the exceptional case of an individual trainee.
  • Trainee progress is assessed in two different ways, depending on the course:
    • For courses lending themselves to practical exercises, the results of the exercises are checked by the trainer while, if necessary, helping trainees to carry them out by providing additional details.
    • Quizzes are offered at the end of sections that do not include practical exercises to verifythat the trainees have assimilated the points presented
  • At the end of the training, each trainee receives a certificate attesting that they have successfully completed the course.
    • In the event of a problem, discovered during the course, due to a lack of prerequisites by the trainee a different or additional training is offered to them, generally to reinforce their prerequisites,in agreement with their company manager if applicable.

Course Outline

  • Zephyr Project
  • Zephyr Ecosystem
  • Why use Zephyr
  • Install and use Zephyr
  • Build and Configuration Systems
    • West
    • CMake
    • Zephyr SDK
  • Application components and structure
  • West manifest
  • Overview
  • Kconfig
    • Default configuration
    • Interactive configuration tools
    • Config fragments
  • Devicetree
    • Syntax
    • Standard properties
    • Initial devicetree source
    • Access devicetree from source code
    • Best practices
Exercise:  Write a device tree overlay
  • Operation without Threads
  • GPIO subsytem
  • Utilities
    • Container_of
    • For_each
  • Data Structures
    • Single-linked List
    • Double-linked List
    • Ring Buffers
Exercise:  Hello World from Zephyr, configure and blink LEDs using Zephyr
Exercise:  Manage Zephyr linked list and understand container_of macro
  • Thread Fundamentals
    • Thread Control Block
    • Creating Threads
    • Threads Priorities
    • Changing Thread Priority
    • Thread States
  • Main and Idle Threads
  • Delays
  • Suspending Threads
  • Kernel Structures
    • Simple linked-list ready queue
    • Red/black tree ready queue
    • Traditional multi-queue ready queue
  • Thread Custom Data
Exercise:  Create and manage threads
Exercise:  Create periodic threads
  • Runtime Statistics
  • Scheduling Traces
    • User-Defined Tracing
    • Percepio Tracealyzer
Exercise:  Create config fragment for visual trace diagnostics using Tracealyzer
  • Memory Managers
  • Dynamic memory managers
    • K_heap
    • System heap
    • Memory Slabs
    • Memory Blocks
  • Heap Listeners
  • Thread Resource Pools
  • RAM/ROM reports
  • Stack information
    • Stack Overflow detection
    • Stack analysis
Exercise:  Understand dynamic memory allocation in Zephyr
Exercise:  Display threads information and detect stack overflow
  • Overview
  • Memory Domains
    • Partitions
    • Logical apps
  • Syscalls
    • Kernel objects
    • Permissions
  • Mutual Exclusion
  • Mutexes
  • Gatekeeper threads
  • Critical Sections
  • Atomic
  • SpinLocks
  • Semaphores
  • Events
  • Polling
Exercise:  The producer-consumer problem, synchronize and avoid concurrent access problems
Exercise:  Understanding event bit group by synchronizing several threads
  • Message Queues
  • Queues
    • FIFOs
    • LIFOs
  • Mailboxes
  • Pipes
  • Stacks
  • Zephyr Bus (Zbus)
    • Zbus overview
    • Elements
    • Usage
Exercise:  Create a print gatekeeper thread using message queue
Exercise:  Synchronous communication using mailboxes
  • Threads and Interrupts
  • Interrupts in zephyr
  • Interrupts on ARM Cortex-M
  • Handler thread
  • Queue within an ISR
  • Workqueue Threads
Exercise:  Understand how to wait on multiple events and interrupt safe APIs
Exercise:  Understand how to pass data using Queues from an interrupt to a thread
Exercise:  Create and submit work items from interrupts to custom WorkQueue
  • Timers
    • Defining a Timer
    • Using a Timer Expiry Function
  • Timer types
    • One-shot timers
    • Auto-reload timers
  • Timer Commands
Exercise:  Understand the use of one-shot and auto-reload timers
  • Why to use modules?
  • Module structure
  • Out-of-tree module
  • YAML files
  • Module CMakeLists.txt
Exercise:  Create a simple hello world module
  • Advantages
  • Kconfig Options in Zephyr RTOS
  • Configuration System
  • Writing custom Kconfig Options
  • Kconfig extension
  • Using Kconfigs
Exercise:  Create a module that uses custom Kconfig options
  • Introduction to Device Drivers
  • Overview of the Zephyr device driver model
  • Standard Drivers
  • The struct device
  • Subsystems
  • API Extensions
  • Initialization Levels
  • Dependencies between device drivers
  • Define devices programmatically
Exercise:  Create a driver that respects the Zephyr Device Driver Model and define devices
  • Overview of Device Tree (DT) and its role in Zephyr
  • Device Tree VS Kconfig
  • Device Tree node structure
  • Device Tree bindings
  • Overlay and yaml files
  • APIs to access device tree properties
  • Write device drivers using device tree APIs
  • Device Tree in Zephyr VS Linux
  • Adding In-Tree Code to Zephyr Source Code
  • Common properties
    • compatible
    • reg
    • interrupts
Exercise:  Create a driver that uses custom device tree and Kconfig
Exercise:  Writing in-tree drivers
  • Overview
  • System Power Management
  • Device Power Management
    • System-Managed
    • Runtime
  • Power domains
Exercise:  Write a driver compatible with power management subsystem
Duration
5 days
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Last update of course schedule: 24 April 2025

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