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FreeRTOS Programming
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FreeRTOS Programming
Programming applications using the FreeRTOS operating system
Objectives
Understanding the FreeRTOS architecture.
Discovering the various FreeRTOS services and APIs.
Learning how to develop FreeRTOS applications.
Learning how to debug FreeRTOS applications.
Becoming familiar with FreeRTOS APIs.
Managing the Task priorities and clarifying the scheduling algorithm.
Explaining the inter-task communication.
Developping interrupt service routines.
Practical labs are conducted on STM32 boards under System Workbench for STM32.
(Keil or IAR can also be used for on site courses).
ACSYS is able to adapt the course to the Cortex-M based microcontroller chosen by the customer.
See our website for the various families we are covering: ST STM32, NXP LPC and Kinetis, TI Stellaris.
Course environment
Example code, labs and solutions are provided to the attendees.
An ARM-based target board (Cortex/M) with a JTAG probe.
For open courses labs are done on STM32 boards using Sytem Workbench for STM32.
For on site courses, the customer may select Keil or IAR IDEs.
Prerequisites
Familiarity with embedded C concepts and programming
Basic knowledge of embedded processors
First day
The FreeRTOS source code
Introduction to FreeRTOS
The FreeRTOS architecture and features
The FreeRTOS license
Getting FreeRTOS source code
Files and directories structure
The demo applications
Data types and coding style
Naming conventions
FreeRTOS on the Cortex/M processors
Task Management
The Task life-cycle
Creating tasks
Deleting tasks
The Endless-loop pattern
Task Priorities
Assigning task priorities
Changing task priorities
The idle task
Idle task hooks
Scheduling
Deterministic preemptive scheduling
Scheduling strategies
Cyclic scheduling (RMA)
Deadline scheduling
Cooperative scheduling
Hybrid scheduling
Queue Management
Purpose of queue management
Basic use
Creation
Sending on a queue
Receiving from a queue
Data management
Sending compound types
Transfering large data
Second day
Resource Management
Mutual exclusion
Mutexes and binary semaphores
Deadlocks
Priority inversion
Priority inheritance
Critical sections
Critical sections
Suspending (locking) the scheduler
Gatekeeper tasks
Memory Management
FreeRTOS-provided memory allocation schemes
Allocate-only scheme
Best-fit without coalescing
Thread-safe default malloc
Checking remaining free memory
Adding an application-specific memory allocator
Interrupt Management
FreeRTOS interrupt processing
Writing ISRs in C
Interrupt safe functions
Interrupt nesting
Deferred interrupt processing
Using semaphores within an ISR
Counting semaphores
Using queues within an ISR
Tasks with interrupt synchronization
Software Timers
The timer daemon task
Timer configuration
One-Shot and Auto-reload timers
The Software Timer API
Trouble Shooting
Checking for stack problems
Common pitfalls
FreeRTOS-MPU
The Cortex/M MPU
User and privileged modes
Access permissions
Defining MPU regions
Overlapping regions
Predefined regions
Programmer-defined regions
Needed linker configuration
Practical usage tips