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ac6 >> ac6-training >> Programming >> Real-Time >> Zephyr Real Time Programming Download Catalog Download as PDF Write us Printable version

RT5 Zephyr Real Time Programming

Real-time programming applied to the Zephyr operating system

  • Learn how to develop, configure, debug and trace Zephyr applications
  • Discover the real time multitasking concept
  • Understand Real Time constraints, like determinism, preemption or interrupts
  • Understand the Zephyr kernel Services
  • Learn communication and synchronization mechanisms
  • Interactions with processor architecture features
  • Understand Zephyr memory management and data structures
  • Understand User mode and kernel mode
  • Writing a device tree
  • Writing a complete driver
Course environment
  • Theoretical course
    • Printed and PDF course material (in English)
    • The trainer answers trainees’ questions during the session and provide technical and pedagogical assistance
  • Practical activities
    • Practical activities represent from 40% to 50% of course duration
    • Example code, labs and solutions
    • Preconfigured Virtual Machine (VM) for doing labs during of after the training
    • STM3240G-Eval physical board or Qemu emulated STM32F4-Discovery board
  • 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

First Day
Real-Time Concepts
  • Base real time concepts
  • The Real Time constraints
  • Multi-task and real time
  • Tasks and Task Descriptors
    • Content of the task descriptor
    • List of task descriptors
  • Context Switch
Introduction to Zephyr
  • Zephyr Project
  • Zephyr Ecosystem
  • Why use Zephyr
  • Install and use Zephyr
  • Build and Configuration Systems
    • West
    • CMake
    • Kconfig and configuration overlay
    • Configuration tools: menuconfig and guiconfig
Zephyr Without Threads
  • Operation without Threads
  • GPIO
  • Random Number Generation
  • Utilities
  • 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
  • Task Scheduling and Preemption
    • Tick based or tickless scheduling
  • Scheduling systems and schedulability proof
    • Fixed priorities scheduling
    • RMA and EDF scheduling
  • Scheduling through Zephyr
    • Scheduling Algorithm
    • Cooperative Time Slicing
    • Preemptive Time Slicing
Second Day
Thread Management
  • Thread Control Block
  • Creating Threads
  • Threads Priorities
  • Thread States
  • Main and Idle Threads
  • Delays
  • Changing Thread Priority
  • Suspending Threads
  • Kernel Structures
    • Simple linked-list ready queue
    • Red/black tree ready queue
    • Traditional multi-queue ready queue
  • Thread Custom Data
  • Scheduling Traces
    • Runtime Statistics
    • User-Defined Tracing
    • Percepio Tracealyzer
Exercise:  Create and manage threads
Exercise:  Create periodic threads
Exercise:  Create config overlay for visual trace diagnostics using Tracealyzer
Memory Management in Zephyr
  • Memory Managers
  • Dynamic memory managers
    • K_heap
    • System heap
    • Memory Slabs
    • Memory Blocks
  • Heap Listeners
  • Stack Overflow detection
  • User Mode
  • Memory Domains
Exercise:  Understand dynamic memory allocation in Zephyr
Exercise:  Display threads information and detect stack overflow
Third Day
Resource Management
  • Mutual Exclusion
  • Critical Sections
  • Mutexes
  • Gatekeeper threads
  • Atomic
  • Lock-Free Data Structures
  • SpinLocks
Exercise:  Implement mutual exclusion between threads
Synchronization Primitives
  • Synchronization
  • Semaphores
  • The Readers/Writer Problem
  • Condition variables
  • Events and Event Groups
  • Polling
Exercise:  The producer-consumer problem, synchronize and avoid concurrent access problems
Exercise:  Understanding event bit group by synchronizing several threads
Fourth Day
Data Passing
  • Message Queues
  • Pipes
  • Queues
    • FIFOs
    • LIFOs
  • Mailboxes
  • Stacks
Exercise:  Create a print gatekeeper thread using message queue
Interrupt Management
  • Threads and Interrupts
  • Interrupts in zephyr
  • Interrupts on ARM Cortex-M
  • Handler thread
  • Queue within an ISR
  • Workqueue Threads
  • Power Management
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
Software Timers
  • 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
Fifth Day
  • Why to use modules?
  • Module structure
  • Out-of-tree module
  • YAML files
  • Module CMakeLists.txt
  • How to add and use custom Kconfigs
Exercise:  Create a simple hello world module
Exercise:  Create a module that uses custom Kconfig options
Zephyr device driver model
  • 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
  • Adding In-Tree Code to Zephyr Source Code
Exercise:  Create a driver that respects the Zephyr Device Driver Model and define devices
Exercise:  Writing in-tree drivers
Device Trees in Zephyr
  • 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
Exercise:  Create a driver that uses custom device tree and Kconfig