Mastering the FreeRTOS Time kernel

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Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf
Mastering the FreeRTOS TM Real time Kernel A Hands-On Tutorial Guide Richard Barry Pre-release 161204 Edition All text, source code, and diagrams are the exclusive property of real time engineers ltd unless otherwise noted in line o Real Time Engineers Ltd. 2016. All rights reserved http://www.freertos.org http://www.freertos.org/Plus http://www.Freertos.org/labs FreeRTOS TM, FreeRTOS. org M and the FreeRTOS logo are trademarks of Real Time Engineers Ltd. OPENrTOS and SAFERTOS are trademarks of WITTENSTEIN Aerospace and Simulation Ltd. All other brands or product names are the property of their respective holders To Caroline. India and max Contents Contents… List of Figures List of Code Listings List of tables List of notation XXV Preface Multitasking in Small Embedded Systems 2 About freertos 2 Value Proposition A Note About Terminology Why Use a real-time Kernel? FreeRTOS Features Licensing, and The FreeRTOS, OpenRTOS, and SafeRTOS Family Included Source Files and projects. ..............................................................................7 Obtaining the examples that accompany this book Chapter 1 The FreeRTOS Distribution 1.1 Chapter Introduction and Scope .10 cope 10 1.2 Understanding the FreeRTOS Distribution Definition freerToS Port Building FreeRTOS..… 11 FreeRTOSConfig.h.…… 11 The official freertos distribution , wwwwwww 12 The Top Directories in the FreeRTOS Distribution 12 FreeRToS Source files common to all Ports 12 FreeRTOS Source Files Specific to a Port 14 Header files 15 1.3 Demo Applications 1.4 Creating a FreeRTOS Project Adapting one of the supplied demo projects Creating a New Project from Scratch 1.5 Data Types and Coding Style Guide 21 Data Types 21 Variable names Function names Formatting 9g Macro names 23 Rationale for EXcessive Type Casting….…..….….….….….….….…..….....24 Chapter 2 Heap Memory Management 25 2. 1 Chapter Introduction and Scope. .......................................................................26 Prerequisites .26 Dynamic Memory Allocation and its relevance to FreeRTOS 26 Options for Dynamic Memory Allocation 重重D重1重 D重重 27 Scope 28 2.2 Example memory Allocation Schemes 29 From FreeRToS V9.0.0 FreeRTOS applications can be completely statically allocated, removing the need to include a heap memory manager 29 Heap 1 29 Heap_2….….……………,…… 30 Heap_3………..………… 32 Heap 4 32 Setting a Start Address for the Array Used By Heap4………… 34 Heap 5 35 The vPortDefineHeapRegions( API Function 36 2.3 Heap Related Utility Function 41 The XPortGetFreeHeap size() API Function.……,……,…… 41 The xPortGetMinimumEverFreeHeap Size( API Function 41 Malloc failed hook functions …42 Chapter 3 Task Management 3. 1 Chapter Introduction and Scope. Scope.......45 3.2 Task functions ::::n:.::::a::.:::.::::.::::日:::::: 46 3.3 Top Level Task States 47 3.4 Creating Tasks 48 The xTask Create( API Function 48 Example 1. Creating tasks 51 Example 2. Using the task parameter 55 3.5 Task priorities 58 3.6 Time Measurement and the tick Interrupt 60 Example 3. Experimenting with priorities 62 3.7 Expanding the Not Running State 64 The blocked state 64 The Suspended state 65 The Ready State 65 Completing the State Transition Diagram 65 Example 4. Using the Blocked state to create a delay 66 The vTaskDelayUntil( API Function 70 EXample5. Converting the example tasks to use vTaskDelayUnti()……… 71

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