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    Free RTOS

    Uploaded by

    Soumil Gupta

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Free RTOS

    Uploaded by

    Soumil Gupta
    25 views9 pages

    Original Title

    FreeRTOS

    Copyright

    © © All Rights Reserved

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    PDF, TXT or read online from Scribd

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    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    25 views9 pages

    Free RTOS

    Uploaded by

    Soumil Gupta

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    You are on page 1of 9

    ESP-IDF FreeRTOS

    FreeRTOS Overview
    ESP-IDF FreeRTOS Overview
    • Lesson content

    • FreeRTOS documentation and resources

    • ESP-IDF RTOS differences from Vanilla FreeRTOS and ESP-IDF application startup

    • FreeRTOS task states

    • ESP-IDF FreeRTOS task creation and xTaskCreatePinnedToCore API

    • Use of vTaskDelay
    FreeRTOS Resources
    • FreeRTOS is a real-time operating system kernel for embedded devices.

    • What is an RTOS? → https://www.freertos.org/about-RTOS.html

    • FreeRTOS Books → https://www.freertos.org/Documentation/RTOS_book.html

    • RTOS Fundamentals → https://www.freertos.org/implementation/a00002.html

    • ESP-IDF FreeRTOS → https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-


    reference/system/freertos.html
    ESP-IDF FreeRTOS
    • Differences from Vanilla FreeRTOS

    • The ESP-IDF FreeRTOS is adapted for multi-core support.

    • Unlike Vanilla FreeRTOS, we don’t have to call vTaskStartScheduler.

    • FreeRTOS task stack size is specified in Bytes in ESP-IDF FreeRTOS not Words.

    • Application Startup Flow

    • app_main and application startup → https://docs.espressif.com/projects/esp-


    idf/en/latest/esp32/api-guides/startup.html
    FreeRTOS Task Creation
    • Create tasks using the FreeRTOS xTaskCreate APIs

    • We must include freertos/task.h.

    • xTaskCreate → Lets the ESP-IDF FreeRTOS choose which core the task runs on.

    • xTaskCreatePinnedToCore → Allows for specifying which core the task runs on.
    xTaskCreatePinnedToCore Parameters
    BaseType_t xTaskCreatePinnedToCore(TaskFunction_t pvTaskCode, const char *const pcName, const uint32_t usStackDepth,
    void *const pvParameters, UBaseType_t uxPriority, TaskHandle_t *const pvCreatedTask, const BaseType_t xCoreID)

    • pvTaskCode → This is the custom C function (task) that runs in an infinite loop.

    • pcName → Descriptive name for the task. Only used as a debugging aid.

    • usStackDepth → Memory in bytes that should be allocated by the kernel to the task.

    • pvParameters → Optional parameter. Pointer that can be used by the task.

    • uxPriority → The priority at which the task should run on. Higher priority number
    takes precedence.

    • pvCreatedTask → Optional task handle by which the created task can be referenced,
    e.g., if you need to use various FreeRTOS APIs, like, vTaskDelete.

    • xCoreID → The core of the ESP32 the task is assigned to (Core 0 or Core 1).
    FreeRTOS Tasks
    • FreeRTOS task states → https://www.freertos.org/RTOS-task-states.html

    • Running → Executing and utilizing the processor.

    • Ready → Able to execute (not in the Blocked or Suspended states).

    • Blocked → Because of temporal event, e.g., call to vTaskDelay or external event, e.g.,
    waiting for a queue, semaphore, event group, notification or semaphore event.

    • Suspended → There is no timeout and tasks only enter and exit the Suspended state
    when explicitly commanded to do so using vTaskSuspend or xTaskResume API calls.
    vTaskDelay
    • vTaskDelay is used to send a task into Blocked state for a set number of Ticks.

    • The actual time that the task remains blocked depends on the tick rate.

    • The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
    rate – with the resolution of one tick period.
    Next lesson

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