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    FreeRTOS - Tasks

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    Mani Kandan K
    FreeRTOS provides task management functionality including task states (not running, ready, blocked, suspended), creating tasks by specifying a task function, name, stack size, parameters, and priority. Tasks can be prioritized and delayed to wait for events. The idle task runs when no other tasks are ready. The idle hook function allows background processing. Mixing blocking and non-blocking tasks is possible.

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    © All Rights Reserved
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    FreeRTOS - Tasks

    Uploaded by

    Mani Kandan K
    127 views31 pages
    FreeRTOS provides task management functionality including task states (not running, ready, blocked, suspended), creating tasks by specifying a task function, name, stack size, parameters, and priority. Tasks can be prioritized and delayed to wait for events. The idle task runs when no other tasks are ready. The idle hook function allows background processing. Mixing blocking and non-blocking tasks is possible.

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    Free rtos

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    FreeRTOS provides task management functionality including task states (not running, ready, blocked, suspended), creating tasks by specifying a task function, name, stack size, parameters, and priority. Tasks can be prioritized and delayed to wait for events. The idle task runs when no other tasks are ready. The idle hook function allows background processing. Mixing blocking and non-blocking tasks is possible.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    127 views31 pages

    FreeRTOS - Tasks

    Uploaded by

    Mani Kandan K
    FreeRTOS provides task management functionality including task states (not running, ready, blocked, suspended), creating tasks by specifying a task function, name, stack size, parameters, and priority. Tasks can be prioritized and delayed to wait for events. The idle task runs when no other tasks are ready. The idle hook function allows background processing. Mixing blocking and non-blocking tasks is possible.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 31

    FreeRTOS

    Task Management
    Task (Implementing) Function
    Task States

    “Not Running” is a “Super State”, encompassing multiple states


    Creating a Task

    • pvTaskCode – A pointer to the task function


    • pcName – Descriptive task name used during profiling
    • usStackDepth – Stack depth/size
    • pvParameters – Pointer to task parameters
    • uxPriority – Task priority
    • pxCreatedTask – Returns a task “handle”

    Returns success or failure


    Example 1 – Task 1
    Task 2
    Creating the Tasks
    Execution Behavior
    Task Execution
    Using the Task Parameters

    Rather than duplicate the task function, use the


    parameters to differentiate two instances
    Example 2 – Task Parameters

    Same behavior,
    but less program
    memory space
    Task Priorities
    • When one or more tasks of equal priority are
    all “Ready”, the scheduler will cycle through
    each one.
    Task Priorities

    • On the other hand, if one of the tasks is a


    higher priority, it will always be selected …
    Example 3 – Task Priority
    Example 3 – Task Execution
    Task Starvation
    • Even though each task has a SW delay loop,
    the task continues to “run” if it is in the
    “Running” state, polling the SW variable.

    • Thus, Task 1 is “starved” because Task 2 is a


    higher priority and is always “Ready.”

    • Need a way for Task 2 to “wait”, but not run …


    “Not Running” Super State
    • When “Not Running,” a task may be in one of
    three sub-states:

    • “Ready” – The task is ready to run if selected

    • “Blocked” – The task is waiting for an event

    • “Suspended” – The task enters and exits this


    state only through API functions (rarely used)
    Full Task State Machine
    Tasks can enter the “Blocked” state to wait for
    two types of events:

    -Temporal Events, e.g. delaying for a fixed


    amount or until an absolute time

    -Synchronization Events, e.g., waiting for data

    Synchronization events can come in many forms


    and can be combined with delay events, e.g. wait
    for data until a time period has elapsed.
    Task Delay using vTaskDelay()
    Example 4
    Example 4 – Task Execution
    The Idle Task
    • Created when the scheduler starts

    • Ensures “something” can always run

    • Runs at the lowest priority (0)

    • Later, we will add background processing to


    the Idle Task
    Mixing Blocking/Non-Blocking Tasks
    • Previous example had polling of a software
    variable or “blocking” for a fixed tick count

    • Next example mixes “continuous” processing


    (always “ready” or “running”) with blocking

    • Two non-blocking tasks at priority 1 and a


    blocking task at priority 2
    Continuous Task - Example 6
    Blocking Task – Example 6

    vTaskDelayUntil() is better for accurate scheduling of periodic tasks. Why? 


    Execution – Example 6
    The Idle “Hook/Callback” Function
    • Must be enabled in FreeRTOSConfig.h
    • Must be named vApplicationIdleHook()
    • No arguments, no return value
    • Must allow Idle Task to run
    – Must never block or suspend
    – If a task is deleted (vTaskDelete) then the Idle
    hook must return within “reasonable” time
    – This allows the Idle Task to perform “cleanup”, i.e.,
    release unneeded resources
    Simple Idle Hook Function
    Task Function
    Output Result – Example 7

    The Idle Hook function is called one per iteration of the Idle Task loop. The Idle Task
    yields at the end of every loop iteration, changing its state to “Ready” and allowing
    other tasks to run, even if they are the same priority. If all other tasks are blocked or
    suspended, then the Idle Hook function can run multiple times in one tick interval.
    Miscellaneous
    • A task can be created from within another task
    implementation function, after the scheduler has
    run

    • Task priority can be changed through the task


    handle by another task, or by the task using a
    NULL handle

    • Similarly, can query to get a task priority, or


    delete a task through API functions

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