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Free RTOS

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Soumil Gupta
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47 views9 pages

Free RTOS

Uploaded by

Soumil Gupta
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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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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