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Using the FreeRTOS Real Time Kernel - a Practical Guide
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FreeRTOS API文档。 《Using the FreeRTOS Real Time Kernel - a Practical Guide》
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USING THE F
REE
RTOS
REAL TIME KERNEL
A Practical Guide
Richard Barry
This page intentionally left blank
© 2009 Richard Barry
All text, source code and diagrams are the exclusive property of Richard Barry. Distribution or
publication in any form is strictly prohibited without prior written authority from Richard Barry.
FreeRTOS™, FreeRTOS.org™ and the FreeRTOS logo are trade marks of Richard Barry.
Version 1.0.5
http://www.FreeRTOS.org
FreeRTOS
Designed For Microcontrollers;
i
© 2009 Richard Barry. Distribution or publication in any form is strictly prohibited.
CONTENTS
CONTENTS I
LIST OF FIGURES .........................................................................................................................V
LIST OF CODE LISTINGS.............................................................................................................VI
LIST OF TABLES...........................................................................................................................IX
LIST OF NOTATION.......................................................................................................................X
CHAPTER 1
TASK MANAGEMENT......................................................................................... 1
1.1
C
HAPTER
I
NTRODUCTION AND
S
COPE
..................................................................................... 2
An Introduction to Multi Tasking in Small Embedded Systems ..................................................... 2
A Note About Terminology ........................................................................................................... 2
Scope........................................................................................................................................... 3
1.2
T
ASK
F
UNCTIONS
................................................................................................................... 4
1.3
T
OP
L
EVEL
T
ASK
S
TATES
....................................................................................................... 5
1.4
C
REATING
T
ASKS
................................................................................................................... 6
xTaskCreate() API Function ......................................................................................................... 6
Example 1.
Creating Tasks...................................................................................................... 8
Example 2.
Using the Task Parameter................................................................................... 12
1.5
T
ASK
P
RIORITIES
................................................................................................................. 15
Example 3.
Experimenting with priorities ............................................................................... 16
1.6
E
XPANDING THE
‘N
OT
R
UNNING
’
S
TATE
................................................................................. 19
The Blocked State...................................................................................................................... 19
The Suspended State................................................................................................................. 19
The Ready State ........................................................................................................................ 20
Completing the State Transition Diagram................................................................................... 20
Example 4.
Using the Blocked state to create a delay............................................................ 20
vTaskDelayUntil() API function................................................................................................... 24
1.7
T
HE
I
DLE
T
ASK AND THE
I
DLE
T
ASK
H
OOK
............................................................................. 29
Idle Task Hook Functions........................................................................................................... 29
Limitations on the Implementation of Idle Task Hook Functions ................................................. 29
Example 7.
Defining an Idle Task Hook Function................................................................... 30
1.8
C
HANGING THE
P
RIORITY OF A
T
ASK
..................................................................................... 32
vTaskPrioritySet() API function................................................................................................... 32
uxTaskPriorityGet() API function ................................................................................................ 32
Example 8.
Changing task priorities....................................................................................... 33
1.9
D
ELETING A
T
ASK
................................................................................................................. 38
http://www.FreeRTOS.org
FreeRTOS
Designed For Microcontrollers;
ii
© 2009 Richard Barry. Distribution or publication in any form is strictly prohibited.
vTaskDelete() API function......................................................................................................... 38
Example 9.
Deleting tasks ..................................................................................................... 39
1.10
T
HE
S
CHEDULING
A
LGORITHM
–
A
S
UMMARY
........................................................................ 42
Prioritized Preemptive Scheduling.............................................................................................. 42
Selecting Task Priorities............................................................................................................. 43
Co-operative Scheduling............................................................................................................ 44
CHAPTER 2
QUEUE MANAGEMENT ................................................................................... 45
2.1
C
HAPTER
I
NTRODUCTION AND
S
COPE
................................................................................... 46
Scope......................................................................................................................................... 46
2.2
C
HARACTERISTICS OF A
Q
UEUE
............................................................................................ 47
Data Storage.............................................................................................................................. 47
Access by Multiple Tasks ........................................................................................................... 47
Blocking on Queue Reads.......................................................................................................... 47
Blocking on Queue Writes.......................................................................................................... 47
2.3
U
SING A
Q
UEUE
................................................................................................................... 49
xQueueCreate() API Function .................................................................................................... 49
xQueueSendToBack() and xQueueSendToFront() API Functions.............................................. 50
xQueueReceive() and xQueuePeek() API Functions.................................................................. 51
uxQueueMessagesWaiting() API Function................................................................................. 53
Example 10.
Blocking When Receiving From a Queue............................................................ 54
Using Queues to Transfer Compound Types ............................................................................. 58
Example 11.
Blocking When Sending to a Queue / Sending Structures on a Queue............... 59
2.4
W
ORKING WITH
L
ARGE
D
ATA
................................................................................................ 66
CHAPTER 3
INTERRUPT MANAGEMENT............................................................................ 67
3.1
C
HAPTER
I
NTRODUCTION AND
S
COPE
................................................................................... 68
Events........................................................................................................................................ 68
Scope......................................................................................................................................... 68
3.2
D
EFERRED
I
NTERRUPT PROCESSING
..................................................................................... 69
Binary Semaphores used for Synchronization............................................................................ 69
vSemaphoreCreateBinary() API Function................................................................................... 70
xSemaphoreTake() API Function ............................................................................................... 72
xSemaphoreGiveFromISR() API Function.................................................................................. 74
Example 12.
Using a Binary Semaphore to Synchronize a Task with an Interrupt................... 75
3.3
C
OUNTING
S
EMAPHORES
...................................................................................................... 80
xSemaphoreCreateCounting() API Function .............................................................................. 83
Example 13.
Using a Counting Semaphore to Synchronize a Task with an Interrupt............... 84
3.4
U
SING
Q
UEUES WITHIN AN
I
NTERRUPT
S
ERVICE
R
OUTINE
...................................................... 87
xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() API Functions.................. 87
Efficient Queue Usage ............................................................................................................... 88
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