To Caroline, India and Max.

vii
viii
 Macro Names ................................................................................................................. 23
Rationale for Excessive Type Casting ............................................................................ 24

Chapter 2 Heap Memory Management ............................................................................. 25

2.1 Chapter Introduction and Scope ................................................................................ 26
Prerequisites .................................................................................................................. 26

x
 The xQueueSelectFromSet() API Function .................................................................. 135

xii
6.4 Binary Semaphores Used for Synchronization ........................................................ 191
The xSemaphoreCreateBinary() API Function ............................................................. 194
The xSemaphoreTake() API Function .......................................................................... 194
The xSemaphoreGiveFromISR() API Function ............................................................ 196
Example 16. Using a binary semaphore to synchronize a task with an interrupt .......... 198

xiii
 Event Groups, Event Flags and Event Bits ................................................................... 268

xiv
xv
Figure 72 An event group in which only bits 1, 4 and 7 are set, and all the other event
.......................................... 268
Figure 73 The output produced when Example 22 is executed with xWaitForAllBits set to
pdFALSE ............................................................................................................ 283
Figure 74 The output produced when Example 22 is executed with xWaitForAllBits set to
pdTRUE .............................................................................................................. 284
Figure 75 The output produced when Example 23 is executed ............................................. 292
Figure 76 A communication object being used to send an event from one task to another .... 294
Figure 77 A task notification used to send an event directly from one task to another

xviii
 List of Code Listings

Listing 1. The template for a new main() function

xix
Table 10. vTaskDelayUntil() parameters ................................................................................ 71
Table 11. vTaskPrioritySet() parameters ................................................................................ 79
Table 12. uxTaskPriorityGet() parameters and return value ................................................... 80
Table 13. vTaskDelete() parameters ...................................................................................... 85
Table 14. The FreeRTOSConfig.h settings that configure the kernel to use Prioritized
Pre-emptive Scheduling with Time Slicing ............................................................ 91

xxiv
161204
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Formatting

One

23
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V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.
 161204 Pre-release for FreeRTOS V8.x.x.

-for
 The heap contains three blocks of free memory that, in the order in which they appear
in the array, are 5 bytes, 20.45 by45(w)15(hi)6(cETqQ EMC /P /< MCID 0>> BDC BT15545).n9aytes, ne te

33
35
161204
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43
161204
3.1 Chapter Introduction and Scope

Scope

This chapter aims to give readers a good understanding of:

 How FreeRTOS

45
161204 Pre-release for FreeRTOS V8.x.x. See
void ATaskFunction( void *pvParameters )
{

47
161204 Pre-release for FreeRTOS V8.x.x. See for
161204
161204 Pre-release
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V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.

Figure 12. The execution sequence expanded to show the tick interrupt executing

FreeRTOS API calls always specify time in multiples of tick periods, which are often referred to
simply

62
Section 3.12, Scheduling Algorithm

63
 161204 Pre-c[( )] TJETBT1 0 0 4re

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void vTaskFunction( void *pvParameters )

73
161204 Pre-release for FreeRTOS V8.x.x. See
Figure 21. The output produced when Example 7 is executed

79
81
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161204 Pre-
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static void vReceiverTask( void *pvParameters )
{
/* Declare the variable that will hold the values received from the queue. */
int32_t lReceivedValue;
BaseType_t xStatus;
const TickType_t xTicksToWait = pdMS_TO_TICKS( 100 );

/* This task is

117
161204
119
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121
 161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.

Listing 49 shows the implementation of the sending task. The sending task specifies a block
time of 100 milliseconds, ea
so 4(e)13(r)-9E-3(i)5(l)iseconds
it enters the Blocked state to wait for space to become available
each time the queue becomes full. It leaves the 4(e)13(r)-9 Tc[(it)] TJETBTss[(t)-4(] TJET6v58(c[(irl)13(rn58(c

122
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
Figure 36

125
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.
Using a Queue to Send Different Types and Lengths of

129
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133
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html
xQueuePeek() has the same function parameters and return value as xQueueReceive

147
 161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
V9.x.x. See https://www.freert infor

9
153
161204
 Figure 41 The timer command queue being used by a software timer API function to
communicate with the RTOS daemon task

Daemon Task Scheduling

The daemon task is scheduled like any other FreeRTOS task; it

155
161204
161204 Pre-
Note: Never call xTimerStart() from an interrupt service routine. The interrupt-

161
The timers

165
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS
5.6 The Timer ID

Each software timer has an ID, which is a tag value that can be used by the application writer
for any purpose. The ID is stored in a void pointer (void *), so can store an integer value
directly,

167
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.
5.8

175
177
161204 Pre-release for FreeRTOS V8.x.x. See
161204 Pre
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If the priority of a task that is unblocked by a FreeRTOS API function is higher than the priority
of the task in the Running state then, in accordance with

187
161204 P r e - r e l e a s e f o r F r e e R T O S V 8 . x . x . S e e h t t p : / / w w
161204
 ion on the same semaphore to unblock the task so that the required event
processing can proceed.

a semaphore iving a semaphore are concepts that have different meanings

depending on their usage scenario. In this interrupt synchronization scenario, the binary
semaphore can be considered conceptually as a queue with a length of one. The queue can
contain a maximum of one item at any time, so is always either empty or

193
161204
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161204 Pre-
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The xSemaphoreCreateCounting() API Function

FreeRTOS V9.0.0 also includes the xSemaphoreCreateCountingStatic() function, which allocates the memory

211
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161204 Pre
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Interruptr.6(r.426.42 .(r.6(r.42 0 1 D.10814 0404(r)Tj0a.10814 0 TD(p)

Figure

220
6.7 Using

221
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161204
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int main( void )
{
/* Before a queue can be used it must first be created. Create both queues used
by this example. One queue can hold variables of type uint32_t, the other queue
can hold variables of type char*. Both queues can hold a maximum of 10 items. A
real application should check the return values to ensure the queues have been
successfully created. */

227
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.ml0 1 2461.BT1 0 0 1410.8

6.8 Interrupt Nesting

229
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236
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241
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html for information about FreeRTOS
It is safe for calls to vTaskSuspendAll() and xTaskResumeAll() to become nested, because the
kernel keeps a count of the nesting depth

243
161204 Pre-5dTJeas
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void vApplicationTickHook( void );

Listing 127. The name and prototype for a tick hook function

261
161204 Pre-release for FreeRTOS V8.x.x. S
See http://www.FreeRTOS.org/FreeRTOS-V9.html
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void vApplicationTickHook( void )
{
static int iCount = 0;

263
161204 Pre-release for FreeRTOS V8.x.x. See
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8.2 Characteristics of an Event Group

269
EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup,ETqq0 g77.664 737.76 463.9911 9ventG

273
161204
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static void vEventBitReadingTask( void *pvParameters )
{

283
161204 Pre-
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9.2 Task Notifications; Benefits and Limitations

Performance Benefits of Task Notifications

Using a task notification to send an even( )].52 TmTr.5271(dca)47(t)-4(v)13( )-69(t)-4(o )-67(a )-67(t)-4(as)13

297
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS
 299

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static void vHandlerTask( void *pvParameters )
{
/* xMaxExpectedBlockTime is set to be a little longer than the maximum expected time
between events. */
const TickType_t xMaxExpectedBlockTiEMC /P <</MCID 5>> BDC4 edB3ovents. */

307
 161204 Pre

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V9.x.x. See https://www.freertos.org/FreeRTOS-V10.html for information about FreeRTOS V10.x.x.

Chapter 10

Low Power Support

TBD. This chapter will be written prior to final publication.

328
161204 Pre-
11.3 FreeRTOS+Trace

333
161204 Pre-release for
161204 Pre-release for
Table 55, uxTaskGetSystemState() parameters and return value

341
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-
12.1 Chapter Introduction and Scope

357
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-
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161204 Pre-release for FreeRTOS V8.x.x. See
routine that attempts to send to o

367
161204 Pre-release for FreeRTOS V8.x.x. See http://www.FreeRTOS.org/FreeRTOS-V9.html
Variable Names, 22
vPortDefineHeapRegions(), 36
vPortFree(), 27

371