103 lines
4.6 KiB
Markdown
103 lines
4.6 KiB
Markdown
# FreeRTOS
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[FreeRTOS][1] is real-time operating system kernel for embedded devices. Think
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of it as a thread library rather than a general purpose operating system like
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Linux or Microsoft Windows. Out-of-the-box, FreeRTOS provides support for
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tasks (threads), mutexes, semaphores and software times. Third-party modules
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are available to add features. e.g. [lwIP][2] can be used to add networking.
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> FreeRTOS+lwIP is currently supported by Eclipse Cyclone DDS. Support for other
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> network stacks, e.g. [FreeRTOS+TCP][3], may be added in the future.
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> Eclipse Cyclone DDS does not make use of [FreeRTOS+POSIX][4] because it was
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> not available at the time. Future versions of Eclipse Cyclone DDS may or may
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> not require FreeRTOS+POSIX for compatibility when it becomes stable.
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[1]: https://www.freertos.org/
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[2]: https://savannah.nongnu.org/projects/lwip/
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[3]: https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_TCP/index.html
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[4]: https://www.freertos.org/FreeRTOS-Plus/FreeRTOS_Plus_POSIX/index.html
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## Target
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FreeRTOS provides an operating system kernel. Batteries are not included. i.e.
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no C library or device drivers. Third-party distributions, known as board
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support packages (BSP), for various (hardware) platforms are available though.
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Board support packages, apart from FreeRTOS, contain:
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* C library. Often ships with the compiler toolchain, e.g.
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[IAR Embedded Workbench][5] includes the DLIB runtime, but open source
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libraries can also be used. e.g. The [Xilinx Software Development Kit][6]
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includes newlib.
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* Device drivers. Generally available from the hardware vendor, e.g. NXP or
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Xilinx. Device drivers for extra components, like a real-time clock, must
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also be included in the board support package.
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[5]: https://www.iar.com/iar-embedded-workbench/
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[6]: https://www.xilinx.com/products/design-tools/embedded-software/sdk.html
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A board support package is linked with the application by the toolchain to
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generate a binary that can be flashed to the target.
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### Requirements
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Eclipse Cyclone DDS requires certain compile-time options to be enabled in
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FreeRTOS (`FreeRTOSConfig.h`) and lwIP (`lwipopts.h`) for correct operation.
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The compiler will croak when a required compile-time option is not enabled.
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Apart from the aforementioned compile-time options, the target and toolchain
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must provide the following.
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* Support for thread-local storage (TLS) from the compiler and linker.
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* Berkeley socket API compatible socket interface.
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* Real-time clock (RTC). A high-precision real-time clock is preferred, but
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the monotonic clock can be combined with an offset obtained from e.g. the
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network if the target lacks an actual real-time clock. A proper
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`clock_gettime` implementation is required to retrieve the wall clock time.
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### Thread-local storage
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FreeRTOS tasks are not threads and compiler supported thread-local storage
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(tls) might not work as desired/expected under FreeRTOS on embedded targets.
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i.e. the address of a given variable defined with *__thread* may be the same
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for different tasks.
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The compiler generates code to retrieve a unique address per thread when it
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encounters a variable defined with *__thread*. What code it generates depends
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on the compiler and the target it generates the code for. e.g. `iccarm.exe`
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that comes with IAR Embedded Workbench requires `__aeabi_read_tp` to be
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implemented and `mb-gcc` that comes with the Xilinx SDK requires
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`__tls_get_addr` to be implemented.
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The implementation for each of these functions is more-or-less the same.
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Generally speaking they require the number of bytes to allocate, call
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`pvTaskGetThreadLocalStoragePointer` and return the address of the memory
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block to the caller.
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## Simulator
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FreeRTOS ports for Windows and POSIX exist to test compatibility. How to
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cross-compile Eclipse Cyclone DDS for the [FreeRTOS Windows Port][7] or
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the unofficial [FreeRTOS POSIX Port][8] can be found in the msvc and
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[posix](/ports/freertos-posix) port directories.
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[7]: https://www.freertos.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
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[8]: https://github.com/shlinym/FreeRTOS-Sim.git
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## Known Limitations
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Triggering the socket waitset is not (yet) implemented for FreeRTOS+lwIP. This
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introduces issues in scenarios where it is required.
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* Receive threads require a trigger to shutdown or a thread may block
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indefinitely if no packet arrives from the network.
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* Sockets are created dynamically if ManySocketsMode is used and a participant
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is created, or TCP is used. A trigger is issued after the sockets are added
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to the set if I/O multiplexing logic does not automatically wait for data
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on the newly created sockets as well.
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