External Use

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FreeRTOS™ and the SDK

for Kinetis MCUs

FTF-SDS-F0120

A P R . 2 0 1 4

Prof. Erich Styger | DMTS & Technical Marketer

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Session Introduction

• This session introduces the new Kinetis SDK, and how it can be

used with FreeRTOS and the new Kinetis Design Studio.

• This session gives an overview, how to install, setup and optimize

FreeRTOS applications for Freescale Kinetis devices.

• This session is presented by the maintainer of the FreeRTOS ports

for Freescale devices, with 20 years of experience in software and

tools development.

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Session Objectives

• After completing this session you will be able to :

− Effectively describe, at a high level, the Freescale Kinetis SDK with

FreeRTOS and its usage inside an Eclipse based IDE.

− Apply the knowledge gained in this presentation to start using the Kinetis

Design Studio with Processor Expert, Kinetis SDK and FreeRTOS.

− Use the knowledge to customize and optimize applications using the

Open Source FreeRTOS Operating system for Low Power.

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Agenda

• Kinetis SDK (KSDK)

− Architecture

− Drivers

− Bare Metal, RTOS

− FreeRTOS

− RTOS Abstraction

• Installation and Setup − Directory Structure

− Tool Setup

• Customization and Optimization

− RTOS Configuration

− Low Power Support

• Demonstration

− Kinetis Design Studio

− RTOS Trace

KSDK & FreeRTOS

Installation & Setup

Customization &

Optimization

Demonstration

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Kinetis SDK

with FreeRTOS

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Kinetis SDK (KSDK)

UART

Kinetis Microcontroller Hardware

RTOS

Application

SPI I2C Bit I/O

USB

Stack

RTOS AL

HAL

Processor

Expert

USB Tmr

Middleware

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Kinetis SDK RTOS Abstraction

• Common Interface for RTOS/Bare Metal

− Application

− Kinetis SDK

RTOS Abstraction Layer

MQX uCOS-II/III FreeRTOS

Kinetis SDK

CMSIS

RTOS Bare Metal

Declarations Tasks

Events Synchronization

Locking Message

Queues

Memory

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RTOS Abstraction

• Declarations − Synchronization objects, event handler, queue handler, task handler

• Task (FreeRTOS Tasks) − task_create(), task_destroy(), time_delay()

• Synchronization (FreeRTOS counting semaphore) − sync_create(), sync_wait(), sync_poll(), sync_signal(), sync_signal_from_isr(),

sync_destroy()

• Locking (FreeRTOS recursive Mutex) − lock_create(), lock_wait(), lock_poll(), lock_release(), lock_destroy()

• Events (FreeRTOS binary semaphore) − event_create(), event_wait(), event_set(), event_set_from_isr(), event_clear(),

event_check_flags(), event_destroy()

• Message Queue (FreeRTOS Queues) − msg_queue_create(), msg_queue_put(), msg_queue_get(), msg_queue_flush(),

msg_queue_destroy()

• Memory − mem_allocate(), mem_allocate_zero(), mem_free()

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Example: 'traditional' FreeRTOS Task

#include "FreeRTOS.h" /* FreeRTOS interface */

static xTaskHandle mainTaskHndl;

static void main_task(void *param) {

for(;;) {

gpio_toggle_pin_output(LED_RED);

vTaskDelay(1000/portTICK_RATE_MS);

} /* for */

}

static void CreateTask(void) {

if (xTaskCreate(

main_task, /* task function */

"Main", /* task name for kernel awareness */

configMINIMAL_STACK_SIZE, /* task stack size */

(void*)NULL, /* optional task startup argument */

tskIDLE_PRIORITY, /* initial priority */

&mainTaskHndl /* task handle */

) != pdPASS) {

for(;;){} /* error! probably out of memory */

}

}

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Example: FreeRTOS Task with Kinetis SDK

#include <fsl_os_abstraction.h> /* SDK RTOS abstraction */

#define SDK_TASK_STACK_SIZE 200 /* Task size (in 32bit units) */

#define SDK_TASK_PRIO 0 /* task priority */

static void sdk_task(void *param); /* prototype of the task */

FSL_RTOS_TASK_DEFINE(sdk_task, SDK_TASK_STACK_SIZE, "sdk", false);

static task_handler_t sdk_task_hdl; /* task handle */

static void sdk_task(void *param) {

for(;;) {

gpio_toggle_pin_output(LED_BLUE);

time_delay(1000);

}

}

static void SDK_CreateTask(void) {

if (task_create(sdk_task, SDK_TASK_PRIO, NULL, &sdk_task_hdl)!=kSuccess) {

for(;;); /* error! */

}

}

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Installation and Setup

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Setup with Kinetis Design Studio

Download and Install Kinetis Design Studio (setup exe)

KDS comes with an installer of the Kinetis SDK

Download and Install FreeRTOS for KSDK (zip archive)

Done!

• Default Installation Location (Windows)

− C:\Freescale\KDS_1.0

− C:\Freescale\KSDK_1.0.0

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FreeRTOS for Kinetis SDK

• Zip file

• To be extracted into KSDK installation folder

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KSDK and RTOS Directory Structure

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Project Flow with KPS, KSDK and FreeRTOS

Create New KSDK Project

Enable FreeRTOS in KSDK

Add FreeRTOS to Project

Configure RTOS

Done!

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Kinetis Design Studio Project with SDK + FreeRTOS

• Creating SDK + FreeRTOS KDS project (no Processor Expert)

• Choose Menu File > New Kinetis Design Studio Project

• Provide Project Name, press Next

• Choose Device, press Next

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SDK and Processor Expert

• Have Kinetis SDK enabled

• Press Finish

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FSL_RTOS_FREE_RTOS

• Add FSL_RTOS_FREE_RTOS to preprocessor for C Compiler

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Add RTOS Files

• Add links to the project

− FreeRTOS\src

− FreeRTOS\port\gcc

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Assign RTOS Vectors

• Assign FreeRTOS vectors in startup code

− vPortSVCHandler

− vPortPendSVHandler

− vPortTickHandler

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FreeRTOSConfig.h

• RTOS Configuration File, specific per project

• Clock Configuration, Stack Size, Memory Size, …

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Processor Expert KDS KSDK+FreeRTOS Project

• Graphical Configuration

• Automatic Code Generation

• Consistency checks

• Easy integration of

− Existing application code

− SDK drivers

− Extra driver code

• Supports all Kinetis devices

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Optimization

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RTOS Low Power Hook

• IDLE time between tasks running

• RTOS calls Idle() hook

• Opportunity to enter Low Power Mode

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RTOS Low Power and ARM SystTick Interrupts

• ARM SysTick used for

− Time Base

− Preemption

• Limits duration of Low Power mode duration

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Tickless Mode with FreeRTOS

• Enable Tickless Idle Mode

• Configurable Idle Time Ticks before Sleep

• Configurable Application Decision Hook

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ARM SysTick Limitation

• 24-bit Counter (Down-Counter)

• Bus Clock: 20 MHz limits tickless idle mode to 800 ms

• Freescale Kinetis-L: 16x Prescaler

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Tickless Mode with Kinetis Low Power Timer (LPTMR)

• Enable Low Power Timer

• 1 kHz Low Power Timer (16bit)

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Tickless Low Power Mode with LPTMR

• 16-bit LPTMR

• 65535 ms max Tickless Period

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RTOS and Application Profiling

• Runtime Statistics

− Performance

measurement

− CPU task time

• Trace Hooks

− Instrumented RTOS

− Trace Data collection

− Custom hooks

− External Viewer

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RTOS Trace

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User Event Signal Plot

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Demonstration

• Example Project

− Kinetis Design Studio

− Processor Expert

− Kinetis SDK

− FreeRTOS

• Download and Debug

− FRDM-K64F

− Trace Collection

− Trace Viewer

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Summary

• Kinetis SDK

− Drivers for Kinetis MCUs

− Bare Metal or RTOS

− RTOS Abstraction: FreeRTOS

• Kinetis Design Studio

− Kinetis SDK Projects

− Processor Expert Project

− Edit, Build, Debug

• FreeRTOS Customization and Optimization

− FreeRTOSConfig.h

− Low Power Tickless Idle Mode

− RTOS Trace

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For Further Information

• FreeRTOS website − www.freertos.org

• Components, Examples and Tutorials for Kinetis devices − www.mcuoneclipse.com

• Contact − Prof. Erich Styger

− erich.styger@freescale.com

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© 2014 Freescale Semiconductor, Inc. | External Use

www.Freescale.com