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Learning Objectives

  • Scheduling Algorithms.

Concepts

FreeRTOS-Kernel supports the following 3 scheduling algorithms:

  1. Prioritized Preemptive Scheduling with Time Slicing
  2. Prioritized Preemptive Scheduling without Time Slicing
  3. Co-operative Scheduling

Prioritized Preemptive Scheduling with Time Slicing

The required FreeRTOSConfig.h settings are:

#define configUSE_PREEMPTION    1
#define configUSE_TIME_SLICING  1

Prioritized Preemptive Scheduling with Time Slicing algorithm uses both Preemption and Time Slicing.

Preemption - Preemptive scheduling algorithm immediately preempts the Running task if a task that has a priority higher than the Running task enters the Ready state. Being preempted means being involuntarily (without explicitly yielding or blocking) moved out of the Running state and into the Ready state to allow a different task to run.

Time Slicing - Time slicing is used to share processing time between tasks of equal priority, even when the tasks do not explicitly yield or enter the Blocked state. Time Slicing selects a new task to run at the end of each time slice if there are other Ready state tasks that have the same priority as the Running task. A time slice is equal to the time between two RTOS tick interrupts.

Steps

  1. Execute the following commands from the root of the repository to build:

    rm -rf build
mkdir build
cd build
cmake -B . -S ../source/ -DTUTORIAL=6
make

  2. Execute the following command to run the binary:

    ./freertos_example

  3. Understand the output.