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Embedded Operating System:
FreeRTOS: Hello World!
Vincent Claes
Hello World Example in Xilinx Vivado SDK
(FreeRTOS)
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "timers.h"
/* Xilinx includes. */
#include "xil_printf.h"
#include "xparameters.h"
Vincent Claes
#define TIMER_ID 1
#define DELAY_10_SECONDS 10000UL
#define DELAY_1_SECOND 1000UL
#define TIMER_CHECK_THRESHOLD 9
Vincent Claes
/* The Tx and Rx tasks as described at the top of this file. */
static void prvTxTask( void *pvParameters );
static void prvRxTask( void *pvParameters );
static void vTimerCallback( TimerHandle_t pxTimer );
Vincent Claes
/* The queue used by the Tx and Rx tasks, as described at the top of this file. */
static TaskHandle_t xTxTask;
static TaskHandle_t xRxTask;
static QueueHandle_t xQueue = NULL;
static TimerHandle_t xTimer = NULL;
char HWstring[15] = "Hello World";
long RxtaskCntr = 0;
Vincent Claes
int main( void )
{
/* pdMS_TO_TICKS: Converts a time in milliseconds to a time in ticks. */
const TickType_t x10seconds = pdMS_TO_TICKS(DELAY_10_SECONDS );
xil_printf( "Hello from Freertos example mainrn" );
xTaskCreate( prvTxTask, ( const char * ) "Tx",
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTxTask );
xTaskCreate( prvRxTask, ( const char * ) "GB",
configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xRxTask );
Vincent Claes
xTaskCreate( prvTxTask, ( const char * ) "Tx",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY, &xTxTask );
/* prvTxTask : function that implements the task */
/* “TX” : Name for the task */
/* configMINIMAL_STACK_SIZE : stack allocated tot he task */
/* NULL : parameter not used */
/* tskIDLE_PRIORITY : task runs at idle priority */
/* &xTxTask : TX Taskhandler */
Vincent Claes
xTaskCreate( prvRxTask, ( const char * ) "GB",
configMINIMAL_STACK_SIZE, NULL,
tskIDLE_PRIORITY + 1, &xRxTask );
/* prvRxTask : function that implements the task */
/* “GB” : Name for the task */
/* configMINIMAL_STACK_SIZE : stack allocated tot he task */
/* NULL : parameter not used */
/* tskIDLE_PRIORITY : task runs at idle priority +1 */
/* &xRxTask : RX Taskhandler */
Vincent Claes
xTaskCreate( prvRxTask, ( const char * ) "GB", configMINIMAL_STACK_SIZE,
NULL, tskIDLE_PRIORITY + 1, &xRxTask );
xQueue = xQueueCreate(1, sizeof( HWstring ) );
/* Check if queue was created */
configASSERT(xQueue);
xTimer = xTimerCreate( (const char *) "Timer", x10seconds, pdFALSE, (void *)
TIMER_ID, vTimerCallback);
configASSERT(xTimer);
Vincent Claes
xQueue = xQueueCreate(1, sizeof( HWstring ) );
/* 1 : One place in queue */
/* sizeof (HWstring) : place in queue can hold HWstring */
/* char HWstring[15] : “Hello World”; */
Vincent Claes
xTimer = xTimerCreate( (const char *) "Timer",
x10seconds, pdFALSE, (void *) TIMER_ID,
vTimerCallback);
/* “Timer” : Name of Timer */
/* x10seconds : expires after 10 seconds */
/* pdFALSE : Don’t autoreload */
/* TIMER_ID : Timer identifier */
/* vTimerCallback : Timer callback function */
Vincent Claes
prvRxTask
static void prvRxTask( void *pvParameters )
{
char Recdstring[15] = "";
for( ;; )
{
xQueueReceive( xQueue, Recdstring, portMAX_DELAY );
xil_printf( "Rx task received string from Tx task: %srn", Recdstring );
RxtaskCntr++;
}
}
Vincent Claes
xQueueReceive( xQueue, Recdstring,
portMAX_DELAY );
/* xQueue : Queue being read */
/* Recdstring : Data read intro this address */
/* portMAX_DELAY : wait without timeout for data */
Vincent Claes
prvTxTask
static void prvTxTask( void *pvParameters )
{
const TickType_t x1second = pdMS_TO_TICKS( DELAY_1_SECOND );
for( ;; )
{
/* Delay for 1 second. */
vTaskDelay( x1second );
xQueueSend( xQueue, HWstring, 0UL );
}
}
Vincent Claes
xQueueSend( xQueue, HWstring, 0UL );
/* xQueue : Queue written to */
/* Hwstring : Address data being sent */
/* 0UL : block time */
Vincent Claes
vTimerCallback
static void vTimerCallback( TimerHandle_t pxTimer )
{
long lTimerId;
configASSERT( pxTimer );
lTimerId = ( long ) pvTimerGetTimerID( pxTimer );
if (lTimerId != TIMER_ID) {
xil_printf("FreeRTOS Hello World Example FAILED");
}
if (RxtaskCntr >= TIMER_CHECK_THRESHOLD) {
xil_printf("FreeRTOS Hello World Example PASSED");
}
else {
xil_printf("FreeRTOS Hello World Example FAILED");
}
vTaskDelete( xRxTask );
vTaskDelete( xTxTask );
}
Vincent Claes

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FreeRTOS Xilinx Vivado: Hello World!

  • 1. Embedded Operating System: FreeRTOS: Hello World! Vincent Claes
  • 2. Hello World Example in Xilinx Vivado SDK (FreeRTOS) /* FreeRTOS includes. */ #include "FreeRTOS.h" #include "task.h" #include "queue.h" #include "timers.h" /* Xilinx includes. */ #include "xil_printf.h" #include "xparameters.h" Vincent Claes
  • 3. #define TIMER_ID 1 #define DELAY_10_SECONDS 10000UL #define DELAY_1_SECOND 1000UL #define TIMER_CHECK_THRESHOLD 9 Vincent Claes
  • 4. /* The Tx and Rx tasks as described at the top of this file. */ static void prvTxTask( void *pvParameters ); static void prvRxTask( void *pvParameters ); static void vTimerCallback( TimerHandle_t pxTimer ); Vincent Claes
  • 5. /* The queue used by the Tx and Rx tasks, as described at the top of this file. */ static TaskHandle_t xTxTask; static TaskHandle_t xRxTask; static QueueHandle_t xQueue = NULL; static TimerHandle_t xTimer = NULL; char HWstring[15] = "Hello World"; long RxtaskCntr = 0; Vincent Claes
  • 6. int main( void ) { /* pdMS_TO_TICKS: Converts a time in milliseconds to a time in ticks. */ const TickType_t x10seconds = pdMS_TO_TICKS(DELAY_10_SECONDS ); xil_printf( "Hello from Freertos example mainrn" ); xTaskCreate( prvTxTask, ( const char * ) "Tx", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTxTask ); xTaskCreate( prvRxTask, ( const char * ) "GB", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xRxTask ); Vincent Claes
  • 7. xTaskCreate( prvTxTask, ( const char * ) "Tx", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, &xTxTask ); /* prvTxTask : function that implements the task */ /* “TX” : Name for the task */ /* configMINIMAL_STACK_SIZE : stack allocated tot he task */ /* NULL : parameter not used */ /* tskIDLE_PRIORITY : task runs at idle priority */ /* &xTxTask : TX Taskhandler */ Vincent Claes
  • 8. xTaskCreate( prvRxTask, ( const char * ) "GB", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xRxTask ); /* prvRxTask : function that implements the task */ /* “GB” : Name for the task */ /* configMINIMAL_STACK_SIZE : stack allocated tot he task */ /* NULL : parameter not used */ /* tskIDLE_PRIORITY : task runs at idle priority +1 */ /* &xRxTask : RX Taskhandler */ Vincent Claes
  • 9. xTaskCreate( prvRxTask, ( const char * ) "GB", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xRxTask ); xQueue = xQueueCreate(1, sizeof( HWstring ) ); /* Check if queue was created */ configASSERT(xQueue); xTimer = xTimerCreate( (const char *) "Timer", x10seconds, pdFALSE, (void *) TIMER_ID, vTimerCallback); configASSERT(xTimer); Vincent Claes
  • 10. xQueue = xQueueCreate(1, sizeof( HWstring ) ); /* 1 : One place in queue */ /* sizeof (HWstring) : place in queue can hold HWstring */ /* char HWstring[15] : “Hello World”; */ Vincent Claes
  • 11. xTimer = xTimerCreate( (const char *) "Timer", x10seconds, pdFALSE, (void *) TIMER_ID, vTimerCallback); /* “Timer” : Name of Timer */ /* x10seconds : expires after 10 seconds */ /* pdFALSE : Don’t autoreload */ /* TIMER_ID : Timer identifier */ /* vTimerCallback : Timer callback function */ Vincent Claes
  • 12. prvRxTask static void prvRxTask( void *pvParameters ) { char Recdstring[15] = ""; for( ;; ) { xQueueReceive( xQueue, Recdstring, portMAX_DELAY ); xil_printf( "Rx task received string from Tx task: %srn", Recdstring ); RxtaskCntr++; } } Vincent Claes
  • 13. xQueueReceive( xQueue, Recdstring, portMAX_DELAY ); /* xQueue : Queue being read */ /* Recdstring : Data read intro this address */ /* portMAX_DELAY : wait without timeout for data */ Vincent Claes
  • 14. prvTxTask static void prvTxTask( void *pvParameters ) { const TickType_t x1second = pdMS_TO_TICKS( DELAY_1_SECOND ); for( ;; ) { /* Delay for 1 second. */ vTaskDelay( x1second ); xQueueSend( xQueue, HWstring, 0UL ); } } Vincent Claes
  • 15. xQueueSend( xQueue, HWstring, 0UL ); /* xQueue : Queue written to */ /* Hwstring : Address data being sent */ /* 0UL : block time */ Vincent Claes
  • 16. vTimerCallback static void vTimerCallback( TimerHandle_t pxTimer ) { long lTimerId; configASSERT( pxTimer ); lTimerId = ( long ) pvTimerGetTimerID( pxTimer ); if (lTimerId != TIMER_ID) { xil_printf("FreeRTOS Hello World Example FAILED"); } if (RxtaskCntr >= TIMER_CHECK_THRESHOLD) { xil_printf("FreeRTOS Hello World Example PASSED"); } else { xil_printf("FreeRTOS Hello World Example FAILED"); } vTaskDelete( xRxTask ); vTaskDelete( xTxTask ); } Vincent Claes