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stm32cube_RTOS

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UM1722 User manual Developing Applications on STM32Cube with RTOS Introduction The STMCubeTM initiative was originated by STMicroelectronics to ease developers life by reducing development efforts time and cost STM32Cube covers the STM32 portfolio STM32Cube Version 1x includes The STM32CubeMX a graphical software configuration tool that allows to generate C initialization code using graphical wizards A comprehensive embedded software platform delivered per series namely STM32CubeF4 for STM32......

UM1722

User manual

Developing Applications on STM32Cube with RTOS

Introduction

The STMCube

initiative was originated by STMicroelectronics to ease developers life by

reducing development efforts, time and cost. STM32Cube covers the STM32 portfolio.

STM32Cube Version 1.x includes:

•

The STM32CubeMX, a graphical software configuration tool that allows to generate C

initialization code using graphical wizards.

A comprehensive embedded software platform, delivered per series (namely,

STM32CubeF4 for STM32F4 series)

–

The STM32Cube HAL, an STM32 abstraction layer embedded software, ensuring

maximized portability across STM32 portfolio

A consistent set of middleware components such as RTOS, USB, TCP/IP,

Graphics

All embedded software utilities coming with a full set of examples.

A Real Time Operating System is an operating system optimized for use in embedded/real

time applications. Their primary objective is to ensure a timely and deterministic response to

events. Using a real time operating system allows applications to be written as a set of

independent threads that inter-communicate using message queues and semaphores.

This user manual is intended for developers who use STM32Cube firmware on STM32

microcontrollers. It provides a full description of how to use the STM32Cube firmware

components with a real time operating system (RTOS); this user manual comes also with

description of a set of examples based on FreeRTOS using the common APIs provided by

the CMSIS-OS wrapping layer.

In the STM32Cube firmware FreeRTOS is used as real time operating system through the

generic CMSIS-OS wrapping layer provided by ARM. Examples and applications using the

FreeRTOS can be direcltly ported on any other RTOS without modifying the high level APIs,

only the CMSIS-OS wrapper has to be changed in this case.

Please refer to the release notes of the package to know the version of FreeRTOS and

CMSIS-RTOS firmware components used with the STM32Cube

This document is applicable to all STM32 devices; however for simplicity reason, the

STM32F4xx devices and STM32CubeF4 are used as reference platform. To know more

about the examples implementation on your STM32 device, please refer to the readme file

provided within the associated STM32Cube FW package.

June 2014

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Contents

UM1722

Contents

Free RTOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1

1.2

1.3

1.4

1.5

1.6

1.7

1.8

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

License . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Free RTOS source organization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Porting FreeRTOS on STM32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

FreeRTOS API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

FreeRTOS memory management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

FreeRTOS low power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

FreeRTOS configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

CMSIS-RTOS module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

2.1

2.2

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

CMSIS-RTOS API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

FreeRTOS applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3.1

3.2

Thread Creation example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Semaphores examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2.1

3.2.2

Semaphore between threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Semaphore from ISR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

3.3

3.4

3.5

3.6

Mutexes example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Queues example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Timer example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Low power example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Conclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

FAQ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

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UM1722

List of tables

Table 1.

Table 2.

Table 3.

Table 4.

Table 5.

Free RTOS API. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

CMSIS-RTOS API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Free RTOS application categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Comparison of power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

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List of figures

UM1722

List of figures

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Figure 7.

Figure 8.

Figure 9.

Figure 10.

FreeRTOS license . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Free RTOS architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Free RTOS port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

FreeRTOS configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

CMSIS-RTOS architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Thread example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Semaphore example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Obtaining semaphore from ISR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Queue process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Periodic timer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

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Free RTOS

1.1

Free RTOS

Overview

FreeRTOS is a class of RTOS that is designed to be small enough to run on a

microcontroller, although its use is not limited to microcontroller applications.

A microcontroller is a small and resource constrained processor that incorporates, on a

single chip, the processor itself, read only memory (ROM or Flash) to hold the program to be

executed, and the random access memory (RAM) needed by the programs it executes.

Typically the program is executed directly from the read only memory.

Microcontrollers are used in deeply embedded applications (those applications where you

never actually see the processors themselves or the software they are running) that

normally have a very specific and dedicated job to do. The size constraints, and dedicated

end application nature, rarely warrant the use of a full RTOS implementation - or indeed

make the use of a full RTOS implementation possible. FreeRTOS therefore provides the

core real time scheduling functionality, inter-task communication, timing and synchronization

primitives only. This means it is more accurately described as a real time kernel, or real time

executive. Additional functionality, such as a command console interface, or networking

stacks, can be then be included with add-on components.

FreeRTOS is a scalable real time demonstration builder core designed specifically for small

embedded systems. Highlights include

•

Free RTOS demonstration builder core-preemptive, cooperative and hybrid

configuration options.

Official support for 27 architectures (counting ARM7 and ARM Cortex M3 as one

architecture each).

FreeRTOS-MPU supports the Cortex M3 Memory Protection Unit (MPU).

Designed to be small, simple and easy to use. Typically a demonstration builder core

binary image will be in the region of 4K to 9K bytes.

Very portable code structure predominantly written in C.

Supports both tasks and co-routines.

Queues, binary semaphores, counting semaphores, recursive semaphores and

mutexes for communication and synchronization between tasks, or between tasks and

interrupts.

Mutexes with priority inheritance.

Supports efficient software timers.

Powerful execution traces functionality.

Stack overflows detection options.

Pre-configured demo applications for selected single board computers allowing out of

the box operation and fast learning curve.

Free forum support, or optional commercial support and licensing.

No software restriction on the number of tasks that can be created.

No software restriction on the number of priorities that can be used.

No restrictions imposed on priority assignment - more than one task can be assigned

the same priority.

Free development tools for many supported architectures.

•

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