FreeRTOS Task Switch Example

Introduction

This example shows usage of direct FreeRTOS APIs, i.e not via the DPL APIs. It shows usage of task APIs, task notification APIs, semaphore and delay APIs. It also shows how to signal to FreeRTOS task from ISRs.

The example does the below

  • Creates two semaphores

  • Creates two tasks, ping and pong

  • Ping and pong tasks signal each other using semaphores and task notifications

  • A HW ISR is also created and ping task is signaled from the ISR

  • Task delay API usage is shown

Supported Combinations

Parameter

Value

CPU + OS

mcu-r5fss0-0 freertos

Toolchain

ti-arm-clang

Boards

am62px-sk

Example folder

examples/kernel/freertos/task_switch

Steps to Run the Example

  • When using CCS projects to build, import the CCS project for the required combination and build it using the CCS project menu (see Using SDK with CCS Projects).

  • When using makefiles to build, note the required combination and build using make command (see Using SDK with Makefiles)

See Also

FreeRTOS

Sample Output

Shown below is a sample output when the application is run,

[FreeRTOS] ping task ... start !!!

execution time for task switches = 1526081 us
number of task switches = 2000000
time per task switch (semaphore give/take) = 763 ns

execution time for task switches = 1117010 us
number of task switches = 2000000
time per task switch (direct-to-task notification give/take) = 558 ns

execution time for task - ISR - task - task switches = 2140666 us
number of ISRs = 2000000
time per task - ISR - task switch (semaphore give/take) = 1070 ns

[FreeRTOS] ping task ... done !!!

All tests have passed!!