How to set up RTOS support in IAR Embedded Workbench?

Introduction

To set up RTOS (Real-Time Operating System) support in IAR Embedded Workbench, the process involves several key steps. These include configuring the IAR project, integrating the RTOS, and ensuring that all RTOS components are correctly managed and monitored. This guide aims to provide a comprehensive outline for experienced firmware developers.

Configuring IAR Project for RTOS

Start by creating a new project or opening an existing one in IAR Embedded Workbench.

• Include Necessary Libraries: Ensure that your RTOS's library files (such as the kernel and additional modules) are included in the project. The specific files differ by RTOS but typically include source files and header files. Add these to the project under the source hierarchy.
• Set Processor and Debugger Options: Navigate to "Project Options" and ensure that your microcontroller's model and debugger settings are correctly configured. This is crucial for seamless RTOS operation and debugging.
• Adjust Compiler and Linker Settings: Still in "Project Options," check RTOS-specific settings. This might include stack size modifications, heap settings, and specifying additional include paths for header files.

Integrating and Configuring the RTOS

The next step is to integrate the RTOS into your application.

• Initialize RTOS: In your main program, initialize the RTOS typically by calling its initialization functions. This might look like the following example for FreeRTOS:

    ```c
  
    #include "FreeRTOS.h"
  
    #include "task.h"
  
  
  
  
    void main(void) {
  
        // Initialize hardware-specific settings according to your microcontroller.
  
  
  
  
        // Initialize the RTOS kernel
  
        vTaskStartScheduler();
  
        
  
        // The program should not reach here since the FreeRTOS scheduler is running.
  
        for (;;) {}
  
    }
  

  
  
    </li>
    
    <li><b>Create Tasks</b>: Define tasks that the RTOS will manage. These tasks are essentially functions that run concurrently, scheduled by the RTOS. Ensure you pass the correct parameters and initialize task stacks appropriately:
    
  

  
   void vTaskCode(void* pvParameters) {
  
       for (;;) {
  
           // Task implementation
  
       }
  
   }
  
  
  
  
   int main(void) {
  
       xTaskCreate(vTaskCode, "TaskName", configMINIMALSTACKSIZE, NULL, tskIDLE_PRIORITY, NULL);
  
       vTaskStartScheduler();
  
       
  
       for (;;) {}
  
   }
  

   
  
    </li>
    
    <li><b>Configure RTOS Resources</b>: Optionally, configure any additional resources your chosen RTOS supports, such as message queues, semaphores, and timers.</li>
  </ul>
  
  &nbsp;
  
  <b>Debugging RTOS Applications in IAR Embedded Workbench</b>
  
  &nbsp;
  
  IAR Embedded Workbench offers several tools to assist in debugging RTOS applications:
  
  <ul>
    <li><b>RTOS Awareness</b>: Enable RTOS awareness features in IAR to get additional debugging information like active tasks, task states, and stack usage.</li>
    
    <li><b>Advanced Breakpoints</b>: Use breakpoints in your code to monitor task-specific execution. This is useful to understand context switching and task preemption.</li>
    
    <li><b>Trace Functionality</b>: Use the trace feature to log and analyze execution, particularly beneficial if your microcontroller supports tracing.</li>
  </ul>
  
  &nbsp;
  
  <b>Common RTOS-Specific Settings</b>
  
  &nbsp;
  
  During configuration of your RTOS within IAR Embedded Workbench, consider the following:
  
  <ul>
    <li><b>Stack Size and Allocation</b>: Be cautious about the stack size allocated for each task, as improper allocation can cause stack overflow, which is a common source of errors in RTOS applications.</li>
    
    <li><b>Interrupt Prioritization</b>: Ensure that interrupts are correctly configured and that priorities do not interfere with the RTOS scheduler's operation.</li>
    
    <li><b>Heap Management</b>: If dynamic memory allocation is used, consider RTOS-specific heap management functions, ensuring they are configured correctly for your application's requirements.</li>
  </ul>
  
  &nbsp;
  
  By following these steps and considerations, you can efficiently set up and integrate RTOS support within IAR Embedded Workbench for your embedded applications. These instructions provide a solid foundation for handling RTOS tasks, debugging issues, and optimizing resource use in real-time systems.