Startup Sequence

1. Initialization

   Application initializes the async::internal::Task task objects, the bare minimum are:

   • The idle task

   • The timer task

required by FreeRTOS. However, typically more tasks will be needed in the application, e.g. communication (CAN, UDS, Ethernet), monitoring, SWC scheduler, as well as lifecycle task managing desired order of modules start up and shut down. This initialization is completed by calling async::FreeRtosAdapter::init(), which creates the corresponding FreeRTOS tasks.

2. Running the Adapter

The application starts the FreeRTOS scheduler by calling async::FreeRtosAdapter::run(). The runnables are executed according to their priority and designated time, whether immediate or scheduled. Refer to Asynchonous execution for more information about task priorities.

If runnables are being executed or waiting for execution (scheduled runnables), the application can use the idle task to perform low-priority routines, such as monitoring console input/output.

Related types

• async::FreeRtosAdapter

• async::TaskInitializer

• async::StaticRunnable

Examples

Typical routine for creating, initializing, and starting a task:

using AsyncAdapter = ::async::AsyncBinding::AdapterType;

// assume the enumerator is defining the available tasks of RTOS:
enum
{
    TASK_BSP,
    TASK_UDS,
    TASK_DEMO
};

// make decision about the stack size for the task:
const uint32_t STACK_SIZE = 1024;

async::internal::Task<AsyncAdapter, TASK_DEMO, STACK_SIZE> demoTask{"demo"};

...

AsyncAdapter::init();

...

AsyncAdapter::run();