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Thread: Teensy 3.2/3.6 + FreeRTOS

  1. #1
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    Feb 2017
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    Teensy 3.2/3.6 + FreeRTOS

    Background: I am a student working on an audio based RTOS independent study project with FreeRTOS and Teensy 3.2/3.6. I am a teacher's assistant for Embedded Systems so I have a fair amount of experience with microcontrollers but lack in depth knowledge on debugger configurations, bootloaders, linkers, and compilers.

    Development Environment:
    Preferably Mac, otherwise access to Linux or Windows. Minimal cost for packages.

    Issues:
    So far (on Mac), I have been able to use the Teensy loader and the Arduino IDE (v 1.6.9) to compile and load programs to either the Teensy 3.2 or 3.6. I have not been able to successfully integrate the FreeRTOS arduino library (v 8.2.3-18). When I attempt to load a program I get a list of assembly directive errors that I have deduced are a compatibility issue. Am I able to integrate FreeRTOS through the Arduino library with my Teensy?

    Since I was unable to get that working, I began utilizing the Kinetis Design Studio (v 3.2.0) and the Kinetis SDK (v 2.0 -- downloaded custom from NXP to include MK66FXxxx18) with Eclipse C/C++ Neon.2. I am able to create a processor specific project (unable to use Processor Expert with the custom SDK) that generates the proper dependencies except for the structure of the board files. I copied board specific files from an existing demo, built the project and loaded the hex file with the Teensy loader. Is this a feasible manner to approach this project?

    So far I have used the below code to simply toggle the onboard LED, however an oscilloscope shows no signal from any pin. I am wondering if this is caused by some configuration error such as compiler setting or the board files.

    initialized as output using:
    GPIO_PinInit(GPIOC, 5U, &LED_config); --> LED_config = { kGPIO_DigitalOutput, 1};
    toggled on and off with a NOP loop using:
    GPIO_WritePinOutpu(GPIOC, 5U, 1U);


    I have been doing much research but am lost for the next direction. Thank you in advanced for your help.

  2. #2
    Senior Member+ Theremingenieur's Avatar
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    Apparently, that FreeRTOS library for Arduino is NOT made to support the KINETIS K20/K66 processors used for Teensy 3.2/3.6 natively. You'd have to analyze the compiler errors and to adapt or fix that library to run with that Teensy (not Arduino) specific hardware.

    If you aren't bound to FreeRTOS, there is a forum member here who is currently porting the (in his words often twice as fast) ChibiOS/RT, another RTOS to the Teensy 3.6. More info here: https://forum.pjrc.com/threads/41781...l=1#post131917

    Edit: The same forum member (Bill Greimann) has ported FreeRTOS for Teensy, too: https://forum.pjrc.com/threads/26411...and-AVR-boards

    Note to self: The search function of this forum is your friend!
    Last edited by Theremingenieur; 02-02-2017 at 09:04 PM.

  3. #3
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    Using Kinetis Design Studio

    I am required to use FreeRTOS. I'm more curious if I can use the above specified approach with the Kinetis Design Studio. I did see that thread previously, however with the project specifications was first trying to develop in C first.

    Quote Originally Posted by Theremingenieur View Post
    Apparently, that FreeRTOS library for Arduino is NOT made to support the KINETIS K20/K66 processors used for Teensy 3.2/3.6 natively. You'd have to analyze the compiler errors and to adapt or fix that library to run with that Teensy (not Arduino) specific hardware.

    If you aren't bound to FreeRTOS, there is a forum member here who is currently porting the (in his words often twice as fast) ChibiOS/RT, another RTOS to the Teensy 3.6. More info here: https://forum.pjrc.com/threads/41781...l=1#post131917

    Edit: The same forum member (Bill Greimann) has ported FreeRTOS for Teensy, too: https://forum.pjrc.com/threads/26411...and-AVR-boards

    Note to self: The search function of this forum is your friend!

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