Embedded FreeRTOS Project

Overview

Implementing a FreeRTOS super-loop scheduler on an ESP-32 using GPIO intterrupts, timed periodic releases and one sporadic task. Code task is defined as:

1. Wait for hardware SYNC to define time zero
2. Run period tasks A,B,AGG,C,D at fixed periods
3. Accept sporadic release S from an interrupt - only run when there is enough timing slack
4. Toggle ACK GPIOs and call monitor hooks around each task for timing/reporting
5. Exectute workload via WorkKernel with per-task cycle budgets.

Results

Initial results

Scheduler was only best effort, notes in notes

Final testing

Scheduler properly implemented with 0 misses consistently in the monitor

Procedural floW

GPIO

Inputs and outputs - including monitoring and expected behaviour

Function	Pin Name	GPIO	Type	Connected To	Purpose
SYNC	PIN_SYNC	13	Input	Output 1 (Pulse)	Global time reference T0 (rising edge).
Input A	PIN_IN_A	14	Input	Output 2 (Square Wave)	Rising edges for Task A computations.
Input B	PIN_IN_B	25	Input	Output 3 (Square Wave)	Rising edges for Task B computations.
Sporadic Trigger	PIN_IN_S	26	Input	Output 4 (Pulse)	Triggers sporadic Task S.
Mode Control	PIN_IN_MODE	27	Input	Output 5 (Steady HIGH/LOW)	Reserved mode input; configured with pulldown, not used by current super-loop scheduling logic.
ACK Task A	ACK_A	16	Output	Probe 1	Goes HIGH during Task A execution.
ACK Task B	ACK_B	17	Output	Probe 2	Goes HIGH during Task B execution.
ACK Task AGG	ACK_AGG	18	Output	Probe 3	Goes HIGH during Task AGG execution.
ACK Task C	ACK_C	19	Output	Probe 4	Goes HIGH during Task C execution.
ACK Task D	ACK_D	21	Output	Probe 5	Goes HIGH during Task D execution.
ACK Sporadic	ACK_S	22	Output	Probe 6	Goes HIGH during Task S execution.