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On the Linux port, tasks are pthreads that cannot be forcibly paused; the scheduler "unschedules" a task only by selecting a different next task, and the outgoing task keeps running until it next blocks itself in event_wait (e.g. via vPortYield). If the scheduler later switches back into such a task (event_signal) before it ever parked in event_wait, that wake is never consumed and event_triggered stays latched. The task's next voluntary block then returns immediately instead of blocking (e.g. vTaskDelay(100ms) returning in 0ms), which desynchronizes kernel and port scheduling state. Clear the outgoing task's pending event when switching to a different task, under s_port_mutex and atomically with the scheduling decision. Any latched-but-unconsumed wake is stale at that point; a legitimate wake can only be delivered later, once the scheduler selects the task again as next_thread. Add event_clear() to the wait_for_event helper to support this. Verified: minimal repros (busy-wait with another ready task, and pthread-blocked task) now measure 92-101 ms for vTaskDelay(100ms) instead of 0 ms; linux_freertos kernel test app 18/18 pass; the previously failing esp_linenoise host test suite passes 34/34.
Getting started
This repository contains FreeRTOS kernel source/header files and kernel ports only. This repository is referenced as a submodule in FreeRTOS/FreeRTOS repository, which contains pre-configured demo application projects under FreeRTOS/Demo directory.
The easiest way to use FreeRTOS is to start with one of the pre-configured demo application projects. That way you will have the correct FreeRTOS source files included, and the correct include paths configured. Once a demo application is building and executing you can remove the demo application files, and start to add in your own application source files. See the FreeRTOS Kernel Quick Start Guide for detailed instructions and other useful links.
Additionally, for FreeRTOS kernel feature information refer to the Developer Documentation, and API Reference.
Getting help
If you have any questions or need assistance troubleshooting your FreeRTOS project, we have an active community that can help on the FreeRTOS Community Support Forum.
Cloning this repository
To clone using HTTPS:
git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git
Using SSH:
git clone git@github.com:FreeRTOS/FreeRTOS-Kernel.git
Repository structure
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The root of this repository contains the three files that are common to every port - list.c, queue.c and tasks.c. The kernel is contained within these three files. croutine.c implements the optional co-routine functionality - which is normally only used on very memory limited systems.
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The
./portabledirectory contains the files that are specific to a particular microcontroller and/or compiler. See the readme file in the./portabledirectory for more information. -
The
./includedirectory contains the real time kernel header files.
Code Formatting
FreeRTOS files are formatted using the "uncrustify" tool. The configuration file used by uncrustify can be found in the FreeRTOS/FreeRTOS repository.
Spelling
lexicon.txt contains words that are not traditionally found in an English dictionary. It is used by the spellchecker to verify the various jargon, variable names, and other odd words used in the FreeRTOS code base. If your pull request fails to pass the spelling and you believe this is a mistake, then add the word to lexicon.txt. Note that only the FreeRTOS Kernel source files are checked for proper spelling, the portable section is ignored.