I'am currently porting an existing application that makes extensive use of the app_scheduler to FreeRTOS. To speed up the migration I have enabled the app_scheduler in the new project and created a scheduler thread that runs at lowest priority:
static void scheduler_thread(void * arg){
UNUSED_PARAMETER(arg);
NRF_LOG_INFO("Starting scheduler thread")
while(1) {
app_sched_execute();
vTaskSuspend(NULL);
}
}
I am using the vApplicationIdleHook to resume this scheduler thread.
Furthermore I have added scheduler support to app_timer_freertos.c:
static void app_timer_callback(TimerHandle_t xTimer)
{
app_timer_info_t * pinfo = (app_timer_info_t*)(pvTimerGetTimerID(xTimer));
ASSERT(pinfo->osHandle == xTimer);
ASSERT(pinfo->func != NULL);
if (pinfo->active)
{
pinfo->active = (pinfo->single_shot) ? false : true;
#if APP_TIMER_CONFIG_USE_SCHEDULER
app_timer_event_t timer_event;
timer_event.timeout_handler = pinfo->func;
timer_event.p_context = pinfo->argument;
uint32_t err_code = app_sched_event_put(&timer_event, sizeof(timer_event), timeout_handler_scheduled_exec);
APP_ERROR_CHECK(err_code);
#else
pinfo->func(pinfo->argument);
#endif
}
}
With these changes the old scheduler based application now seems to run flawlessly under FreeRTOS. Is this a smart way to go, or am I missing something?
