MicroC/OS-II: The Real Time Kernel

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ISBN: 9781578201037 | 1578201039
Cover: Hardcover
Copyright: 2/5/2002

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The book describes the design and implementation of the MicroC/OS-II real-time operating system (RTOS). In addition to its value as a reference to the kernel, it is an extremely detailed and highly readable design study that is useful to the embedded systems student. In addition to documenting the design and implementation of the kernel, it also walks the reader through the many related development issues: how to adapt the kernel for a new microprocessor, how to install the kernel, and how to structure the applications that run on the kernel. This latest edition features documentation for several important new features, including new real-time services, floating points, and coding conventions.

Preface

Meets the Requirements of Safety-Critical Systems

What's New in this Edition?

μC/OS-II Goals

xvii

Intended Audience

xvii

What You Need to Use μC/OS-II

xvii

The μC/OS Story

xvii

Acknowledgments

Introduction

xxi

μC/OS-II Features

xxi

Figures, Listings, and Tables

xxiii

Chapter Contents

xxiii

μC/OS-II Web Site

xxvi

Getting Started with μC/OS-II

(34)

Installing μC/OS-II

(1)

Example #1

(8)

Example #2

(10)

Example #3

(11)

Example #4

(4)

Real-time Systems Concepts

(38)

Foreground/Background Systems

(1)

Critical Sections of Code

(1)

Resources

(1)

Shared Resources

(1)

Multitasking

(1)

Tasks

(2)

Context Switches (or Task Switches)

(1)

Kernels

(1)

Schedulers

(1)

Non-Preemptive Kernels

(2)

Preemptive Kernels

(1)

Reentrant Functions

(2)

Round-Robin Scheduling

(1)

Task Priorities

(1)

Static Priorities

(1)

Dynamic Priorities

(1)

Priority Inversions

(3)

Assigning Task Priorities

(1)

Mutual Exclusion

(8)

Deadlock (or Deadly Embrace)

(1)

Synchronization

(2)

Event Flags

(1)

Intertask Communication

(1)

Message Mailboxes

(1)

Message Queues

(1)

Interrupts

(1)

Interrupt Latency

(1)

Interrupt Response

(1)

Interrupt Recovery

(1)

Interrupt Latency, Response, and Recovery

(2)

ISR Processing Time

(1)

Nonmaskable Interrupts

(2)

Clock Tick

(2)

Memory Requirements

(1)

Advantages and Disadvantages of Real-Time Kernels

(1)

Real-Time Systems Summary

(2)

Kernel Structure

(44)

Critical Sections, OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL()

(4)

Tasks

(1)

Task States

(2)

Task Control Blocks (OS_TCB)

(7)

Ready List

(2)

Task Scheduling

(2)

Task Level Context Switch, OS_TASK_SW()

(4)

Locking and Unlocking the Scheduler

(2)

Idle Task

(1)

Statistics Task

(4)

Interrupts Under μC/OS-II

103

(5)

Clock Tick

108

(3)

μC/OS-II Initialization

111

(3)

Starting μC/OS-II

114

(2)

Obtaining the Current μC/OS-II Version

116

(1)

Task Management

117

(28)

Creating a Task, OSTaskCreate()

118

(2)

Creating a Task, OSTaskCreateExt()

120

(3)

Task Stacks

123

(2)

Stack Checking, OSTaskStkChk()

125

(4)

Deleting a Task, OSTaskDel()

129

(3)

Requesting to Delete a Task, OSTaskDelReq()

132

(4)

Changing a Task's Priority, OSTaskChangePrio()

136

(3)

Suspending a Task, OSTaskSuspend()

139

(2)

Resuming a Task, OSTaskResume()

141

(1)

Getting Information about a Task, OSTaskQuery()

142

(3)

Time Management

145

(8)

Delaying a Task, OSTimeDly()

146

(2)

Delaying a Task, OSTimeDlyHMSM()

148

(2)

Resuming a Delayed Task, OSTimeDlyResume()

150

(1)

System Time, OSTimeGet() and OSTimeSet()

151

(2)

Event Control Blocks

153

(12)

Placing a Task in the ECB Wait List

156

(1)

Removing a Task from an ECB Wait List

157

(1)

Finding the Highest Priority Task Waiting on an ECB

157

(2)

List of Free ECBs

159

(1)

Initializing an ECB, OS_EventWaitListInit()

160

(1)

Making a Task Ready, OS_EventTaskRdy()

161

(2)

Making a Task Wait for an Event, OS_EventTaskWait()

163

(1)

Making a Task Ready Because of a Timeout, OS_EventTo()

164

(1)

Semaphore Management

165

(14)

Creating a Semaphore, OSSemCreate()

166

(2)

Deleting a Semaphore, OSSemDel()

168

(3)

Waiting on a Semaphore (Blocking), OSSemPend()

171

(2)

Signaling a Semaphore, OSSemPost()

173

(2)

Getting a Semaphore Without Waiting (Non-blocking), OSSemAccept()

175

(1)

Obtaining the Status of a Semaphore, OSSemQuery()

176

(3)

Mutual Exclusion Semaphores

179

(20)

Creating a Mutex, OSMutexCreate()

183

(2)

Deleting a Mutex, OSMutexDel()

185

(3)

Waiting on a Mutex (Blocking), OSMutexPend()

188

(3)

Signaling a Mutex, OSMutexPost()

191

(3)

Getting a Mutex without Waiting (Non-blocking), OSMutexAccept()

194

(1)

Obtaining the Status of a Mutex, OSMutexQuery()

195

(4)

Event Flag Management

199

(30)

Event Flag Internals

200

(3)

Creating an Event Flag Group, OSFlagCreate()

203

(1)

Deleting an Event Flag Group, OSFlagDel()

204

(3)

Waiting for Event(s) of an Event Flag Group, OSFlagPend()

207

(8)

Setting or Clearing Event(s) in an Event Flag Group, OSFlagPost()

215

(9)

Looking for Event(s) of an Event Flag Group, OSFlagAccept()

224

(3)

Querying an Event Flag Group, OSFlagQuery()

227

(2)

Message Mailbox Management

229

(18)

Creating a Mailbox, OSMboxCreate()

230

(2)

Deleting a Mailbox, OSMboxDel()

232

(3)

Waiting for a Message at a Mailbox, OSMboxPend()

235

(3)

Sending a Message to a Mailbox, OSMboxPost()

238

(1)

Sending a Message to a Mailbox, OSMboxPostOpt()

239

(2)

Getting a Message without Waiting (Non-blocking), OSMboxAccept()

241

(1)

Obtaining the Status of a Mailbox, OSMboxQuery()

242

(2)

Using a Mailbox as a Binary Semaphore

244

(1)

Using a Mailbox Instead of OSTimeDly()

245

(2)

Message Queue Management

247

(26)

Creating a Message Queue, OSQCreate()

251

(2)

Deleting a Message Queue, OSQDel()

253

(3)

Waiting for a Message at a Queue (Blocking), OSQPend()

256

(3)

Sending a Message to a Queue (FIFO), OSQPost()

259

(2)

Sending a Message to a Queue (LIFO), OSQPostFront()

261

(1)

Sending a Message to a Queue (FIFO or LIFO), OSQPostOpt()

262

(3)

Getting a Message Without Waiting, OSQAccept()

265

(2)

Flushing a Queue, OSQFlush()

267

(1)

Obtaining the Status of a Queue, OSQQuery()

268

(2)

Using a Message Queue When Reading Analog Inputs

270

(1)

Using a Queue as a Counting Semaphore

271

(2)

Memory Management

273

(14)

Memory Control Blocks

274

(2)

Creating a Partition, OSMemCreate()

276

(3)

Obtaining a Memory Block, OSMemGet()

279

(1)

Returning a Memory Block, OSMemPut()

280

(2)

Obtaining Status of a Memory Partition, OSMemQuery()

282

(1)

Using Memory Partitions

283

(2)

Waiting for Memory Blocks from a Partition

285

(2)

Porting μC/OS-II

287

(50)

Development Tools

289

(1)

Directories and Files

290

(1)

INCLUDES. H

291

(1)

OS_CPU. H

291

(6)

OS_CPU_C. C

297

(7)

OS_CPU_A. ASM

304

(6)

Testing a Port

310

(27)

OSCtxSw()

322

(1)

OSInitHookBegin()

323

(1)

OSInitHookEnd()

324

(1)

OSIntCtxSw()

325

(1)

OSStartHighRdy()

326

(1)

OSTaskCreateHook()

327

(1)

OSTaskDelHook()

328

(1)

OSTaskIdleHook()

329

(1)

OSTaskStatHook()

330

(1)

OSTaskStkInit()

331

(2)

OSTaskSwHook()

333

(1)

OSTCBInitHook()

334

(1)

OSTickISR()

335

(1)

OSTimeTickHook()

336

(1)

80x86 Port

337

(40)

Real Mode, Large Model with Emulated Floating-Point Support

Development Tools

339

(1)

Directories and Files

340

(1)

INCLUDES. H

341

(1)

OS_CPU. H

341

(4)

OS_CPU_C. C

345

(12)

OS_CPU_A. ASM

357

(13)

Memory Usage

370

(7)

80x86 Port

377

(28)

Real Mode, Large Model with Hardware Floating-Point Support

Development Tools

377

(3)

Directories and Files

380

(1)

INCLUDES. H

380

(1)

OS_CPU. H

381

(2)

OS_CPU_C. C

383

(10)

OS_CPU_A. ASM

393

(9)

Memory Usage

402

(3)

μC/OS-II Reference Manual

405

(108)

OS_ENTER_CRITICAL()

406

(1)

OS_EXIT_CRITICAL()

406

(1)

OSFlagAccept()

407

(2)

OSFlagCreate()

409

(1)

OSFlagDel()

410

(2)

OSFlagPend()

412

(2)

OSFlagPost()

414

(2)

OSFlagQuery()

416

(1)

OSInit()

417

(1)

OSIntEnter()

418

(2)

OSIntExit()

420

(1)

OSMboxAccept()

421

(1)

OSMboxCreate()

422

(1)

OSMboxDel()

423

(2)

OSMboxPend()

425

(2)

OSMboxPost()

427

(2)

OSMboxPostOpt()

429

(2)

OSMboxQuery()

431

(2)

OSMemCreate()

433

(2)

OSMemGet()

435

(2)

OSMemPut()

437

(2)

OSMemQuery()

439

(2)

OSMutexAccept()

441

(2)

OSMutexCreate()

443

(2)

OSMutexDel()

445

(2)

OSMutexPend()

447

(2)

OSMutexPost()

449

(2)

OSMutexQuery()

451

(2)

OSQAccept()

453

(1)

OSQCreate()

454

(1)

OSQDel()

455

(2)

OSQFlush()

457

(1)

OSQPend()

458

(2)

OSQPost()

460

(2)

OSQPostFront()

462

(2)

OSQPostOpt()

464

(2)

OSQQuery()

466

(2)

OSSchedLock()

468

(1)

OSSchedUnlock()

469

(1)

OSSemAccept()

470

(1)

OSSemCreate()

471

(1)

OSSemDel()

472

(2)

OSSemPend()

474

(2)

OSSemPost()

476

(2)

OSSemQuery()

478

(2)

OSStart()

480

(1)

OSStatInit()

481

(1)

OSTaskChangePrio()

482

(1)

OSTaskCreate()

483

(4)

OSTaskCreateExt()

487

(6)

OSTaskDel()

493

(2)

OSTaskDelReq()

495

(2)

OSTaskQuery()

497

(2)

OSTaskResume()

499

(1)

OSTaskStkChk()

500

(2)

OSTaskSuspend()

502

(2)

OSTimeDly()

504

(1)

OSTimeDlyHMSM()

505

(2)

OSTimeDlyResume()

507

(1)

OSTimeGet()

508

(1)

OSTimeSet()

509

(1)

OSTimeTick()

510

(2)

OSVersion()

512

(1)

μC/OS-II Configuration Manual

513

(12)

Miscellaneous

513

(3)

Event Flags

516

(1)

Message Mailboxes

516

(1)

Memory Management

517

(1)

Mutual Exclusion Semaphores

517

(1)

Message Queues

518

(1)

Semaphores

519

(1)

Task Management

519

(1)

Time Management

520

(1)

Function Summary

520

(5)

PC Services

525

(26)

Character-Based Display

525

(4)

Saving and Restoring DOS's Context

529

(2)

Elapsed-Time Measurement

531

(1)

Miscellaneous

531

(1)

Interface Functions

532

(18)

PC_DispChar()

533

(1)

PC_DispClrCol()

534

(1)

PC_DispClrRow()

535

(1)

PC_DispClrScr()

536

(1)

PC_DispStr()

537

(2)

PC_DOSReturn()

539

(1)

PC_DOSSaveReturn()

540

(1)

PC_ElapsedInit()

541

(1)

PC_ElapsedStart()

542

(2)

PC_ElapsedStop()

544

(1)

PC_GetDateTime()

545

(1)

PC_GetKey()

546

(1)

PC_SetTickRate()

547

(1)

PC_VectGet()

548

(1)

PC_VectSet()

549

(1)

Bibliography

550

(1)

Appendix A C Coding Conventions

551

(16)

A.1 Header

552

(1)

A.2 Include Files

552

(1)

A.3 Naming Identifiers

553

(1)

A.4 Acronyms, Abbreviations, and Mnemonics

554

(2)

A.5 Comments

556

(1)

A.6 #defines

557

(1)

A.7 Data Types

557

(1)

A.8 Local Variables

558

(1)

A.9 Function Prototypes

559

(1)

A.10 Function Declarations

559

(1)

A.11 Indentation

560

(3)

A.12 Statements and Expressions

563

(1)

A.13 Structures and Unions

564

(1)

A.14 Bibliography

564

(3)

Appendix B Licensing Policy for μC/OS-II

567

(2)

B.1 Colleges and Universities

567

(1)

B.2 Commercial Use

567

(2)

Appendix C μC/OS-II Quick Reference

569

(14)

Miscellaneous

570

(1)

Task Management

571

(2)

Time Management

573

(1)

Semaphore Management

574

(1)

Mutual Exclusion Semaphore Management

575

(1)

Event Flag Management

576

(1)

Message Mailbox Management

577

(2)

Message Queue Management

579

(2)

Memory Management

581

(2)

Appendix D TO Utility

583

(2)

Appendix E Bibliography

585

(2)

Appendix F Companion CD

587

(6)

F.1 Files and Directories

589

(4)

Index

593

(21)

What's on the CD-ROM?

614

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MicroC/OS-II: The Real Time Kernel

Summary

Author Biography

Table of Contents

Supplemental Materials