themcos-iireal-timeoperatingsystem.pptVIP

The mC/OS-IIReal-Time Operating System mC/OS-II Real-time kernel Portable, scalable, preemptive RTOS Ported to over 90 processors Pronounced “microC OS two” Written by Jean J. Labrosse of Micrium,  Extensive information in MicroC/OS-II: The Real-Time Kernel (A complete portable, ROMable scalable preemptive RTOS), Jean J. LaBrosse, CMP Books Task States Five possible states for a task to be in Dormant – not yet visible to OS (use OSTaskCreate(), etc.) Ready Running Waiting ISR – preempted by an ISR See manual for details Task Scheduling Scheduler runs highest-priority task using OSSched() OSRdyTbl has a set bit for each ready task Checks to see if context switch is needed Macro OS_TASK_SW performs context switch Implemented as software interrupt which points to OSCtxSw Save registers of task being switched out Restore registers of task being switched in Scheduler locking Can lock scheduler to prevent other tasks from running (ISRs can still run) OSSchedLock() OSSchedUnlock() Nesting of OSSchedLock possible Don’t lock the scheduler and then perform a system call which could put your task into the WAITING state! Idle task Runs when nothing else is ready Automatically has prioirty OS_LOWEST_PRIO Only increments a counter for use in estimating processor idle time Where Is The Code Which Makes It Work? Selecting a thread to run OSSched() in os_core2.c Context switching OS_TASK_SW in os_cpu.h OSCtxSw in os_cpu_a.a30 What runs if no tasks are ready? OSTaskIdle() in os_core2.c TCB for mC/OS-II typedef struct os_tcb { /* Extended TCB code is italicized */ OS_STK *OSTCBStkPtr; /* Pointer to current top of stack */ void *OSTCBExtPtr; /* Pointer to user definable data for TCB extension */ OS_STK *OSTCBStkBottom; /* Pointer to bottom of stack – last valid address */ INT32U OSTCBStkSize; /* Size of task stack (in bytes) */ INT16U OSTCBOpt; /* Task options as passed by OSTaskCreateExt