Rtos 3 & 4
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Rtos 3 & 4

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this slide ll be helpful for those who are in search of real time systems.

this slide ll be helpful for those who are in search of real time systems.

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Rtos 3 & 4 Presentation Transcript

  • 1. Kernel Structure
    • This chapter describes some of the structural aspects of μC/OS-II.
    • How μC/OS-II handles access to critical sections of code,
    • What a task is, and how μC/OS-II knows about your tasks,
    • How tasks are scheduled,
    • How μC/OS-II can determine how much of CPU your application is using,
    • How do to write Interrupt Service Routines (ISRs),
    • What a clock tick is and how μC/OS-II handles it,
    • How to initialize μC/OS-II and,
    • How to start multitasking.
  • 2. OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL(),
    • μC/OS-II like all real-time kernels need to disable interrupts in order to access critical sections of code, and re-enable interrupts when done.
    • This allows μC/OS-II to protect critical code from being entered simultaneously from either multiple tasks or ISRs.
    • To hide the implementation method chosen by the compiler manufacturer, μC/OS-II defines two macros to disable and enable interrupts:
    • OS_ENTER_CRITICAL() and OS_EXIT_CRITICAL
    • Because these macros are processor specific, they are found in a file called OS_CPU.H.
    • Each processor port will thus have its own OS_CPU.H file.
  • 3. Tasks
    • A task is active entity which could do some computations.
    • A task is typically an infinite loop function
  • 4.
    • Alternatively, the task can delete itself upon completion
    • Also, if the task calls OSTaskDel(), the task code doesn’t return back to anything.
  • 5. Task States
  • 6. Task Control Blocks (OS_TCBs)
    • When a task is created, it is assigned a Task Control Block, OS_TCB .
    • A task control block is a data structure that is used by μC/OS-II to maintain the state of a task when it is preempted.
    • When the task regains control of the CPU the task control block allows the task to resume execution exactly where it left off.
    • All OS_TCBs reside in RAM.
    • An OS_TCB is initialized when a task is created
  • 7.  
  • 8. Ready List
    • Each task is assigned a unique priority level between 0 and OS_LOWEST_PRIO
    • Task priority OS_LOWEST_PRIO is always assigned to the idle task when μC/OS-II is initialized.
    • Each task that is ready to run is placed in a ready list consisting of two variables, OSRdyGrp and OSRdyTbl[].
    • Each bit in OSRdyGrp is used to indicate whenever any task in a group is ready to run.
    • When a task is ready to run it also sets its corresponding bit in the ready table, OSRdyTbl[].
    • To determine which priority (and thus which task) will run next, the scheduler determines the lowest priority number that has its bit set in OSRdyTbl[].
  • 9. Ready List
  • 10. Task Scheduling
    • μC/OS-II always executes the highest priority task ready to run.
    • The determination of which task has the highest priority and thus, which task will be next to run is determined by the scheduler.
    • Task level scheduling is performed by OSSched().
  • 11. Locking and Unlocking the Scheduler
    • The OSSchedLock() function is used to prevent task rescheduling until its counterpart, OSSchedUnlock(), is called.
    • The task that calls OSSchedLock() keeps control of the CPU even though other higher priority tasks are ready to run.
  • 12. Idle Task
    • μC/OS-II alwa ys creates a task the Idle Task which is executed when none of the other tasks is ready to run.
    • The idle task ( OSTaskIdle()) is always set to the lowest priority, i.e. OS_LOWEST_PRIO.
    • OSTaskIdle() does nothing but increment a 32 -bit counter called OSIdleCtr. OSIdleCtr is used by the statistics task to determine how much CPU time (in percentage) is actually being consumed by the application software.
  • 13. Statistics Task
    • μC/OS-II contains a task that provides run-time statistics. This task is called OSTaskStat()
    • Created if you set the configuration constant OS_TASK_STAT_EN to 1.
    • When enabled , OSTaskStat() executes every second and computes the percentage of CPU usage.
    • In other words, OSTaskStat() will tell you how much of the CPU time is used by your application, in percentage.
    • This value is placed in the variable OSCPUUsage which is a signed 8-bit integer.
  • 14. μ C/OS-II Initialization
  • 15. Data structures after calling OSInit()
  • 16. Starting μ C/OS-II
    • You start multitasking by calling OSStart() . Before you start μC/OS-II, however, you MUST create at least one of your application tasks as shown in listing
    Initializing and Starting μ C/OS-II. Starting multitasking.
  • 17. Task Management
    • Creating a Task, OSTaskCreate()
    • OSTaskCreate (void (*task)(void *pd), void *pdata, OS_STK *ptos, INT8U prio)
  • 18. Stack Checking, OSTaskStkChk()
    • It is sometimes necessary to determine how much stack space a task actually uses.
  • 19. Deleting a Task, OSTaskDel()
    • It is sometimes necessary to delete a task. Deleting a task means that the task will be returned to the DORMANT state
    • And does not mean that the code for the task will be deleted.
    • The task code is simply no longer scheduled by μC/OS -II.
    • You delete a task by calling OSTaskDel()
    • Requesting a task to delete itself , OSTaskDelReq()
  • 20. Changing a Task’s Priority, OSTaskChangePrio()
    • When you create a task, you assign the task a priority. At run-time, you can change the priority of any task by calling OSTaskChangePrio().
    • In other words, μC/OS-II allows you to change priorities dynamically.
  • 21. Suspending a Task, OSTaskSuspend()
    • It is sometimes useful to explicitly suspend the execution of a task.
    • This is accomplished with the OSTaskSuspend() function call.
    • A suspended task can only be resumed by calling the OSTaskResume() function call.
  • 22. Getting Information about a Task, OSTaskQuery()
    • Your application can obtain information about itself or other application tasks by calling OSTaskQuery().
    • In fact, OSTaskQuery() obtains a copy of the contents of the desired task’s OS_TCB.
  • 23. Time Management
    • This chapter will describe five services that deal with time issues:
    • 1) OSTimeDly(),
    • 2) OSTimeDlyHMSM(),
    • 3) OSTimeDlyResume(),
    • 4) OSTimeGet() and,
    • 5) OSTimeSet().
    • The functions described in this chapter are found in the file OS_TIME.C.