uCOSII Kernel Structure
936317 許哲宇 936719 丁俊宏
uCOSII Kernel
Memory Management
OUTLINE
Introduction
Kernel Structure Overview
Mutual Exclusion
Task Management
Interrupts
Clock ticks
uCOSII initialization
Introduction
µC/OS-II, The Real-Time Kernel is a highly
portable, ROMable, very scalable, preempti
ve real-time, multitasking kernel (RTOS) fo
r microprocessors and microcontrollers.
µC/OS-II can manage up to 63 application t
asks.
Over 100 microprocessor ports are availabl
e to DOWNLOAD.
Reference: http://www.ucos-ii.com/
Jean J. Labrosse
About µC/OS-II
Structure Overview
Mutual Exclusion
Critical section
disable interrupt
OSSchedLock()
disable scheduling
OSSemPend()
semaphore
Critical section
Critical Section
void Function(void){
Shared resource region should
implement mutual exclusion
OS_ENTER_CRITICAL();
Disable Interrupt
/*Operate shared data*/
OS_ENTER_CRITICAL()
OS_EXIT_CRITICAL();
Enable Interrupt
}
OS_EXIT_CRITICAL()
Defined in OS_CPU.H
OSSchedLock()
void Function (void)
{
OSSchedLock();
/* You can access shared data in here (interrupts
are recognized) */
OSSchedUnlock();
}
OSSemPend()
OS_EVENT *SharedDataSem;
void Function (void)
{
INT8U err;
OSSemPend(SharedDataSem, 0, &err);
.
. /* You can access shared data in here (int
errupts are recognized) */
.
OSSemPost(SharedDataSem);
}
Task Management
Task introduction
Task format
Task scheduling
Task introduction
Task is a single instance of program
Task thinks it has all CPU control itself
Task has its own stack and own set of CPU
registers backup in its stack
Task is assigned a unique priority (highest
0 ~ lowest 63)
Task is an infinite loop and never returns
Task has states
µC/OS-II saves task records in Task Control
Block(TCB)
Task format
Task
void
is an infinite
YourTask loop.
(void *pdata){
Return
for (;;) {typeis void because nothing
will
/*be returned.
User Code Text */
Parameter isSystem
a voidCall*/
OSMboxPend();
/*uCOS-II pointer type
uCOS-II so Call
System
that
/* you
User can
Codepass
Text anything
*/ you want.
OSQPend();
} OSSemPend(); OSTaskDel(OS
_PRIO_SELF); OSTaskSuspen
} d(OS_PRIO_SELF); OSTimeDl
y();
OSTimeDlyHMSM();
Task scheduling
Task State Transfer Diagram (TSTD)
Task Control Block (TCB)
Task Scheduler
Task Pending
Task Creation
Task Deletion
TSTD
♦ Running – task has control of the processor an
d executing its job
♦ Ready – task is ready to execute but its priority
is less than the running task
♦ Waiting – task requires the occurrence of an ev
ent to continue
♦ ISR – task is paused because the processor is
handling an interrupt
♦ Dormant – task resides in memory, but not see
n by the scheduler
TCB
A TCB contains task stack pointer,
priority number , delay time value , task
state , and some useful information for
this task.
OSTCBStkPtr OSTCBExtPtr OSTCBStkBottom OSTCBStkSize
OSTCBOpt OSTCBId OSTCBNext OSTCBPrev
OSTCBEventPtr OSTCBMsg OSTCBDly OSTCBStat
OSTCBPrio OSTCBX OSTCBY OSTCBBitX
OSTCBBitY OSTCBDelReq
TCB (cont.)
StkPtr ExtPtr StkBottom StkSize
Opt Id Next Prev
EventPtr Msg Dly Stat
Prio X Y BitX
BitY DelReq
Delay time
Event Msg State
Delete request
Stack
OSTCBList
Next Next Next 0
0 Prev Prev Prev Priority information
TCB (cont.)
OSTCBtbl[OS_MAX_TASKS+OS_N_SYS_TASK]
OSTCBFReeList
Task Scheduling
& Context Switch
In µC/OS-II, task scheduling if performed o
n following conditions:
♦ A task is created/deleted
♦ A task changes state
− On interrupt exit
− On post signal
− On pending event
− On task suspension
If the scheduler chooses a new task to run,
context switch occurs.
Task Scheduler
Preemptive Kernel
Not support time quantum
Task Scheduler (cont.)
Principle : select the highest priority
task from Ready List.
How to select the priority task from a
Ready List? Double-linked
List with
Get the highest priority priority field
Modify priority state Ready List Priority
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
Priority Priority Priority Priority
Task Scheduler (cont.)
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
Priority Priority Priority Priority
Method 1
Get the highest priority
Get the First one in the Ready List
Time Complexity : O(1)
Modify priority state
Selection sort for each change
Time Complexity : O(N)
Task Scheduler (cont.)
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
Priority Priority Priority Priority
Method 2
Get the highest priority
Use a Ready Table , a Priority TCB Table and
one variable to select
Time Complexity : O(1)
Modify priority state
Maintain a Ready Table , a Priority TCB Tabke
and one variable
Time Complexity : O(1)
Task Scheduler (cont.)
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
Priority Priority Priority Priority
Task Scheduler (cont.)
Get the highest priority
0 0 0 0 0 1 0 0
OSRdyGrp 0 0 0 0 0 0 0 0
1 0 1 1 0 1 0 1 0 0 1 1 0 1 0 0
0 0 0 0 0 0 0 0
0 1 0 0 0 0 1 0
TASK 1 TASK 2
OSTCBList 1TASK
0 30 TASK 4
0 0 0 1 1
NEXT NEXT 0NEXT
0 0 0NEXT
0 0 00 0
0 PREV PREV PREV PREV
Priority Priority 1 0 0
Priority 0 0
Priority 0 0 0
Task Scheduler (cont.)
Modify priority state
OSRdyGrp |= OSMapTbl[prio >> 3];
OSRdyTbl[prio >> 3] |= OSMapTbl[prio & 0x07];
Task Scheduler (cont.)
OSRdyGrp 0 0 0 0 0 1 0 0
1 0 1 1 1
0 1 0 1 0 0 031 0 0 0 0 0
0 0 1 1 0 1 0 0
1
0 0 0 0 0 0 0 0
Task Priority = 31
0 1 0 0 0 0 1 0
0 0 0 1 1 1 1 1
1 0 0 0 0 0 1 1
3 7 0 0 0 0 0 0 0 0
1 0 0 0 0 0 0 0
OSSched(void)
void OSSched (void)
{
INT8U y;
OS_ENTER_CRITICAL();
if ((OSLockNesting | OSIntNesting) == 0) {
y = OSUnMapTbl[OSRdyGrp];
OSPrioHighRdy = (INT8U)((y << 3) + OSUnMapTbl[OSRdyTbl[y]]);
if (OSPrioHighRdy != OSPrioCur) {
OSTCBHighRdy = OSTCBPrioTbl[OSPrioHighRdy];
OSCtxSwCtr++;
OS_TASK_SW();
}
}
OS_EXIT_CRITICAL();
}
Task Pending
Task pending occur when interrupt
OSMBoxPend()
OSQPend()
raise.
OSSemPend()
When waiting some event , message
or semaphore. OSTaskSuspend()
When one task delays itself.
OSTimeDly()
OSTimeDlyHMSM()
When one task is preempted by
higher priority task.
Task Creation
OSTaskCreate()
OSTaskCreateExt()
Create task before OSStart() or in Ru
nning state
But not permit to create task in ISR
OSTaskCreate()
Check priority
number
if (OSRunning)
Check
OSTaskStkInit()
OSTCBPrioTbl
OSTCBInit() OSTaskCtr++ OSSched()
OSTaskCreateExt()
Check priority
OSStackCheck
number
if (OSRunning)
Check
OSTaskStkInit()
OSTCBPrioTbl
OSTCBInit() OSTaskCtr++ OSSched()
Task Deletion
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
Priority Priority Priority Priority
Interrupts
Interrupt Service Routine
Step1:save CPU registers
Step2:call OSIntEnter () or
OSIntNesting add one directly
Step3:execution the service code
Step4:call OSIntExit()
Step5:restore CPU registers
Step6:call interrupt return instruction
Context switch
Clock ticks
10-100Hz
void OSTickISR(void)
OSTimeTick()
OSTimeTick() execution time is in pro
portion to number of Task.
TASK 1 TASK 2 TASK 3 TASK 4
OSTCBList
NEXT NEXT NEXT NEXT 0
0 PREV PREV PREV PREV
OSTCBDly OSTCBDly OSTCBDly OSTCBDly
OSTimeTick()
if (ptcb->OSTCBDly != 0) {
if (--ptcb->OSTCBDly == 0) {
if (!(ptcb->OSTCBStat & OS_STAT_SUSPEND)) {
OSRdyGrp |= ptcb->OSTCBBitY;
OSRdyTbl[ptcb->OSTCBY] |= ptcb->OSTCBBitX;
} else {
ptcb->OSTCBDly = 1;
}
}
}
Time Management
Using clock tick to implement time del
ays and timeouts.
OSTimeDly()
OSTimeDlyHMSM()
OSTimeDlyResume()
OSTimeGet()
OSTimeSet()
Defined in OS_Time.C
OSTimeDly()
void OSTimeDly (INT16U ticks)
{
if (ticks > 0) {
OS_ENTER_CRITICAL();
if ((OSRdyTbl[OSTCBCur->OSTCBY]
&= ~OSTCBCur->OSTCBBitX) == 0) {
OSRdyGrp &= ~OSTCBCur->OSTCBBitY;
}
OSTCBCur->OSTCBDly = ticks;
OS_EXIT_CRITICAL();
OSSched();
uCOSII initialization
OSIint() initialize all variables and dat
a structure for system.
Defined in OS_CORE.C
OSPrioCur =0
OSPrioHighRdy =0
OSTCBCur = NULL
OSTCBHighRdy = OL
OSTime =0
OSIntNesting =0
OSLockNesting =0
OSCtxSwCtr =0
OSTaskCtr =2
OSRunning = FALSE
OSCPUUsage =0
OSIdleCtrMax = 0L
OSIdleCtrRun = 0L
OSIdleCtr = 0L
OSStatRdy = FALSE
Free TCB List
Free Event List
Free Queue List
Free Memory List
Create a Task. OSPrioCur =6
Priority = 6 OSPrioHighRdy =6
OSTCBCur
OSTCBHighRdy
OSTime =0
OSIntNesting =0
OSLockNesting =0
OSCtxSwCtr =0
OSTaskCtr =3
OSRunning = TRUE
OSCPUUsage =0
OSIdleCtrMax = 0L
OSIdleCtrRun = 0L
OSIdleCtr = 0L
OSStatRdy = FALSE
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