2015年µCOS-II英文用户手册：实时系统与核心功能详解

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µCOS-II 2015年用户手册是一份详尽的指导文档，专为理解和使用这款实时操作系统而编撰，总共有754页。该手册由Jean J. Labrosse创作，适用于那些希望在嵌入式系统开发中采用高性能实时任务管理的工程师和程序员。本书的核心内容分为多个章节，涵盖了µC/OS-II的关键特性： 1. ** Preface**：介绍了手册的目的和概述，以及作者的背景和µC/OS-II的设计哲学。 2. ** Getting Started with µC/OS-II**：为初学者提供了安装、配置和启动基本操作系统的步骤，帮助读者快速上手。 3. ** Real-Time Systems Concepts**：讲解了实时系统的基本原理和设计原则，这对于理解µC/OS-II如何在实时环境中运行至关重要。 4. ** Kernel Structure**：阐述了核心模块的组织架构，包括内核的主要组成部分和它们的功能。 5. ** Task Management**：详细讨论了任务创建、调度、同步和通信，这是操作系统的核心功能之一。 6. ** Time Management**：涉及时间片分配、延时、定时器管理等内容，确保系统的精确性和响应性。 7. ** Timer Management**：解释了如何利用定时器来实现周期性任务和事件驱动编程。 8. ** Event Control Blocks**：探讨了事件控制块的使用，这是处理异步事件的重要工具。 9. ** Semaphore Management**：介绍了信号量的原理和使用，用于解决并发任务间的同步问题。 10. ** Mutual Exclusion Semaphores**：深入解析互斥信号量，确保在共享资源上的访问是互斥的。 11. ** Event Flag Management**：解释了事件标志在通知任务更新或完成时的作用。 12. ** Message Mailbox Management**：讨论了消息队列的创建、发送和接收，支持任务之间的通信。 13. ** Message Queue Management**：进一步细化了消息队列的高级操作，如优先级管理和阻塞处理。 14. ** Memory Management**：涵盖了内存的分配、回收和保护，确保系统内存的有效使用。 15. ** Porting µC/OS-II**：提供移植指导，让开发者了解如何将µC/OS-II适配到不同硬件平台。 16. ** 80x86 Porting**：针对特定处理器架构（如Intel 80x86）的移植技术，包括软件和硬件支持选项。 17. ** Compiler's Run-Time Library Thread Safety**：强调了编译器运行时库在多线程环境中的安全实践。 18. ** µC/OS-II API Reference**：提供了一个全面的接口参考，以便查阅各个函数和结构的用法。 19. ** Configuration Manual**：指南用户根据应用需求定制和调整系统配置。 20. ** PC Services**：介绍了在个人计算机等非嵌入式系统中使用µC/OS-II的可能性和扩展性。 21. ** Coding Conventions**：推荐的代码编写风格和最佳实践，有助于团队协作和代码一致性。 22. ** Licensing Policy**：阐述了µC/OS-II的版权和许可条款，确保合法使用。 23. ** µC/OS-II Quick Reference**：简洁的速查表，方便快速查找关键信息。 24. ** TO Utility**：可能指的是调试工具或测试套件，用于辅助开发过程。 25. ** Bibliography**：列出参考资料，供读者进一步研究和扩展知识。 µCOS-II 2015年用户手册为开发人员提供了一个全面的资源，从理论到实践，帮助他们充分利用这个高效实时操作系统来构建高质量的嵌入式系统应用。无论是初次接触还是经验丰富的开发者，都可以从中受益匪浅。

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µC/OS-II User's Manual

Figure - Figure 1.2 Initialization of the display by TaskStartDispInit().

(3) TaskStart() then invokes the macro OS_ENTER_CRITICAL() . OS_ENTER_CRITICAL() is

basically a processor-specific macro and its used to disable interrupts (see Chapter 13,

Porting µC/OS-II ).

µC/OS-II, like all kernel, requires a time source to keep track of delays and timeouts. In(4)

real mode, the PC offers such a time source which occurs every 54.925 ms (18.20648

Hz) and is called a . allows us to replace the address where the PC goestick PC_VectSet()

to service the DOS tick with one that will be used by µC/OS-II. However, µC/OS-II will

still call the DOS tick handler every 54.925 ms. This technique is called and ischaining

setup by (see ).PC_DOSSaveReturn() Chapter 18, PC Services

We then change the tick rate rate from 18.2 Hz to 200 Hz. I selected 200 Hz because it’s(5)

almost an exact multiple of 18.2 Hz (i.e. 11 times faster). I never quite understood why

IBM selected 18.2 Hz instead of 20 Hz as the tick rate on the original PC. Instead of

setting up the 82C54 timer to divide the timer input frequency by 59,659 to obtain a nice

20 Hz, it appears that they left the 16-bit timer overflow every 65,536 pulses! Changing

the tick rate is handled by another PC service called and is passed thePC_SetTickRate()

desired tick rate ( is set to 200 in ).OS_TICKS_PER_SEC OS_CPU.H

We then invoke the macro . is basically a(6) OS_EXIT_CRITICAL() OS_EXIT_CRITICAL()

µC/OS-II User's Manual

void Task (void *pdata)

{

INT8U x;

INT8U y;

INT8U err;

for (;;) { (1)

OSSemPend(RandomSem, 0, &err); (2)

x = random(80); (3)

y = random(16); (4)

OSSemPost(RandomSem); (5)

PC_DispChar(x, y + 5, *(char *)pdata, DISP_FGND_LIGHT_GRAY); (6)

OSTimeDly(1); (7)

}

Listing - Listing 1.5 Example #1, TEST.C, Task().

As I previously mentioned, a µC/OS-II task is typically an infinite loop.(1)

The task starts by acquiring the semaphore which guards access to the Borland compiler(2)

random number generator function. This is done by calling and passing itOSSemPend()

the ‘handle’ (see L1.1(6)) of the semaphore which was created to guard access to the

random number generator function. The second argument of is used toOSSemPend()

specify a timeout. A value of 0 means that this task will wait forever for the semaphore.

Because the semaphore was initialized with a count of one and no other task has

requested the semaphore, is allowed to continue execution. If the semaphore wasTask()

‘owned’ by another task, µC/OS-II would have suspended this task, and executed the

next most important task.

The random number generator function is called and a value between 0 and 79(3)

(inclusively) is returned. This happens to be the ‘X’ coordinate where we want to display

the character ‘0’ (for this task) on the screen.

Again, the random number generator is called and returns a number between 0 and 15(4)

(inclusively). This value will be used to determine the ‘Y’ position of the character to

display.

The semaphore is released by calling . Here we simply need to specify the(5) OSSemPost()

semaphore ‘handle’.

We can now display the character that was passed to when was created.(6) Task() Task()

µC/OS-II User's Manual

For the first instance of , the character would be ‘0’ and the last instance, it’s ‘9’. ITask()

added an offset of 5 lines from the top so that I don’t overwrite the header at the top of

the display (see Figure 1.1).

Finally, calls to tell µC/OS-II that it’s done executing and to give(7) Task() OSTimeDly()

other tasks a chance to run. The value of 1 means that I want this task to delay for one

clock tick or, 5 ms since the tick rate is 200 Hz. When is called, µC/OS-IIOSTimeDly()

suspends the calling function and executes the next most important task. In this case, it

would be another instance of which would display ‘1’. This process goes on forTask()

all instances of and thus, that’s why Figure 1.1 looks the way it does.Task()

If you have the Borland C/C++ V4.5x compiler installed in the \ directory, you canC: BC45

experiment with . After modifying , you can type MAKETEST from theTEST.C TEST.C

command line prompt of the TEST directory which builds a new . If you don’t haveTEST.EXE

the Borland C/C++ V4.5x or your have it installed in a different directory, you can make the

appropriate changes to , and .TEST.MAK INCLUDES.H TEST.LNK

The SOURCE directory contains four files: , , and . INCLUDES.H OS_CFG.H TEST.C TEST.LNK

is used to determine µC/OS-II configuration options. is the linker commandOS_CFG.H TEST.LNK

file for the Borland linker, TLINK.

Example 2: Stack Checking

Example #2 demonstrates the stack checking feature of µC/OS-II. The amount of stack space

used by each task is displayed along with the amount of free stack space. Also, Example #2

shows the execution time of the stack checking function since it depends onOSTaskStkChk()

the size of each stack. It turns out that a heavily used stack requires less processing time.

The code for Example #2 is found in the directory. You can\SOFTWARE\uCOS-II\EX2_x86L\BC45

open a DOS window and type:

CD \SOFTWARE\uCOS-II\Ex2_x86L\BC45\TEST

To execute example #2, simply type TEST at the command line prompt. The DOS window

will run the program.TEST.EXE

After about one second, you should see the screen shown in Figure 1.3.

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2015年µCOS-II英文用户手册：实时系统与核心功能详解

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