uCOS-III-The Real time kernel ST-STM32

Cover
Table of Contents
Part I
	Foreword to µC/OS-III — by Jack Ganssle
	Preface
	Introduction
		1-1 Foreground/Background Systems
		1-2 Real-Time Kernels
		1-3 RTOS (Real-Time Operating System)
		1-4 µC/OS-III
		1-5 µC/OS, µC/OS-II and µC/OS-III Features Comparison
		1-6 How the Book is Organized
		1-7 µC/Probe
		1-8 Conventions
		1-9 Chapter Contents
	Directories and Files
		2-1 Application Code
		2-2 CPU
		2-3 Board Support Package (BSP)
		2-4 µC/OS-III, CPU Independent Source Code
		2-5 µC/OS-III, CPU Specific Source Code
		2-6 µC/CPU, CPU Specific Source Code
		2-7 µC/LIB, Portable Library Functions
		2-8 Summary
	Getting Started with µC/OS-III
		3-1 Single Task Application
		3-2 Multiple Tasks Application with Kernel Objects
	Critical Sections
		4-1 Disabling Interrupts
			4-1-1 Measuring Interrupt Disable Time
		4-2 Locking the Scheduler
			4-2-1 Measuring Scheduler Lock Time
		4-3 µC/OS-III Features with Longer Critical Sections
		4-4 Summary
	Task Management
		5-1 Assigning Task Priorities
		5-2 Determining the Size of a Stack
		5-3 Detecting Task Stack Overflows
		5-4 Task Management Services
		5-5 Task Management Internals
			5-5-1 Task States
			5-5-2 Task Control Blocks (TCBs)
		5-6 Internal Tasks
			5-6-1 The Idle Task (OS_IdleTask(), os_core.c)
			5-6-2 The Tick Task (OS_TickTask(), os_tick.c)
			5-6-3 The Statistic Task (OS_StatTask(), os_stat.c)
			5-6-4 The Timer Task (OS_TmrTask(), os_tmr.c)
			5-6-5 The ISR Handler Task (OS_IntQTask(), os_int.c)
		5-7 Summary
	The Ready List
		6-1 Priority Levels
		6-2 The Ready List
		6-3 Adding Tasks to the Ready List
		6-4 Summary
	Scheduling
		7-1 Preemptive Scheduling
		7-2 Scheduling Points
		7-3 Round-Robin Scheduling
		7-4 Scheduling Internals
			7-4-1 OSSched()
			7-4-2 OSIntExit()
			7-4-3 OS_SchedRoundRobin()
		7-5 Summary
	Context Switching
		8-1 OSCtxSw()
		8-2 OSIntCtxSw()
		8-3 Summary
	Interrupt Management
		9-1 Handling CPU Interrupts
		9-2 Typical µC/OS-III Interrupt Service Routine (ISR)
		9-3 Non Kernel-Aware Interrupt Service Routine (ISR)
		9-4 Processors with Multiple Interrupt Priorities
		9-5 All Interrupts Vector to a Common Location
		9-6 Every Interrupt Vectors to a Unique Location
		9-7 Direct and Deferred Post Methods
			9-7-1 Direct Post Method
			9-7-2 Deferred Post Method
		9-8 Direct vs. Deferred Post Method
		9-9 The Clock Tick (or System Tick)
		9-10 Summary
	Pend Lists (or Wait Lists)
		10-1 Summary
	Time Management
		11-1 OSTimeDly()
		11-2 OSTimeDlyHMSM()
		11-3 OSTimeDlyResume()
		11-4 OSTimeSet() and OSTimeGet()
		11-5 OSTimeTick()
		11-6 Summary
	Timer Management
		12-1 One-Shot Timers
		12-2 Periodic (no initial delay)
		12-3 Periodic (with initial delay)
		12-4 Timer Management Internals
			12-4-1 Timer Management Internals - Timers States
			12-4-2 Timer Management Internals - OS_TMR
			12-4-3 Timer Management Internals - Timer Task
			12-4-4 Timer Management Internals - Timer List
		12-5 Summary
	Resource Management
		13-1 Disable/Enable Interrupts
		13-2 Lock/Unlock
		13-3 Semaphores
			13-3-1 Binary Semaphores
			13-3-2 Counting Semaphores
			13-3-3 Notes on Semaphores
			13-3-4 Semaphore Internals (for resource sharing)
			13-3-5 Priority Inversions
		13-4 Mutual Exclusion Semaphores (Mutex)
			13-4-1 Mutual Exclusion Semaphore Internals
		13-5 Should You Use a Semaphore Instead of a Mutex?
		13-6 Deadlocks (or Deadly Embrace)
		13-7 Summary
	Synchronization
		14-1 Semaphores
			14-1-1 Unilateral Rendez-vous
			14-1-2 Credit Tracking
			14-1-3 Multiple Tasks Waiting on a Semaphore
			14-1-4 Semaphore Internals (for synchronization)
		14-2 Task Semaphore
			14-2-1 Pending (i.e., Waiting) on a Task Semaphore
			14-2-2 Posting (i.e., Signaling) a Task Semaphore
			14-2-3 Bilateral Rendez-vous
		14-3 Event Flags
			14-3-1 Using Event Flags
			14-3-2 Event Flags Internals
		14-4 Synchronizing Multiple Tasks
		14-5 Summary
	Message Passing
		15-1 Messages
		15-2 Message Queues
		15-3 Task Message Queue
		15-4 Bilateral Rendez-vous
		15-5 Flow Control
		15-6 Keeping the Data in Scope
		15-7 Using Message Queues
		15-8 Clients and Servers
		15-9 Message Queues Internals
		15-10 Summary
	Pending On Multiple Objects
		16-1 Summary
	Memory Management
		17-1 Creating a Memory Partition
		17-2 Getting a Memory Block from a Partition
		17-3 Returning a Memory Block to a Partition
		17-4 Using Memory Partitions
		17-5 Summary
	Porting µC/OS-III
		18-1 Conventions
		18-2 µC/CPU
			18-2-1 cpu_bsp.h
			18-2-2 cpu_def.h
			18-2-3 cpu_cfg.h
			18-2-4 cpu_core.c
			18-2-5 cpu_core.h
			18-2-6 cpu.h
			18-2-7 cpu_c.c
			18-2-8 cpu_a.asm
		18-3 µC/OS-III Port
			18-3-1 os_cpu.h
			18-3-2 os_cpu_c.c
			18-3-3 os_cpu_a.asm
			18-3-4 os_cpu_a.inc
		18-4 Board Support Package (BSP)
			18-4-1 bsp.c and bsp.h
			18-4-2 bsp_int.c and bsp_int.h
		18-5 Testing a Port
			18-5-1 Creating a Simple Test Project
			18-5-2 Verifying Task Context Switches
			18-5-3 Verifying Interrupt Context Switches
		18-6 Summary
	Run-Time Statistics
		19-1 General Statistics – Run-Time
		19-2 Per-Task Statistics – Run-Time
		19-3 Kernel Object – Run-Time
		19-4 os_dbg.c – Static
		19-5 os_cfg_app.c – Static
		19-6 Summary
	µC/OS-III API Reference
		A-1 Task Management
		A-2 Time Management
		A-3 Mutual Exclusion Semaphores – Resource Management
		A-4 Event Flags – Synchronization
		A-5 Semaphores – Synchronization
		A-6 Task Semaphores – Synchronization
		A-7 Message Queues – Message Passing
		A-8 Task Message Queues – Message Passing
		A-9 Pending on Multiple Objects
		A-10 Timers
		A-11 Fixed-Size Memory Partitions – Memory Management
		A-12 OSCtxSw()
		A-13 OSFlagCreate()
		A-14 OSFlagDel()
		A-15 OSFlagPend()
		A-16 OSFlagPendAbort()
		A-17 OSFlagPendGetFlagsRdy()
		A-18 OSFlagPost()
		A-19 OSIdleTaskHook()
		A-20 OSInit()
		A-21 OSInitHook()
		A-22 OSIntCtxSw()
		A-23 OSIntEnter()
		A-24 OSIntExit()
		A-25 OSMemCreate()
		A-26 OSMemGet()
		A-27 OSMemPut()
		A-28 OSMutexCreate()
		A-29 OSMutexDel()
		A-30 OSMutexPend()
		A-31 OSMutexPendAbort()
		A-32 OSMutexPost()
		A-33 OSPendMulti()
		A-34 OSQCreate()
		A-35 OSQDel()
		A-36 OSQFlush()
		A-37 OSQPend()
		A-38 OSQPendAbort()
		A-39 OSQPost()
		A-40 OSSafetyCriticalStart()
		A-41 OSSched()
		A-42 OSSchedLock()
		A-43 OSSchedRoundRobinCfg()
		A-44 OSSchedRoundRobinYield()
		A-45 OSSchedUnlock()
		A-46 OSSemCreate()
		A-47 OSSemDel()
		A-48 OSSemPend()
		A-49 OSSemPendAbort()
		A-50 OSSemPost()
		A-51 OSSemSet()
		A-52 OSStart()
		A-53 OSStartHighRdy()
		A-54 OSStatReset()
		A-55 OSStatTaskCPUUsageInit()
		A-56 OSStatTaskHook()
		A-57 OSTaskChangePrio()
		A-58 OSTaskCreate()
		A-59 OSTaskCreateHook()
		A-60 OSTaskDel()
		A-61 OSTaskDelHook()
		A-62 OSTaskQFlush()
		A-63 OSTaskQPend()
		A-64 OSTaskQPendAbort()
		A-65 OSTaskQPost()
		A-66 OSTaskRegGet()
		A-67 OSTaskRegSet()
		A-68 OSTaskReturnHook()
		A-69 OSTaskResume()
		A-70 OSTaskSemPend()
		A-71 OSTaskSemPendAbort()
		A-72 OSTaskSemPost()
		A-73 OSTaskSemSet()
		A-74 OSStatTaskHook()
		A-75 OSTaskStkChk()
		A-76 OSTaskStkInit()
		A-77 OSTaskSuspend()
		A-78 OSTaskSwHook()
		A-79 OSTaskTimeQuantaSet()
		A-80 OSTickISR()
		A-81 OSTimeDly()
		A-82 OSTimeDlyHMSM()
		A-83 OSTimeDlyResume()
		A-84 OSTimeGet()
		A-85 OSTimeSet()
		A-86 OSTimeTick()
		A-87 OSTimeTickHook()
		A-88 OSTmrCreate()
		A-89 OSTmrDel()
		A-90 OSTmrRemainGet()
		A-91 OSTmrStart()
		A-92 OSTmrStateGet()
		A-93 OSTmrStop()
		A-94 OSVersion()
	µC/OS-III Configuration Manual
		B-1 µC/OS-III Features (os_cfg.h)
		B-2 Data Types (os_type.h)
		B-3 µC/OS-III Stacks, Pools and other (os_cfg_app.h)
	Migrating from µC/OS-II to µC/OS-III
		C-1 Differences in Source File Names and Contents
		C-2 Convention Changes
		C-3 Variable Name Changes
		C-4 API Changes
			C-4-1 Event Flags
			C-4-2 Message Mailboxes
			C-4-3 Memory Management
			C-4-4 Mutual Exclusion Semaphores
			C-4-5 Message Queues
			C-4-6 Semaphores
			C-4-7 Task Management
			C-4-8 Time Management
			C-4-9 Timer Management
			C-4-10 Miscellaneous
			C-4-11 Hooks and Port
	MISRA-C:2004 and µC/OS-III
		D-1 MISRA-C:2004, Rule 8.5 (Required)
		D-2 MISRA-C:2004, Rule 8.12 (Required)
		D-3 MISRA-C:2004, Rule 14.7 (Required)
		D-4 MISRA-C:2004, Rule 15.2 (Required)
		D-5 MISRA-C:2004, Rule 17.4 (Required)
	Bibliography
	Licensing Policy
Part II
	Introduction
		1-1 The MicriUm µC/Eval-STM32F107
		1-2 Part II Chapter Contents
		1-3 Acknowledgements
	The ARM Cortex-M3 and the STM32
		2-1 The Cortex CPU
			2-1-1 The Program Status Register
			2-1-2 Stacking and Interrupts
		2-2 Nested Vector Interrupt Controller (NVIC)
		2-3 Exception Vector Table
		2-4 SYSTICK (System Tick)
		2-5 Memory Map
		2-6 Instruction Set
		2-7 Debugging Features
		2-8 The STmicroelectronics STM32
	Setup
		3-1 Downloading µC/OS-III projects for this book
			3-1-1 \EvalBoards
			3-1-2 \uC-CPU
			3-1-3 \uC-LIB
			3-1-4 \uCOS-III
		3-2 Downloading µC/Probe
		3-3 Downloading the IAR Embedded Workbench for ARM
		3-4 Downloading the STM32F107 documentation
	µC/OS-III Example #1
		4-1 Running the Project
		4-2 How the example project works
		4-3 Monitoring variables using µC/Probe
		4-4 Summary
	µC/OS-III Example #2
		5-1 Running the Project
		5-2 Monitoring the temperature sensor using µC/Probe
	µC/OS-III Example #3
		6-1 Running the Project
		6-2 Examining Performance Test Results with µC/Probe
		6-3 How the test code works
		6-4 Other performance measurements
		6-5 Summary
	µC/OS-III Example #4
		7-1 Running the Project
		7-2 Displaying Rotating Wheel Data
		7-3 RPM Measurement simulation implementation
			7-3-1 Measuring RPM using an Input Capture
		7-4 How the code works
		7-5 Observations
		7-6 Summary
	µC/OS-III port for the Cortex-M3
		A-1 os_cpu.h
		A-2 os_cpu_c.c
			A-2-1 os_cpu_c.c – OSIdleTaskHook()
			A-2-2 os_cpu_c.c – OSInitHook()
			A-2-3 os_cpu_c.c – OSStatTaskHook()
			A-2-4 os_cpu_c.c – OSTaskCreateHook()
			A-2-5 os_cpu_c.c – OSTaskDelHook()
			A-2-6 os_cpu_c.c – OSTaskReturnHook()
			A-2-7 os_cpu_c.c – OSTaskStkInit()
			A-2-8 os_cpu_c.c – OSTaskSwHook()
			A-2-9 os_cpu_c.c – OSTimeTickHook()
			A-2-10 os_cpu_c.c – OS_CPU_SysTickHandler()
			A-2-11 os_cpu_c.c – OS_CPU_SysTickInit()
		A-3 os_cpu_a.asm
			A-3-1 os_cpu_a.asm – OSStartHighRdy()
			A-3-2 os_cpu_a.asm – OSCtxSw() and OSIntCtxSw()
			A-3-3 os_cpu_a.asm – OS_CPU_PendSVHandler()
	µC/CPU port for the Cortex-M3
		B-1 cpu_core.c
		B-2 cpu_core.h
		B-3 cpu_def.h
		B-4 cpu_cfg.h
		B-5 µC/CPU Functions in bsp.c
			B-5-1 µC/CPU Functions in bsp.c, CPU_TS_TmrInit()
			B-5-2 µC/CPU Functions in bsp.c, CPU_TS_TmrRd()
		B-6 cpu.h
			B-6-1 cpu.h – #defines
			B-6-2 cpu.h – Data Types
			B-6-3 cpu.h – Function Prototypes
		B-7 cpu_a.asm
	IAR Systems IAR Embedded Workbench for ARM
		C-1 IAR Embedded Workbench for ARM – Highlights
		C-2 Modular and extensible IDE
		C-3 Highly optimizing C/C++ Compiler
		C-4 Device Support
		C-5 State-of-the-art C-SPY® Debugger
		C-6 C-SPY Debugger and target system support
		C-7 IAR Assembler
		C-8 IAR J-LINK Linker
		C-9 IAR Library and library tools
		C-10 Comprehensive documentation
		C-11 First class technical support
	Micriµm’s µC/Probe
		D-1 µC/Probe is a Windows™-based application
		D-2 Assigning a variable to an object
	µC/Eval-STM32F107 User’s Guide
		E-1 Features
		E-2 Hardware layout and configuration
		E-3 Power Supply
		E-4 Boot Options
		E-5 Reset Sources
		E-6 CAN (Controller Area Network)
		E-7 RS-232C
		E-8 SD/MMC card
		E-9 USB-OTG (USB On-The-Go)
		E-10 LM75 Temperature Sensor
		E-11 Debug Interface
		E-12 Ethernet
		E-13 Clock SourceS
		E-14 Connectors
			E-14-1 Extension connector (CN3)
			E-14-2 Power connectors (CN1 & CN9)
			E-14-3 RS-232C connectors (CN7)
		E-15 I/O Assignments
		E-16 Schematics
	Bibliography
	Licensing Policy
Index