CooCox_CoOS_User_Guide.pdf

CooCox CoOS User's Guide

Revision 1.1

August, 2009

www.coocox.org

CONTENTS

1 OverView.................................................................................... 1

1.1 About CooCox CoOS............................................................. 1

1.2 CooCox CoOS getting started ................................................ 3

2 Task Management ........................................................................ 9

2.1 Task................................................................................... 9

2.2 Task State .........................................................................10

2.3 Task Control Blocks .............................................................12

2.4 Task Ready List...................................................................15

2.5 Task Scheduling..................................................................16

2.6 Critical Section ...................................................................18

2.7 Interrupts..........................................................................19

3 Time Management ......................................................................20

3.1 System Ticks......................................................................20

3.2 Delay Management .............................................................22

3.3 Software Timer...................................................................23

4 Memory Management ..................................................................25

4.1 Static Memory Allocation......................................................25

4.2 Dynamic memory management ............................................26

4.3 Stack Overflow Check..........................................................31

5 Intertask Synchronization&Communication .....................................32

5.1 Intertask Synchronization ....................................................32

5.2 Intertask Communication.....................................................38

6 API Reference.............................................................................41

6.1 System Management...........................................................41

6.2 Task Management ...............................................................47

6.3 Time Management ..............................................................58

6.4 Software Timer...................................................................62

6.5 Memory Management ..........................................................69

6.6 Mutex Section ....................................................................77

6.7 Semaphores.......................................................................80

6.8 Mailboxes ..........................................................................88

6.9 Message Queues.................................................................97

6.10 Flags ............................................................................. 107

6.11 System Utilities............................................................... 119

6.12 Others........................................................................... 122

1 OverView

1.1 About CooCox CoOS

CooCox CoOS is an embedded real-time multi-task OS specially for ARM

Cortex M series.

1.1.1 CoOS Features

l Specially designed for Cortex-M series.

l Free and open real-time Operating System.

l Scalable, minimal system kernel is only 974Byte.

l Adaptive Task Scheduling Algorithm.

l Supports preemptive priority and round-robin.

l Interrupt latency is 0.

l Semaphore, Mutex, Flag, Mailbox and Queue for communication &

synchronisation

l Stack overflow detection option.

l Supports the platforms of ICCARM, ARMCC, GCC

1.1.2 Technical Data

Table 1.1.1 Time Specifications

N Function

Time( No Robin/Robin )

Create defined task, no task switch

5.3us/5.8us

Create defined task, switch task

7.5us/8.6us

Delete task (ExitTask)

4.8us/5.2us

Task switch (SwitchContext)

1.5us/1.5us

Task switch (upon set flag)

7.5us/8.1us

Task switch (upon sent semaphore)

6.3us/7.0us

Task switch (upon sent mail)

6.1us/7.1us

Task switch (upon sent queue)

7.0us/7.6us

Set Flag (no task switch)

1.3us/1.3 us

Send semaphore (no task switch)

1.6us/1.6us

Send mail (no task switch)

1.5us/1.5us

Send queue (no task switch)

1.8us/1.8us

Maximum interrupt lockout for IRQ ISR's

0/0

Table 1.1.2 Space Specifications

Description

Space

RAM Space for Kernel

168 Bytes

Code Space for Kernel

974 Bytes

RAM Space for a Task

TaskStackSize + 24 Bytes(MIN)

TaskStackSize + 48 Bytes(MAX)

RAM Space for a Mailbox

16 Bytes

RAM Space for a Semaphore

16 Bytes

RAM Space for a Queue

32 Bytes

RAM Space for a Mutex

8 Bytes

RAM Space for a User Timer

24 Bytes

1.1.3 Supported Devices ( CoOS supports all ARM Cortex M3 and Cortex M0 based

devices, here only lists some of the most common used: )

n ST STM32 Series

n Atmel ATSAM3U Series

n NXP LPC17xx LPC13xx LPC11xx Series

n Toshiba TMPM330 Series

n Luminary LM3S Series

n Nuvoton NUC1xx Series

n Energy Micro EFM32 Series

1.1.4 Source Codes Download

If you want to learn more about CooCox CoOS, you can download the

CooCox CoOS source code from the web: http://www.coocox.org/ .

1.2 CooCox CoOS getting started

This section describes the useage of CooCox, here we use Keil RealView

MDK and EM-LPC1700 evaluation board to develop a simple demo based on

CooCox CoOS.

Here we assume that you are able to use Keil RealView MDK to do simple

development and basic set. The following will introduce a simple example which

includes three tasks:

led : Used for 8 LEDs' cyclic flickering, and set flags to activate the other

two tasks every fixed time interval;

taskA : Wait for task flag 'a_flag', then print taskA through UART1;

taskB : Wait for task flag 'b_flag', then print taskB through UART1;

The overall phenomenon is thatthe 8 LEDs on board changes every 0.5s,

the change order is :LED0 LED1 LED2 … LED6 LED7 LED0 LED1 …,

the serial port prints messages every 0.5s, printing like this:

taskA is running

taskB is running

…

The corresponding relationships between LEDs and GPIOs are as follows:

LED0 P1.28

LED1 P1.29

LED2 P1.31

LED[3…7] P[2.2...2.6]

Next we will introduce how to achieve the above functions in the

environment of CoOS.

1.2.1 Preparations

1> Visit www.coocox.org website to download ' The first CoOS Program ' source

code;

2> First of all, create a folder named 'getting_started'(Note: the name of the

folder can't has spaces or Chinese);

3> And then enter the 'getting_started' folder, create a inc ,a src ,a ccrtos folder

Plik z chomika:

Inne pliki z tego folderu:

Inne foldery tego chomika: