µC/OS-II Quick Reference
This appendix provides a summary of the services provided by µC/OS-II assuming you enabled everything (I didn’t want to clutter this reference with conditional compilation statements). Of course, some of the services might not be included in your application depending on the contents of OS_CFG.H.
Miscellaneous
Function Prototypes:
void OSInit(void); void OSIntEnter(void); void OSIntExit(void); void OSSchedLock(void); void OSSchedUnlock(void); void OSStart(void); void OSStatInit(void); INT16U OSVersion(void);
Macros:
OS_ENTER_CRITICAL() OS_EXIT_CRITICAL()
Global Variables:
INT8S OSCPUUsage // CPU usage in percent (%) INT8U OSIntNesting // Interrupt nesting level (0..255) INT8U OSLockNesting // OSSchedLock() nesting level. BOOLEAN OSRunning // Flag indicating multitasking running INT8U OSTaskCtr // Number of tasks created OS_TCB *OSTCBCur // Pointer to current task’s TCB OS_TCB *OSTCBHighRdy // Pointer to highest priority task’s TCB INT8U OSTaskCtr // Number of tasks created
Task Management
Function Prototypes:
INT8U OSTaskChangePrio(INT8U oldprio, INT8U newprio);
INT8U OSTaskCreate(void (*task)(void *pd),
void *pdata,
OS_STK *ptos,
INT8U prio);
INT8U OSTaskCreateExt(void (*task)(void *pd),
void *pdata,
OS_STK *ptos,
INT8U prio,
INT16U id,
OS_STK *pbos,
INT32U stk_size,
void *pext,
INT16U opt);
INT8U OSTaskDel(INT8U prio);
INT8U OSTaskDelReq(INT8U prio);
INT8U OSTaskResume(INT8U prio);
INT8U OSTaskSuspend(INT8U prio);
INT8U OSTaskStkChk(INT8U prio, OS_STK_DATA *pdata);
INT8U OSTaskQuery(INT8U prio, OS_TCB *pdata);OSTaskCreateExt() ‘opt’ argument:
OS_TASK_OPT_STK_CHK // Enable stack checking for the task OS_TASK_OPT_STK_CLR // Clear the stack when the task is create OS_TASK_OPT_SAVE_FP // Save Floating-Point registers
OSTaskDelReq() return values:
OS_NO_ERR // The request has been registered OS_TASK_NOT_EXIST // The task has been deleted OS_TASK_DEL_IDLE // Can’t delete the Idle task! OS_PRIO_INVALID // Invalid priority
OSTaskStkChk() data structure:
typedef struct {
INT32U OSFree; // # of free bytes on the stack
INT32U OSUsed; // # of bytes used on the stack
} OS_STK_DATA;OSTaskQuery() data structure:
typedef struct os_tcb {
OS_STK *OSTCBStkPtr; // Stack Pointer
void *OSTCBExtPtr; // TCB extension pointer
OS_STK *OSTCBStkBottom; // Ptr to bottom of stack
INT32U OSTCBStkSize; // Size of task stack (#elements)
INT16U OSTCBOpt; // Task options
INT16U OSTCBId; // Task ID (0..65535)
struct os_tcb *OSTCBNext; // Pointer to next TCB
struct os_tcb *OSTCBPrev; // Pointer to previous TCB
OS_EVENT *OSTCBEventPtr; // Pointer to ECB
void *OSTCBMsg; // Message received
OS_FLAG_NODE *OSTCBFlagNode; // Pointer to event flag node
OS_FLAGS OSTCBFlagsRdy; // Event flags that made task ready
INT16U OSTCBDly; // Nbr ticks to delay task or, timeout
INT8U OSTCBStat; // Task status
INT8U OSTCBPrio; // Task priority (0 == highest)
INT8U OSTCBX;
INT8U OSTCBY;
INT8U OSTCBBitX;
INT8U OSTCBBitY;
BOOLEAN OSTCBDelReq; // Flag to tell task to delete itself
} OS_TCB;Time Management
Function Prototypes:
void OSTimeDly(INT16U ticks);
INT8U OSTimeDlyHMSM(INT8U hours,
INT8U minutes,
INT8U seconds,
INT16U milli);
INT8U OSTimeDlyResume(INT8U prio);
INT32U OSTimeGet(void);
void OSTimeSet(INT32U ticks);
void OSTimeTick(void);Semaphore Management
Function Prototypes:
INT16U OSSemAccept(OS_EVENT *pevent); OS_EVENT *OSSemCreate(INT16U cnt); OS_EVENT *OSSemDel(OS_EVENT *pevent, INT8U opt, INT8U *err); void OSSemPend(OS_EVENT *pevent, INT16U timeout, INT8U *err); INT8U OSSemPost(OS_EVENT *pevent); INT8U OSSemQuery(OS_EVENT *pevent, OS_SEM_DATA *pdata);
OSSemDel() ‘opt’ argument:
OS_DEL_NO_PEND // Delete only if no task pending OS_DEL_ALWAYS // Always delete
OSSemQuery() data structure:
typedef struct {
INT16U OSCnt; // Semaphore count
INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; // Wait list
INT8U OSEventGrp;
} OS_SEM_DATA;Mutual Exclusion Semaphore Management
Function Prototypes:
INT8U OSMutexAccept(OS_EVENT *pevent, INT8U *err); OS_EVENT *OSMutexCreate(INT8U prio, INT8U *err); OS_EVENT *OSMutexDel(OS_EVENT *pevent, INT8U opt, INT8U *err); void OSMutexPend(OS_EVENT *pevent, INT16U timeout, INT8U *err); INT8U OSMutexPost(OS_EVENT *pevent); INT8U OSMutexQuery(OS_EVENT *pevent, OS_MUTEX_DATA *pdata);
OSMutexDel() ‘opt’ argument:
OS_DEL_NO_PEND // Delete only if no task pending OS_DEL_ALWAYS // Always delete
OSMutexQuery() data structure:
typedef struct {
INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; // Wait List
INT8U OSEventGrp;
INT8U OSValue; // Mutex value
// (0=used, 1=available)
INT8U OSOwnerPrio; // Mutex owner's task priority
INT8U OSMutexPIP; // Priority Inheritance Priority or
// 0xFF if no owner
} OS_MUTEX_DATA;Event Flags Management
Function Prototypes:
OS_FLAGS OSFlagAccept(OS_FLAG_GRP *pgrp,
OS_FLAGS flags,
INT8U wait_type,
INT8U *err);
OS_FLAG_GRP *OSFlagCreate(OS_FLAGS flags,
INT8U *err);
OS_FLAG_GRP *OSFlagDel(OS_FLAG_GRP *pgrp,
INT8U opt,
INT8U *err);
OS_FLAGS OSFlagPend(OS_FLAG_GRP *pgrp,
OS_FLAGS flags,
INT8U wait_type,
INT16U timeout,
INT8U *err);
OS_FLAGS OSFlagPost(OS_FLAG_GRP *pgrp,
OS_FLAGS flags,
INT8U operation,
INT8U *err);
OS_FLAGS OSFlagQuery(OS_FLAG_GRP *pgrp,
INT8U *err);OSFlagDel() ‘opt’ argument:
OS_DEL_NO_PEND // Delete only if no task pending OS_DEL_ALWAYS // Always delete
Message Mailbox Management
Function Prototypes:
void *OSMboxAccept(OS_EVENT *pevent); OS_EVENT *OSMboxCreate(void *msg); OS_EVENT *OSMboxDel(OS_EVENT *pevent, INT8U opt, INT8U *err); void *OSMboxPend(OS_EVENT *pevent, INT16U timeout, INT8U *err); INT8U OSMboxPost(OS_EVENT *pevent, void *msg); INT8U OSMboxPostOpt(OS_EVENT *pevent, void *msg, INT8U opt); INT8U OSMboxQuery(OS_EVENT *pevent, OS_MBOX_DATA *pdata);
OSMboxDel() ‘opt’ argument:
OS_DEL_NO_PEND // Delete only if no task pending OS_DEL_ALWAYS // Always delete
OSMboxPostOpt() ‘opt’ argument:
OS_POST_OPT_NONE // POST to a single waiting task
// (Identical to OSMboxPost())
OS_POST_OPT_BROADCAST // POST to ALL waiting on mailboxOSMboxQuery() data structure:
typedef struct {
void *OSMsg; // Pointer to message in mailbox
INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; // Waiting List
INT8U OSEventGrp;
} OS_MBOX_DATA;Message Queue Management
Function Prototypes:
void *OSQAccept(OS_EVENT *pevent); OS_EVENT *OSQCreate(void **start, INT16U size); OS_EVENT *OSQDel(OS_EVENT *pevent, INT8U opt, INT8U *err); INT8U OSQFlush(OS_EVENT *pevent); void *OSQPend(OS_EVENT *pevent, INT16U timeout, INT8U *err); INT8U OSQPost(OS_EVENT *pevent, void *msg); INT8U OSQPostFront(OS_EVENT *pevent, void *msg); INT8U OSQPostOpt(OS_EVENT *pevent, void *msg, INT8U opt); INT8U OSQQuery(OS_EVENT *pevent, OS_Q_DATA *pdata);
OSQDel() ‘opt’ argument:
OS_DEL_NO_PEND // Delete only if no task pending OS_DEL_ALWAYS // Always delete OS_POST_OPT_FRONT // Simulate OSQPostFront()
OSQPostOpt() ‘opt’ argument:
OS_POST_OPT_NONE // POST to a single waiting task
// (Identical to OSMboxPost())
OS_POST_OPT_BROADCAST // POST to ALL waiting on mailboxOSQQuery() data structure:
typedef struct {
void *OSMsg; // Pointer to next message
INT16U OSNMsgs; // # messages in queue
INT16U OSQSize; // Size of message queue
INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; // Waiting List
INT8U OSEventGrp;
} OS_Q_DATA;Memory Management
Function Prototypes:
OS_MEM *OSMemCreate(void *addr,
INT32U nblks,
INT32U blksize,
INT8U *err);
void *OSMemGet(OS_MEM *pmem, INT8U *err);
INT8U OSMemPut(OS_MEM *pmem, void *pblk);
INT8U OSMemQuery(OS_MEM *pmem, OS_MEM_DATA *pdata);OSMemQuery() data structure:
typedef struct {
void *OSAddr; // Ptr to start of memory partition
void *OSFreeList; // Ptr to start free list of memory blocks
INT32U OSBlkSize; // Size (in bytes) of each memory block
INT32U OSNBlks; // # blocks in the Partition
INT32U OSNFree; // # free blocks
INT32U OSNUsed; // # blocks used
} OS_MEM_DATA;