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Table of Contents
Chapter 4
Critical Sections ................................................................................... 69
4-1
Disabling Interrupts .............................................................................. 70
4-1-1
Measuring Interrupt Disable Time ....................................................... 70
4-2
Locking the Scheduler ......................................................................... 71
4-2-1
Measuring Scheduler Lock Time ......................................................... 72
4-3
μC/OS-III Features with Longer Critical Sections ............................... 73
4-4
Summary .............................................................................................. 74
Chapter 5
Task Management ............................................................................... 75
5-1
Assigning Task Priorities ..................................................................... 84
5-2
Determining the Size of a Stack .......................................................... 86
5-3
Detecting Task Stack Overflows ......................................................... 87
5-4
Task Management Services ................................................................ 91
5-5
Task Management Internals ................................................................ 92
5-5-1
Task States ........................................................................................... 92
5-5-2
Task Control Blocks (TCBs) ................................................................. 97
5-6
Internal Tasks ..................................................................................... 106
5-6-1
The Idle Task (OS_IdleTask()) ............................................................ 107
5-6-2
The Tick Task (OS_TickTask()) .......................................................... 109
5-6-3
The Statistic Task (OS_StatTask()) .................................................... 116
5-6-4
The Timer Task (OS_TmrTask()) ........................................................ 119
5-6-5
The ISR Handler Task (OS_IntQTask()) ............................................. 120
5-7
Summary ............................................................................................ 121
Chapter 6
The Ready List ................................................................................... 123
6-1
Priority Levels ..................................................................................... 124
6-2
The Ready List ................................................................................... 128
6-3
Adding Tasks to the Ready List ........................................................ 131
6-4
Summary ............................................................................................ 132
Chapter 7
Scheduling .......................................................................................... 133
7-1
Preemptive Scheduling ...................................................................... 134
7-2
Scheduling Points .............................................................................. 136
7-3
Round-Robin Scheduling .................................................................. 138
7-4
Scheduling Internals .......................................................................... 141
7-4-1
OSSched() .......................................................................................... 142
7-4-2
OSIntExit() ........................................................................................... 143
4
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