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Introduction to RTOS

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CuuDuongThanCong.com https://fb.com/tailieudientucntt
 About SwiftACT

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• A Technology services startup company

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o Under establishment

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• Areas of specialties:

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o Mobile telecommunication services development
Embedded systems development

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• Types of services:
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o Consultation
o Managed services
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o Sourcing
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o Training

Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 About Me

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• Graduated 2004

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o ECE, ASU: 5 yrs distinction

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• 5+ years in embedded systems development

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o SDLC, Apps, MW, DD, Porting, ...
• 3+ years in SW engineering

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PSP, CMMI, Systematic reuse, ...

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• 3+ years in SW testing ng
o IBM certified, ISTQB certified, ...
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Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Copyright

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• Materials in this course is the property of Amr Ali Abdel-Naby.

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• Reproduction or transmission of the materials in any manner

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without the copyright owner permission is a law violation.

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Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Outline

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•

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Introduction
• Tasks

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• Semaphores

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• Message Queues

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• Other Kernel Objects

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• Other Kernel Services o ng
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u
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Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Outline

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•

.c
Introduction
• Tasks

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• Semaphores

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• Message Queues

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• Other Kernel Objects

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• Other Kernel Services o ng
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u
cu

Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 The RTOS Multitasking Model

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• Multiple tasks

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o Each a sequential “thread” of execution

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• Explicit task manipulation Task 1 Task 2 Task 3

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o Separate context for each task

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ng
P1 P2 P3
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• Pre-emption is dynamic: The highest priority ready task is the
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Kernel
task that must be running
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cu

Amr Ali Abdel-Naby@ 2009 Real-Time Operating Systems

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Definition of a Task

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• A task is an independent thread of execution capable of

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executing in parallel with other threads of execution.

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• Each task has its own stack.

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o Maybe more than 1 stack
 Supervisor mode stack, user mode stack

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• A task may synchronize and/or communicate with other tasks.

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o Primary mechanism is messages.ng
o Also shared memory (with semaphores)
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• You must write programs for your application tasks.
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o Tasks may make service calls to the RTOS, to invoke RTOS

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services.
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Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 The Task Control Block - TCB

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Task 3
• Managed by RTOS for each task

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o Current state of task

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o Unique ID of task

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o Priority of task TCB 3
Type of task

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o
Task 2
o Stack location and size

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o Current stack pointer ng
o File and line info (for debug)
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o Waiting messages
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TCB 2
o Desired messages
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o ... Task 1
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• Useful for debugging, error handling

TCB 1

Amr Ali Abdel-Naby@ 2009 Real-Time Operating Systems

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Task States & Transitions

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Ready

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HPT became ready
Needed resource is

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available + HPT is
ready ng
No HPT is ready
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Blocked Needed resource is Running

available + No HPT is
ready

Needed resource is
unavailable
Amr Ali Abdel-Naby@ 2009 Real-Time Operating Systems
CuuDuongThanCong.com https://fb.com/tailieudientucntt
 System vs. Application Tasks

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• Systems tasks

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o Created by the kernel

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o Have reserved priorities

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o Initialization task, Idle task, logging task …

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• The kernel jumps to a predefined entry point.

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ng
• From the entry point, the developer can
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o Initialize and create other application tasks ,

o As well as other kernel objects, which the application design might
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require.
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Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Typical Task Operations

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• Task creation and deletion

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o Create

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o Delete

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• Task scheduling

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o Suspend and Resume
o Get Priority and Set Priority

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o Preemption Lock and Preemption unlock
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o Delay
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o Restart
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• Obtaining task information

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o Get ID
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o Get TCB

Amr Ali Abdel-Naby@2010 Introduction to RTOS

CuuDuongThanCong.com https://fb.com/tailieudientucntt
 Typical Task Structure

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.c
ng
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Run to Completion Endless Loop

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RunToCompletionTask(){ EndLessLoopTask(){

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Initialize application Initialization code
Create kernel objects ng Loop forever {
Create endless loop tasks Loop body
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Delete or Suspend task }
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} }
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cu

Amr Ali Abdel-Naby@2010 Introduction to RTOS

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