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Micrium’s μ C/OS for Makers A Hands-on Course

Dive into managing tasks, synchronization primitives like semaphores, and protecting shared resources in this hands-on course. Explore real-world examples and practical solutions for efficient coding.

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Micrium’s μ C/OS for Makers A Hands-on Course

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  1. Micrium’s μC/OS for Makers A Hands-on Course Class 5: Mutexes, Messages, and Semaphores, Oh My! February 3, 2017 Charles J. Lord, PEPresident, Consultant, TrainerBlue Ridge Advanced Design and Automation

  2. This Week’s Agenda 1/30 Introduction to μC/OS II/III1/31 The Micrium Maker Program 2/1 Setting up our Development System 2/2 Writing Our Tasks and Establishing Scheduling 2/3Mutexes, Messages, and Semaphores, Oh My!

  3. This Week’s Agenda 1/30 Introduction to μC/OS II/III1/31 The Micrium Maker Program 2/1 Setting up our Development System 2/2 Writing Our Tasks and Establishing Scheduling 2/3Mutexes, Messages, and Semaphores, Oh My!

  4. Where’s the Code? • I will be posting the code for this class at my GitHub location • https://github.com/cjlord/CECmicrium/

  5. Task Interaction • The tasks in a µC/OS-III-based application are not necessarily self-contained • Tasks may need to interact with each other (and possibly with ISRs). • A typical kernel provides services that facilitate such interaction

  6. Synchronizing a Task to an ISR • Most applications must manage a collection of peripheral devices • The interrupt service routines (ISRs) associated with a system’s peripheral devices should be kept brief • In applications that incorporate a real-time kernel, ISRs can use synchronization primitives to signal tasks Question 1 – why would an ISR need to be short?

  7. Problems with Lengthy ISRs • On many architectures, a long ISR can significantly increase interrupt latency • Excessively large stacks may be needed in order to support lengthy ISRs • Debugging interrupt handlers can be difficult • Many kernel functions cannot be invoked by ISRs

  8. Semaphores • Using a semaphore, a task can synchronize to another task or to an ISR • Semaphores are based on counters • A semaphore can be classified as either binary or counting

  9. Semaphore Operations • Pend • While the semaphore’s counter has a value of zero, allow other tasks to run • One of the parameters accepted by µC/OS-III’s pend functions is a timeout value that indicates how long the calling task is willing to wait • Post • Increment the semaphore’s counter • If a task is waiting on the semaphore, that task will be placed in the Ready state when the post operation occurs

  10. Semaphore API void OSSemCreate (OS_SEM *p_sem, CPU_CHAR *p_name, OS_SEM_CTR cnt, RTOS_ERR *p_err); OS_SEM_CTR OSSemPend (OS_SEM *p_sem, OS_TICK timeout, OS_OPT opt, CPU_TS *p_ts, RTOS_ERR *p_err); OS_SEM_CTR OSSemPost (OS_SEM *p_sem, OS_OPT opt, RTOS_ERR *p_err);

  11. ADC Semaphore Example OS_SEM App_SemADC; /* Initialization Code */ OSSemCreate((OS_SEM *)&App_SemADC, (CPU_CHAR *)”ADC Sem”, (OS_SEM_CTR)0, (OS_ERR *)&err); void App_ISRADC (void) { Clear interrupt; OSSemPost((OS_SEM *)&App_SemADC, (OS_OPT )OS_OPT_POST_1, (OS_ERR *)&err); } MUX ADC Task Analog Inputs void App_TaskADC (void *p_arg) { Perform initializations; while (1) { Start conversion; OSSemPend((OS_SEM *)&App_SemADC, (OS_TICK )0, (OS_OPT )OS_OPT_PEND_BLOCKING, (CPU_TS *)&ts, (OS_ERR *)&err); Process converted value; } } ISR

  12. Counting Semaphores • µC/OS-III’s semaphores are of the counting variety • The kernel does not limit the semaphore state to 1 or 0 • In the previous example the potential for the semaphore’s value to rise above 1 could actually be detrimental • Other kernel objects can be used in cases where a binary semaphore would be advantageous to a counting semaphore

  13. Event Flags • Using event flags, a task can easily wait for multiple events to take place • A single 8-, 16-, or 32-bit variable, contained in a structure known as an event flag group, represents a collection of events • Each bit in the variable corresponds to a single event • Application code determines whether a set or cleared bit indicates the occurrence of an event

  14. Shared Resources • A global variable or data structure that is used by multiple tasks is considered a shared resource • Variables accessed by both tasks and ISRs are also shared resources • Oftentimes, peripheral devices are shared resources • For example, an Ethernet controller that is accessed by multiple tasks

  15. Problems Created by Shared Resources • While one task is manipulating a shared resource, other tasks should not be able to gain access to that resource • If this rule is not enforced, tasks might read corrupt data • Bugs resulting from the corruption of shared resources can be highly frustrating

  16. Protecting Shared Resources • Application developers are responsible for controlling access to their code’s shared resources • µC/OS-III provides services for protecting shared resources Question 2 – Another example of a shared resource that needs protection?

  17. What needs to be protected? • Read-modify-write passages are notorious sources of data corruption Short pieces of code that simply read or write global variables can cause problems too, though

  18. Disabling Interrupts • Interrupts are disabled before each shared resource is accessed and then re-enabled afterwards • µC/OS-III, like other kernels, uses this method to protect its own global variables • Application code can disable interrupts for short periods of time without negatively impacting interrupt latency

  19. Semaphores • In addition to being well suited for synchronization, semaphores can be used for protecting shared resources • Semaphores were originally designed for this purpose • The same semaphore API functions are used for both synchronization and resource protection

  20. Semaphores (continued) • When a semaphore is used for protecting a shared resource, tasks must pend on the semaphore before accessing the resource • This method cannot be used for resources that are accessed by ISRs • If the value of the semaphore’s counter is 0, the resource is unavailable • Interrupts and context switches can occur while shared resources are being accessed

  21. Priority Inversions • There is a well documented problem associated with the use of semaphores for resource protection • The problem, known as priority inversion, can arise when a low priority task is in the midst of accessing a resource that is needed by a higher priority task

  22. Priority Inversion (Continued) High-priority task Medium-priority task Low-priority task

  23. Mutexes • A mutex is yet another mechanism for protecting shared resources • In µC/OS-III, mutexes provide built-in protection from priority inversion • Priority inheritance • Unlike a semaphore, a µC/OS-III mutex does not incorporate a counter • The mutex is either available or in use

  24. Choosing How to Protect Shared Resources • Shared resources that are accessed by ISRs can only be protected by disabling interrupts • Application code should not disable either interrupts are the scheduler for extended periods of time • Semaphores should only be used for synchronization • Mutexes protect against priority inversion

  25. µC/OS-III’s Inter-Task Communication Services • Tasks in a µC/OS-III-based application can send and receive messages using services that the kernel provides • Application developers determine the contents of these messages • µC/OS-III’s message passing services (or more formally, its inter-task communication services) have much in common with its synchronization and mutual exclusion services

  26. Message Queues • In µC/OS-III, a message queue is a list of OS_MSG structures • The kernel manages the list • Through API functions, tasks can request the insertion or removal of messages • A message is a void pointer • When a task is waiting on a message, the kernel runs other tasks

  27. MessageQueue Message Queue Example USB Task USB ISR OS_Q App_QUSB; /* Initialization Code */ OSQCreate((OS_Q *)&App_QUSB, (CPU_CHAR *)”USB Queue”, (OS_MSG_QTY)20, (OS_ERR *)&err); void App_Task_USB (void *p_arg) { while (1) { p_buf = OSQPend((OS_Q *)&App_QUSB, (OS_TICK )0, (OS_OPT)OS_OPT_PEND_BLOCKING, (OS_MSG_SIZE *)&msg_size, (CPU_TS *)&ts, (OS_ERR *)&err); Process packet; Free buffer back to pool; } } void App_ISR_USB (void) { Clear USB (or DMA) interrupt; p_buf = Get Buffer from pool; OSQPost((OS_Q *)&App_QUSB, (void *)p_buf, (OS_MSG_SIZE)buf_size, (OS_OPT )OS_OPT_POST_FIFO, (OS_ERR *)&err); }

  28. Type Casting Messages • By casting messages, developers can sometimes avoid dealing with shared data • Sending tasks and receiving tasks must not interpret messages differently Question 3 – An example of shared data between tasks?

  29. Another model for Resource Protection • Queues can be used to regulate access to controlled resources • Only one task directly accesses the resource and that task receives messages from others • “Using design patterns to identify and partition RTOS tasks: Part 2,” Michael C. Grischy and David E. Simon, Embedded.com,www.embedded.com/columns/technicalinsights/179103020?_requestid=206440

  30. Section Summary – Configuration • Developers should be conscious of kernel configuration and the potential impact it can have on memory footprint • Under the RTOS, application developers control the initial µC/OS-III configuration using the Platform Builder • Changes can be made to many parameters at run time using API calls

  31. Port Overview • A kernel port adapts µC/OS-III to a particular CPU architecture • Most ports are written in a combination of C and assembly language • Oftentimes, a port must be modified to migrate to a new tool-chain • A µC/OS-III port normally consists of three files • os_cpu.h • os_cpu_a.s • os_cpu_c.c

  32. Question 4: What topics would you like to see?

  33. Our Next Class!! Tune in on February 13-18, 2017 for our next CEC class: “Designing API’s and HAL’s for Real-Time Embedded Systems” Instructor: Jacob Beningo

  34. References • Jean Labrosse’s CEC on Micrium μC/OS II/IIIhttps://www.designnews.com/continuing-education-center/introduction-real-time-kernels • My CEC on Multitaskinghttps://www.designnews.com/continuing-education-center/multitasking-scratch • My CEC on MQXhttps://www.designnews.com/continuing-education-center/hands-on-develop-rtos-application-using-freescale-mqx • My CEC on FreeRTOShttps://www.designnews.com/continuing-education-center/hands-on-develop-rtos-application-using-freertos

  35. This Week’s Agenda 1/30 Introduction to μC/OS II/III1/31 The Micrium Maker Program 2/1 Setting up our Development System 2/2 Writing Our Tasks and Establishing Scheduling 2/3Mutexes, Messages, and Semaphores, Oh My!

  36. Please stick around as I answer your questions! • Please give me a moment to scroll back through the chat window to find your questions • I will stay on chat as long as it takes to answer! • I am available to answer simple questions or to consult (or offer in-house training for your company)c.j.lord@ieee.orghttp://www.blueridgetechnc.comhttp://www.linkedin.com/in/charleslordTwitter: @charleslordhttps://www.github.com/bradatraining

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