
User’s Manual U14833EJ2V0UM
8
CONTENTS
CHAPTER 1 OVERVIEW........................................................................................................................16
1.1
1.2
1.3
1.4
1.5
1.6
1.7
Real-Time OS.............................................................................................................................16
Multitask OS...............................................................................................................................16
Features......................................................................................................................................17
Configuration.............................................................................................................................18
Applications...............................................................................................................................18
Execution Environment............................................................................................................19
Development Environment.......................................................................................................19
CHAPTER 2 KERNEL.............................................................................................................................20
2.1
2.2
2.3
2.4
Overview.....................................................................................................................................20
Configuration.............................................................................................................................20
Functions ...................................................................................................................................21
Objects .......................................................................................................................................23
2.4.1
Object control blocks....................................................................................................................23
2.4.2
Object identification number.........................................................................................................23
2.4.3
Creating and deleting objects.......................................................................................................24
2.4.4
Automatic assignment of ID number ............................................................................................24
CHAPTER 3 SCHEDULER.....................................................................................................................25
3.1
3.2
3.3
Overview.....................................................................................................................................25
Drive Method..............................................................................................................................25
Scheduling Methods.................................................................................................................25
3.3.1
Priority method.............................................................................................................................25
3.3.2
FCFS method...............................................................................................................................25
Ready Queue .............................................................................................................................26
Implementing a Round Robin Method ....................................................................................27
Scheduling Delay ......................................................................................................................30
Enabling/Disabling Scheduling ...............................................................................................31
Idle Routines..............................................................................................................................32
3.8.1
Registering idle routines...............................................................................................................32
3.8.2
Executing and terminating idle routines........................................................................................32
3.8.3
PID...............................................................................................................................................32
3.8.4
Coprocessor.................................................................................................................................32
3.8.5
Stack............................................................................................................................................32
3.4
3.5
3.6
3.7
3.8
CHAPTER 4 TASK MANAGEMENT.....................................................................................................33
4.1
4.2
4.3
4.4
Overview.....................................................................................................................................33
Creating Tasks...........................................................................................................................34
Deleting Tasks...........................................................................................................................34
Activating Tasks........................................................................................................................34
4.4.1
Activation with activation request retained ...................................................................................34
4.4.2
Activation with activation request not retained .............................................................................34
Terminating Tasks.....................................................................................................................35
4.5