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Chapter 1
code works, these products may be cumbersome and difficult to harness. With this book,
you will gain a deep understanding of the inner workings of μC/OS-III, which will protect
your investment.
Intuitive Application Programming Interface (API): μC/OS-III is highly intuitive. Once
familiar with the consistent coding conventions used, it is simple to predict the functions to
call for the services required, and even predict which arguments are needed. For example, a
pointer to an object is always the first argument, and a pointer to an error code is always the
last one.
Preemptive multitasking: μC/OS-III is a preemptive multi-tasking kernel and therefore,
μC/OS-III always runs the most important ready-to-run task.
Round robin scheduling of tasks at equal priority: μC/OS-III allows multiple tasks to
run at the same priority level. When multiple tasks at the same priority are ready to run, and
that priority level is the most important level, μC/OS-III runs each task for a user-specified
time called a time quanta. Each task can define its own time quanta, and a task can also
give up the CPU to another task at the same priority if it does not require the full time
quanta.
Low interrupt disable time: μC/OS-III has a number of internal data structures and
variables that it needs to access atomically. To ensure this, μC/OS-III is able to protect these
critical regions by locking the scheduler instead of disabling interrupts. Interrupts are
therefore disabled for very little time. This ensures that μC/OS-III is able to respond to some
of the fastest interrupt sources.
Deterministic: Interrupt response with μC/OS-III is deterministic. Also, execution times of
most services provided by μC/OS-III are deterministic.
Scalable: The footprint (both code and data) can be adjusted based on the requirements of
the application. This assumes access to the source code for μC/OS-III since adding and
removing features (i.e., services) is performed at compile time through approximately 40
#defines (see OS_CFG.H ). μC/OS-III also performs a number of run-time checks on
arguments passed to μC/OS-III services. Specifically, μC/OS-III verifies that the user is not
passing NULL pointers, not calling task level services from ISRs, that arguments are within
allowable range, and options specified are valid, etc.. These checks can be disabled (at
compile time) to further reduce the code footprint and improve performance. The fact that
μC/OS-III is scalable allows it to be used in a wide range of applications and projects.
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