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Chapter 1
Nested task suspension: μC/OS-III allows a task to suspend itself or another task.
Suspending a task means that the task will not be allowed to execute until the task is
resumed by another task. Suspension can be nested up to 250 levels deep. In other words,
a task can suspend another task up to 250 times. Of course, the task must be resumed an
equal number of times for it to become eligible to run on the CPU.
Software timers: Define any number of “one-shot” and/or “periodic” timers. Timers are
countdown counters that perform a user-definable action upon counting down to 0. Each
timer can have its own action and, if a timer is periodic, the timer is automatically reloaded
and the action is executed every time the countdown reaches zero.
Pend on multiple objects: μC/OS-III allows an application to wait (i.e., pend) on multiple
events at the same time. Specifically, a task can wait on multiple semaphores and/or
message queues to be posted. The waiting task wakes up as soon as one of the events
occurs.
Task Signals: μC/OS-III allows an ISR or task to directly signal a task. This avoids having to
create an intermediate kernel object such as a semaphore or event flag just to signal a task,
and results in better performance.
Task Messages: μC/OS-III allows an ISR or a task to send messages directly to a task. This
avoids having to create and use a message queue, and also results in better performance.
Task registers: Each task can have a user-definable number of “task registers.” Task
registers are different than CPU registers. Task registers can be used to hold “errno” type
variable, IDs, interrupt disable time measurement on a per-task basis, and more.
Error checking: μC/OS-III verifies that NULL pointers are not passed, that the user is not
calling task-level services from ISRs, that arguments are within allowable range, that options
specified are valid, that a handler is passed to the proper object as part of the arguments to
services that manipulate the desired object, and more. Each μC/OS-III API function returns
an error code concerning the outcome of the function call.
Built-in performance measurements: μC/OS-III has built-in features to measure the
execution time of each task, stack usage of each task, number of times a task executes, CPU
usage, ISR-to-task and task-to-task response time, peak number of entries in certain lists,
interrupt disable and scheduler lock time on a per-task basis, and more.
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