Real-Time Embedded Multithreading Using ThreadX and MIPS contains the fundamentals of developing real-time operating systems and multithreading with all the new functionality of ThreadX Version 5. This MIPS edition covers all the new ThreadX 5 features, including real-time event-chaining, run-time performance metrics, and run-time stack analysis as
Preface
Embedded and Real-time Systems
Introduction
What is an Embedded System?
Characteristics of Embedded Systems
Real-time Systems
Real-time Operating Systems and Real-time Kernels
Processes, Tasks, and Threads
Architecture of Real-time Systems
Embedded Systems Development
Key Terms and Phrases
First Look at a System Using an RTOS
Operating Environment
Installation of the ThreadX Demonstration System
Sample System with Two Threads
Creating the ThreadX Objects
Compiling and Executing the Sample System
Analysis of the System and the Resulting Output
Listing of 02_sample_system.c
Key Terms and Phrases
Problems
RTOS Concepts and Definitions
Introduction
Priorities
Ready Threads and Suspended Threads
Preemptive, Priority-Based Scheduling
Round-Robin Scheduling
Determination
Kernel
RTOS
Context Switch
Time-Slice
Interrupt Handling
Thread Starvation
Priority Inversion
Priority Inheritance
Preemption-Threshold
Key Terms and Phrases
Problems
RTOS Building Blocks for System Development
Introduction
Defining Public Resources
ThreadX Data Types
Thread
Memory Pools
Application Timer
Mutex
Counting Semaphore
Event Flags Group
Message Queue
Summary of Thread Synchronization and Communication Components
Key Terms and Phrases
Problems
Introduction to the MIPS Microprocessor
Introduction
History
Technical Features
MIPS Power Saving Support
Key Terms and Phrases
MIPS Exception Handling
Introduction
ThreadX Implantation of MIPS Exception Handling
Key Terms and Phrases
The Thread—The Essential Component
Introduction
Thread Control Block
Summary of Thread Services
Thread Creation
Thread Deletion
Identify Thread
Get Thread Information
Preemption-Threshold Change
Priority Change
Relinquish Control
Resume Thread Execution
Thread Sleep
Suspend Thread Execution
Terminate Application Thread
Time-Slice Change
Abort Thread Suspension
Thread Notification Services
Execution Overview
Thread States
Thread Design
Thread Internals
Overview
Key Terms and Phrases
Problems
Mutual Exclusion Challenges and Considerations
Introduction
Protecting a Critical Section
Providing Exclusive Access to Shared Resources
Mutex Control Block
Summary of Mutex Services
Creating a Mutex
Deleting a Mutex
Obtaining Ownership of a Mutex
Retrieving Mutex Information
Prioritizing the Mutex Suspension List
Releasing Ownership of a Mutex
Avoiding the Deadly Embrace
Sample System Using a Mutex to Protect Critical Sections
Output Produced by Sample System
Listing for 08_sample_system.c
Mutex Internals
Overview
Key Terms and Phrases
Problems
Memory Management: Byte Pools and Block Pools
Introduction
Summary of Memory Byte Pools
Memory Byte Pool Control Block
Pitfalls of Memory Byte Pools
Summary of Memory Byte Pool Services
Creating a Memory Byte Pool
Allocating from a Memory Byte Pool
Deleting from a Memory Byte Pool
Retrieving Memory Byte Pool Information
Prioritizing a Memory Byte Pool Suspension List
Releasing Memory to a Byte Pool
Memory Byte Pool Example—Allocating Thread Stacks
Memory Byte Pool Internals
Summary of Memory Block Pools
Memory Block Pool Control Block
Summary of Memory Block Pool Services
Creating a Memory Block Pool
Allocating a Memory Block Pool
Deleting a Memory Block Pool
Retrieving Memory Block Pool Information
Prioritizing a Memory Block Pool Suspension List
Releasing a Memory Block
Memory Block Pool Example—Allocating Thread Stacks
Memory Block Pool Internals
Overview of Comparison
Key Terms and Phrases
Problems
Internal System Clock and Application Timers
Introduction
Internal System Clock Services
Application Timer Control Block
Summary of Application Timer Services
Creating an Application Timer
Activating an Application Timer
Changing an Application Timer
Deactivating an Application Timer
Deleting an Application Timer
Retrieving Application Timer Information
Sample System Using Timers to Measure Thread Performance
Listing for 10 sample system.c
Application Timer Internals
Overview
Key Terms and Phrases
Problems
Event Notification and Synchronization with Counting Semaphores
Introduction
Counting Semaphore Control Block
Avoiding Deadly Embrace
Avoiding Priority Inversion
Summary of Counting Semaphore Services
Creating a Counting Semaphore
Deleting a Counting Semaphore
Getting an Instance of a Counting Semaphore
Retrieving Information about Counting Semaphores
Prioritizing a Counting Semaphore Suspension List
Placing an Instance in a Counting Semaphore
Placing an Instance in a Semaphore Using a Ceiling
Semaphore Notification and Event-Chaining
Comparing a Counting Semaphore with a Mutex
Sample System Using a Binary Semaphore in Place of a Mutex
Listing for 11a_sample_system.c
Sample System Using a Counting Semaphore in a Producer-Consumer Application
Listing for 11b sample_system.c
Counting Semaphore Internals
Overview
Key Terms and Phrases
Problems
Synchronization of Thread Using Event Flags Groups
Introduction
Event Flags Group Control Block
Summary of Event Flags Group Control Services
Creating an Event Flags Group
Deleting an Event Flags Group
Getting Event Flags from an Event Flags Group
Retrieving Information about an Event Flags Group
Setting Event Flags in an Event Flags Group
Event Flags Group Notification and Event-Chaining
Sample System Using an Event Flags Group to Synchronize Two Threads
Listing for 12 sample system.c
Event Flags Group Internals
Overview
Key Terms and Phrases
Problems
Thread communication with Message Queues
Introduction
Message Queue Control Block
Summary of Message Queue Services
Creating a Message Queue
Sending a Message to a Message Queue
Receiving a Message from a Message Queue
Deleting a Message Queue
Flushing the Contents of a Message Queue
Sending a Message to the Front of a Message Queue
Retrieving Message Queue Information
Prioritizing a Message Queue Suspension List
Message Queue Notification and Event-Chaining
Sample System Using a Message Queue for Interthread Communication
Listing for 13 sample system.c
Message Queue Internals
Overview
Key Terms and Phrases
Problems
Case Study: Designing a Multithreaded System
Introduction
Statement of Problem
Analysis of the Problem
Design of the System
Implementation
Listing of VAM System
Overview
Appendices
Appendix A: Memory Block Pool Services
Appendix B: Memory Byte Block Pool Services
Appendix C: Event Flags Group Services
Appendix D: Interrupt Control Service
Appendix E: Mutex Services
Appendix F: Message Queue Services
Appendix G: Counting Semaphore Services
Appendix F: Thread Services
Appendix H: Internal System Clock Services
Appendix I: Internal System Clock Services
Appendix J: Application Timer Services
Appendix K: ThreadX API
Index
Biography
Edward L. Lamie is a Professor Emeritus of Computer Science. His areas of academic emphasis during his 31 years in higher education have been in the areas of software engineering and operating systems. He was also the founding chair of computer science departments at Central Michigan University and California State University, Stanislaus. Ed continues to teach occasional graduate-level courses and conducts hands-on RTOS training classes for Express Logic, Inc.
