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Preface

My first book, “µC/OS, The Real-Time Kernel” is now 6 years old and the publisher has sold well

over 15,000 copies around the world. When I was asked to do a second edition, I thought it would

be a fairly straightforward task; a few corrections here and there, clarify a few concepts, add a

function or two to the kernel, etc. If you have a copy of the first edition, you will notice that

“µC/OS-II, The Real-Time Kernel” is in fact a major revision. For some strange reason, I wasn’t

satisfied with minor corrections. Also, when my publisher told me that this time, the book would

be a ‘hard cover’, I really wanted to give you your moneys worth. In all, I added more than 200

new pages, and re-wrote the majority of the pages I did keep. I added a porting guide to help you

port µC/OS-II to the processor of your choice. Also, I added a chapter that will guide you through

upgrading a µC/OS port to µC/OS-II.

The code for µC/OS-II is basically the same as that of µC/OS except that it contains a number of

new and useful features, is much better commented, and should be easier to port to processor

architectures. µC/OS-II offers all the features provided in µC/OS as well as the following new

features:

• A fixed-sized block memory manager,

• A service to allow a task to suspend its execution for a certain amount of time

(specified in hours, minutes, seconds and milliseconds),

• User definable ‘callout’ functions that are invoked when:

a task is created,

a task is deleted,

a context switch is performed,

a clock tick occurs.

• A new task create function that provides additional features,

• Stack checking,

• A function returning the version of µC/OS-II,

• And more.

µC/OS-II Goals

Probably the most important goal of µC/OS-II was to make it backward compatible with µC/OS (at least from an

application’s standpoint). A µC/OS port might need to be modified to work with µC/OS-II but at least, the application

code should require only minor changes (if any). Also, because µC/OS-II is based on the same core as µC/OS, it is just

as reliable. I added conditional compilation to allow you to further reduce the amount of RAM (i.e. data space) needed

by µC/OS-II. This is especially useful when you have resource limited products. I also added the feature described in

the previous section and cleaned up the code.

Where the book is concerned, I wanted to clarify some of the concepts described in the first edition and provide

additional explanations about how µC/OS-II works. I had numerous requests about doing a chapter on how to port

µC/OS and thus, such a chapter has been included in this book for µC/OS-II.

Intended Audience

This book is intended for embedded system programmers, consultants and students interested in real-time operating

systems. µC/OS-II is a high performance, deterministic real-time kernel and can be embedded in commercial products

(see Appendix F, Licensing). Instead of writing your own kernel, you should consider µC/OS-II. You will find, as I

did, that writing a kernel is not as easy as it first looks.

I’m assuming that you know C and have a minimum knowledge of assembly language. You should also understand

microprocessor architectures.

What you will need to use µC/OS-II

The code supplied with this book assumes that you will be using an IBM-PC/AT or compatible (80386 Minimum)

computer running under DOS 4.x or higher. The code was compiled with Borland International’s C++ V3.1. You

should have about 5 MBytes of free disk space on you hard drive. I actually compiled and executed the sample code

provided in this book in a DOS window under Windows 95.

To use µC/OS-II on a different target processor (than a PC), you will need to either port µC/OS-II to that processor

yourself or, obtain one from µC/OS-II official WEB site at

http://www.uCOS-II.com. You will also need appropriate

software development tools such as an ANSI C compiler, an assembler, linker/locator and some way of debugging

your application.

The µC/OS Story

Many years ago, I designed a product based on an Intel 80C188 at Dynalco Controls and I needed a real-time kernel.

At my previous employer, I had been using a well known kernel (let’s call it kernel ‘A’) but, found it to be too

expensive for the application I was designing. We then found a lower cost kernel ($1000 at the time) and started our

design with it. Let’s call this kernel, kernel ‘B’. We spent about two months trying to get a couple of very simple tasks

to run. We were calling the vendor almost on a daily basis to get help making this work. The vendor claimed that this

kernel was written in C. However, we had to initialize every single object using assembly language code. Although

the vendor was very patient, we decided that we had enough of this. Our product was falling behind schedule and we

really didn’t want to spend our time debugging this low cost kernel. It turns out that we were one of this vendor’s first

customer and the kernel was really not fully tested and debugged!

To get back on track, we decided to go back and use kernel ‘A’. The cost was about $5000 for development seat and

we had to pay a per usage fee of about $200 for each unit that we shipped! This was a lot of money at the time, but it

bought us some peace of mind. We got the kernel up and running in about 2 days! Three months into the project, one

of our engineers discovered what looked like a bug in the kernel. We sent the code to the vendor and sure enough, the

bug was confirmed as being in the kernel. The vendor provided a 90 day warranty but, that had expired so, in order to

get support, we had to pay an addition $500 per year for ‘maintenance’. We argued with the salesperson for a few

months that they should fix the bug since we were actually doing them a favor. They wouldn’t budge! Finally, we

gave in, we bought the maintenance contract and the vendor fixed the bug six months later! Yes, six months later. We

were furious but most importantly, late delivering our product. In all, it took close to a year to get our product to work

reliably with kernel ‘A’. I must admit, however, that we never had any problems with it since.

As this was going on, I naively thought, “Well, it can’t be that difficult to write a kernel. All it needs to do is save and

restore processor registers”. That’s when I decided to try it out and write my own (part time at night and on weekends).

It took me about a year to get the kernel to be just as good (and in some ways better) than kernel ‘A’. I didn’t want to

start a company and sell it because there were already about 50 kernels out there so, why have another one?

I then thought of writing a paper for a magazine. I first went to the “C User’s Journal (CUJ)” (the kernel was written

in C) which, I had heard, was offering $100 per published page when other magazines were only paying $75 per page.

My paper had 70 or so pages so, that would be a nice compensation for all the time I spent working on my kernel.

Unfortunately, the article was rejected! There were two reasons. First, the article was too long and the magazine

didn’t want to publish a series. Second, they didn’t want to have ‘another kernel article’.

I then decided to turn to Embedded Systems Programming (ESP) magazine because my kernel was designed for

embedded systems. I contacted the editor of ESP (Mr. Tyler Sperry) and told him that I had this kernel I wanted to

publish in his magazine. I got the same response from Tyler as I did from the C Journal: “Not another kernel article?”

I told him that this kernel was different, it was preemptive, it was comparable to many commercial kernels and that he

could put the source code on the ESP BBS (Bulletin Board Service). I was calling Tyler two or three times a week

(basically begging him) until he finally gave in (he was probably tired of having me call him) and decide to publish the

article. My article got edited down from 70 pages to about 30 pages and was published in two consecutive months

(May 1992 and June 1992). The article was probably the most popular article in 1992. ESP had over 500 downloads

of the code from the BBS in the first month. Tyler may have feared for his life because kernel vendors were upset that

he published a kernel in his magazine. I guess that these vendors must have recognized the quality and capabilities of

µC/OS (was called µCOS then). The article was really the first that exposed the internals of a real-time kernel so,

some of the secrets were out.

Just about the time the article came out in ESP, I got a call back from Dr. Bernard Williams at R&D Publications

(publisher of CUJ), 6 months after the initial contact with CUJ. He had left a message with my wife and told her that

he was interested in the article!??! I called him back and told him something like: “Don’t you think you are a little bit

late with this? The article is being published in ESP.” Berney said: “No, No, you don’t understand, because the article

is so long, I want to make a book out of it.” Initially, Berney simply wanted to publish what I had (as is) so the book

would only have 80 or so pages. I said to him, “If I going to write a book, I want to do it right.” I then spent about 6

months adding contents to what is now know as the first edition. In all, the book had about 250 pages to it. I changed

the name of µCOS to µC/OS because ESP readers had been calling it ‘Mucus’ which didn’t sound too healthy! Come

to think of it, maybe it was a kernel vendor that first came up with the name. Anyway, µC/OS, The Real-Time Kernel

was then born. Sales were somewhat slow to start. Berney and I projected that we would sell about 4000 to 5000

copies in the life of the book but at that rate, we would be lucky if it sold 2000 copies. Berney insisted that these things

take time to get known so, he continued advertising in CUJ for about a year.

A month or so before the book came out, I went to my first Embedded Systems Conference (ESC) in Santa Clara, CA

(September 1992). I then met Tyler Sperry for the first time and I showed him the first draft copy of my book. He very

quickly glanced at it and said something like: “Would you like to speak at the next Embedded Systems Conference in

Atlanta?” Not knowing any better, I said “Sure, what should I talk about?” He said what about “Using small real-time

kernels?” I said “Fine”. On the trip back from California, I was thinking “What did I get myself into? I’ve never

spoke in front of a bunch of people before! What if I make a fool of myself? What if what I speak about is common

knowledge? Those people pay good money to attend this conference.” For the next six months, I prepared my lecture.

At the conference, I had about 70+ attendees. In the first twenty minutes I must have lost one pound of sweat. After

my lecture, I had a crowd of about 15 or so people come up to me and say that they were very pleased with the lecture

and liked my book. I got re-invited back to the conference but could not attend the one in Santa Clara that year (i.e.

1993). I was able to attend the next conference in Boston (1994) and I have been a regular speaker at ESC ever since.

For the past couple of years, I’ve been on the conference Advisory Committee. I now do at least 3 lectures at every

conference and each have average attendance of between 200 and 300 people! My lectures are almost always ranked

amongst the top 10% of the conference.

To date, we sold well over 15,000 copies or µC/OS, The Real-Time Kernel around the world. I received and answered

well over 1000 e-mails from the following countries:

In 1995, µC/OS, The Real-Time Kernel was translated in Japanese and published in a magazine called Interface in

Japan. µC/OS has been ported to the following processors:

Analog Devices AD21xx

Advanced Risc Machines ARM6, ARM7

Hitachi 64180, H8/3xx, SH series

Intel 80x86 (Real and PM), Pentium, Pentium-II, 8051, 8052, MCS-251, 80196, 8096

Mitsubishi M16 and M32

Motorola PowerPC, 68K, CPU32, CPU32+, 68HC11, 68HC16

Philips XA

Siemens 80C166 and TriCore

Texas instruments TMS320

Zilog Z-80 and Z-180

And more.

In 1994, I decided to write my second book: Embedded Systems Building Blocks, Complete and Ready-to-Use

Modules in C (ESBB) and contains over 600 pages. For some reason, ESBB has not been as popular as µC/OS

although it contains as much valuable information not found anywhere else. I always thought that it would be an ideal

book for people just starting in the embedded world.

In 1998, I opened the official µC/OS WEB site www.uCOS-II.com

. I intend this site to contain ports, application

notes, links, answers to frequently asked questions (FAQs), upgrades for both µC/OS and µC/OS-II, and more. All I

need is time!

Back in 1992, I never imagined that writing an article would have changed my life as it did. I met a lot of very

interesting people and made a number of good friends in the process. I still answer every single e-mail that I receive.

I believe that if you take the time to write to me then I owe you a response. I hope you enjoy this book.

Acknowledgements

First and foremost, I would like to thank my wife for her support, encouragement, understanding and especially

patience. Manon must have heard the words “Just one more week!” about a dozen times while I was writing this book.

I would also like to thank my children James (age 8) and Sabrina (age 4) for putting up with the long hours I had to

spend in front of the computer. I hope one day they will understand.

I would also like to thank Mr. Niall Murphy for carefully reviewing most of the chapters and providing me with

valuable feedback. Special thanks to Mr. Alain Chebrou and Mr. Bob Paddock for passing the code for µC/OS-II

through a fine tooth comb.

I would like to thank all the fine people at R&D Technical books for their help in making this book a reality, and also

for putting up with my insistence on having things done my way.

Finally, I would like to thank all the people who have purchased µC/OS, The Real-Time Kernel as well as Embedded

Systems Building Blocks and who, by doing so, have encouraged me to pursue this interesting past-time.

Introduction

This book describes the design and implementation of µC/OS-II (pronounced "Micro C O S 2") which stands for

Micro-Controller Operating System Version 2. µC/OS-II is based on µC/OS, The Real-Time Kernel which was first

published in 1992. Thousands of people around the world are using µC/OS in all kinds of applications such as

cameras, medical instruments, musical instruments, engine controls, network adapters, highway telephone call boxes,

ATM machines, industrial robots, and many more. Numerous colleges and Universities have also used µC/OS to

teach students about real-time systems.

µC/OS-II is upward compatible with µC/OS (V1.11) but provides many improvements over µC/OS such as the

addition of a fixed-sized memory manager, user definable callouts on task creation, task deletion, task switch and

system tick, supports TCB extensions, stack checking and, much more. I also added comments to just about every

function and I made µC/OS-II much easier to port to different processors. The source code in µC/OS was found in two

source files. Because µC/OS-II contains many new features and functions, I decided to split µC/OS-II in a few source

files to make the code easier to maintain.

If you currently have an application (i.e. product) that runs with µC/OS, your application should be able to run,

virtually unchanged, with µC/OS-II. All of the services (i.e. function calls) provided by µC/OS have been preserved.

You may, however, have to change include files and product build files to ‘point’ to the new file names.

This book contains ALL the source code for µC/OS-II and a port for the Intel 80x86 processor running in Real-Mode

and for the Large Model. The code was developed on a PC running the Microsoft Windows 95 operating system.

Examples run in a DOS compatible box under the Windows 95 environment. Development was done using the

Borland International C/C++ compiler version 3.1. Although µC/OS-II was developed and tested on a PC, µC/OS-II

was actually targeted for embedded systems and can easily be ported to many different processor architectures.

µC/OS-II features:

Source Code:

As I mentioned previously, this book contains ALL the source code for µC/OS-II. I went through a lot of efforts to

provide you with a high quality ‘product’. You may not agree with some of the style constructs that I use but you

should agree that the code is both clean and very consistent. Many commercial real-time kernels are provided in

source form. I challenge you to find any such code that is as neat, consistent, well commented and organized as

µC/OS-II’s. Also, I believe that simply giving you the source code is not enough. You need to know how the code

works and how the different pieces fit together. You will find this type of information in this book. The organization

of a real-time kernel is not always apparent by staring at many source files and thousands of lines of code.

Portable:

Most of µC/OS-II is written in highly portable ANSI C, with target microprocessor specific code written in assembly

language. Assembly language is kept to a minimum to make µC/OS-II easy to port to other processors. Like µC/OS,

µC/OS-II can be ported to a large number of microprocessors as long as the microprocessor provides a stack pointer

and the CPU registers can be pushed onto and popped from the stack. Also, the C compiler should either provide

in-line assembly or language extensions that allow you to enable and disable interrupts from C. µC/OS-II can run on

most 8-bit, 16-bit, 32-bit or even 64-bit microprocessors or micro-controllers and, DSPs.

All the ports that currently exist for µC/OS can be easily converted to µC/OS-II in about an hour. Also, because

µC/OS-II is upward compatible with µC/OS, your µC/OS applications should run on µC/OS-II with few or no changes.

Check for the availability of ports on the µC/OS-II Web site at ‘www.uCOS-II.com’.

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