The S12X architecture is a 16-bit CPU from Freescale, which occupies a certain market for microcontroller applications. μC/OS-III is. MICrium's real-time operating system (RTOS), its predecessor, μC/OS-II, is widely used due to its open source, real-time and easy to learn, and has been ported to almost all mainstream CPUs. Architecturally. But so far, μC/OS-III has no official ported version on the S12X architecture.
μC/OS-III has been greatly improved compared to μC/OS-II, and the entire kernel has been basically rewritten. The number of tasks can be unlimited, only limited by the size of the system memory; due to the support of time slice rotation scheduling, the priority of the tasks can be the same; using the deferred post mechanism, the number of global variables to be accessed by the interrupt service is changed. Very little, so that most of the protection of the critical code only needs to turn off the scheduler without shutting down the interrupt, which greatly shortens the system's interrupt latency; the system clock service (TIck handling) is moved to the task level to further shorten the interrupt delay. Introduced the concept of time stamping, using a 32-bit counter to provide the system with an accurate time scale, used to calculate the CPU usage of each task, the longest off time, the longest off scheduler time, etc.; provides a unique The rich runtime statistical parameters provide a powerful basis for better application of μC/OS-III. For a more in-depth look at the μC/OS-III core, the reader can refer to the references.
In short, μC/OS-III is a comprehensive upgrade of μC/OS-II with shorter interrupt latency, richer runtime parameters, richer debugging methods, better code organization, more flexible configuration and use, etc. However, μC/OS-III has no higher requirements for hardware: for ROM, μC/OS-III is 6 to 24 KB, μC/OS-II is 6 to 26 KB; for RAM, both are required. For about 1 KB, it can be seen that μC/OS-III is also suitable for running on low-end 8-bit and 16-bit microcontrollers. Thanks to the advantages of μC/OS-II, μC/OS-III has so many new and excellent features, it should be more widely used. This article details the method of μC/OS-III porting and the specific steps of porting on the S12X architecture, and hopes to help readers who are in need in this area.
As mentioned earlier, the hardware requirements of μC/OS-III are not much higher than μC/OS-II. In fact, μC/OS-III can be ported to the platform as long as the following are met:
The 1 processor has a toolchain that supports Standard C and needs to support 32-bit data.
The 2 processor supports interrupts and is capable of providing a 10 to 1 000 Hz period interrupt as the system's clock tick source.
3 interrupts can be turned off and on.
The 4 processor has a stack pointer register and all other registers can be stored and restored.
5 processors can support enough addressing space.
These conditions, the current processor architecture can be satisfied, S12X is also clearly satisfied, so μC/OS-III can be ported to the S12X architecture.
The code organization of μC/OS-III is very convenient for porting, and the code is organized hierarchically according to modules. The modules and files that need to be changed during migration are listed in Table 1.
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