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Task Management
5-5-2 TASK CONTROL BLOCKS (TCBs)
A task control block (TCB) is a data structure used by kernels to maintain information about
a task. Each task requires its own TCB and, for μC/OS-III, the user assigns the TCB in user
memory space (RAM). The address of the task’s TCB is provided to μC/OS-III when calling
task-related services (i.e., OSTask???() functions). The task control block data structure is
declared in OS.H as shown in Listing 5-3. Note that the fields are actually commented in
OS.H , and some of the fields are conditionally compiled based on whether or not certain
features are desired. Both are not shown here for clarity.
Also, it is important to note that even when the user understands what the different fields of
the OS_TCB do, the application code must never directly access these (especially change
them). In other words, OS_TCB fields must only be accessed by μC/OS-III and not the code.
struct os_tcb {
CPU_STK
void
CPU_STK
OS_TCB
OS_TCB
OS_TCB
OS_TCB
OS_TICK_SPOKE
OS_CHAR
CPU_STK
OS_TASK_PTR
void
OS_PEND_DATA
OS_OBJ_QTY
CPU_TS
void
OS_MSG_SIZE
OS_MSG_Q
CPU_TS
CPU_TS
OS_FLAGS
OS_OPT
OS_FLAGS
*StkPtr;
*ExtPtr;
*StkLimitPtr;
*NextPtr;
*PrevPtr;
*TickNextPtr;
*TickPrevPtr;
*TickSpokePtr;
*NamePtr;
*StkBasePtr;
TaskEntryAddr;
*TaskEntryArg;
*PendDataTblPtr;
PendDataEntries;
TS;
*MsgPtr;
MsgSize;
MsgQ;
MsgQPendTime;
MsgQPendTimeMax;
FlagsPend;
FlagsOpt;
FlagsRdy;
97
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