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Chapter 5
F5-2(3)
A task has its own set of CPU registers. As far as a task is concerned, the task
thinks it has the actual CPU all to itself.
F5-2(4)
Because μC/OS-III is a preemptive kernel, each task must have its own stack
area. The stack always resides in RAM and is used to keep track of local
variables, function calls, and possibly ISR (Interrupt Service Routine) nesting.
Stack space can be allocated either statically (at compile-time) or dynamically
(at run-time). A static stack declaration is shown below. This declaration is
made outside of a function.
static CPU_STK MyTaskStk[???];
or,
CPU_STK MyTaskStk[???];
Note that “ ??? ” indicates that the size of the stack (and thus the array) depends
on the task stack requirements. Stack space may be allocated dynamically by
using the C compiler’s heap management function (i.e., malloc() ) as shown
below. However, care must be taken with fragmentation. If creating and
deleting tasks, the process of allocating memory might not be able to provide a
stack for the task(s) because the heap will eventually become fragmented. For
this reason, allocating stack space dynamically in an embedded system is
typically allowed but, once allocated, stacks should not be deallocated. Said
another way, it’s fine to create a task’s stack from the heap as long as you don’t
free the stack space back to the heap.
82
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