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Getting Started with μC/OS-III
L3-2(12)
The last argument of OSTaskCreate() is a pointer to a variable that will
receive an error code. If OSTaskCreate() is successful, the error code will be
OS_ERR_NONE otherwise, look up the value of the error code in OS.H (See
OS_ERR_xxxx ) to determine the problem with the call.
L3-2(13)
The final step in main() is to call OSStart() , which starts the multitasking
process. Specifically, μC/OS-III will select the highest-priority task that was
created before calling OSStart() . The highest-priority task is always
OS_IntQTask() if that task is enabled in
OS_CFG.H (through the
OS_CFG_ISR_POST_DEFERRED_EN constant). If this is the case, OS_IntQTask()
will perform some initialization of its own and then μC/OS-III will switch to the
next most important task that was created.
A few important points are worth noting. For one thing, create as many tasks as you want
before calling OSStart() . However, it is recommended to only create one task as shown in
the example because, having a single application task allows μC/OS-III to determine how
fast the CPU is, in order to determine the percentage of CPU usage at run-time. Also, if the
application needs other kernel objects such as semaphores and message queues then it is
recommended that these be created prior to calling OSStart() . Finally, notice that that
interrupts are not enabled. This will be discussed next by examining the contents of
AppTaskStart() , which is shown in Listing 3-3.
57
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